T. Senjyu et al., QUICK AND PRECISE POSITION CONTROL OF AN ULTRASONIC MOTOR WITH DUAL-MODE CONTROL, International journal of electronics, 80(2), 1996, pp. 191-200
An ultrasonic motor (USM) is a new type motor that has an excellent pe
rformance and many useful features that electromagnetic motors do not
have. It is therefore expected to be of practical use for small motor
applications. Phase difference control of applied voltages seems to be
most suited for position control of this motor. However, it is diffic
ult to carry out the quick and precise position control when driving f
requency is constant. In this paper, to achieve the quick and precise
position control, both driving frequency and the phase difference of t
he applied voltages are controlled. The effectiveness of the proposed
control scheme is demonstrated by experiments.