Affiliation:
1. State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing, China
2. College of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou, China
Abstract
This article specially designed and demonstrated a new ultrasonic motor and its control system based on the dynamic model of the 2-degree-of-freedom gyro-stabilized platform. The factors such as mechanical resonance, torque and moment inertia coupling, and nonlinearity of the driver were also taken into account during the optimization of the robust proportional–integral–differential control system. Finally, the controller was implemented by an ultrasonic motor and an embedded microcontroller. Experimental results showed that, comparing with the traditional electromagnetic motor controller, the proposed ultrasonic motor controller had the better control performances in dynamic response, static accuracy, isolation, and so on. A practical prototype of the gyro-stabilized platform with stronger robustness was also developed at the same time.
Funder
National Natural Science Foundation of China
Fundamental Research Funds for the Central Universities
Subject
Mechanical Engineering,General Materials Science
Cited by
8 articles.
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