Analyse de la commande du moteur piézoélectrique à onde progressive

Abstract

Due to the special structure and operating principle of USMs, its output characteristics vary according to temperature, abrasion, pre-pressure, and exciting frequency, which makes it difficult to operate well under the open loop condition. It must also be formed as a closed loop system to fully implement its potential performance. In addition, under practical operations we need to control speed, position, and torque of USMs. Therefore, the objective of USM's control is to overcome its own imperfection, improve its output characteristics, and implement its inherent excellent performance. In order to achieve these purposes, two aspects need to be completed. One is the establishment of models about USM's output qualities (the efficiency, torque, power, etc. ) and control variables (the voltage amplitude, frequency, and phase difference). In this thesis, we developed the analytical model of a traveling wave ultrasonic motor (piezoelectric) type Daimler-Benz (AMW90 – X).The motor was studied by taking account of the irregularities likely to be presented compared to the case of ideal motor. Subsequently we dealt with the problem of speed control. The fuzzy logic and ANFIS were integrated for the control of the speed of the piezoelectric motor, according to the frequency of the excitation voltages.