Modeling and Compensation of the Internal Friction Torque of a Travelling Wave Ultrasonic Motor
Identifieur interne : 000265 ( Hal/Checkpoint ); précédent : 000264; suivant : 000266Modeling and Compensation of the Internal Friction Torque of a Travelling Wave Ultrasonic Motor
Auteurs : Frédéric Giraud [France] ; Paul Sandulescu [France] ; Michel Amberg [France] ; Betty Lemaire-Semail [France] ; Fiorin Ionescu [Roumanie]Source :
English descriptors
Abstract
This paper deals with the control and experimentation of a one-degreeof- freedom haptic stick, actuated by a travelling wave ultrasonic motor. This type of actuator has many interesting properties such as low-speed operation capabilities and a high torque-to-weight ratio, making it appropriate for haptic applications. However, the motor used in this application displays nonlinear behavior due to the necessary contact between its rotor and stator. Moreover, due to its energy conversion process, the torque applied to the end-effector is not a straightforward function of the supply current or voltage. This is why a forcefeedback control strategy is presented, which includes an online parameter estimator. Experimental runs are then presented to examine the fidelity of the interface.
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DOI: 10.1109/TOH.2011.20
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This type of actuator has many interesting properties such as low-speed operation capabilities and a high torque-to-weight ratio, making it appropriate for haptic applications. However, the motor used in this application displays nonlinear behavior due to the necessary contact between its rotor and stator. Moreover, due to its energy conversion process, the torque applied to the end-effector is not a straightforward function of the supply current or voltage. This is why a forcefeedback control strategy is presented, which includes an online parameter estimator. Experimental runs are then presented to examine the fidelity of the interface.</div></front></TEI><hal api="V3"><titleStmt><title xml:lang="en">Modeling and Compensation of the Internal Friction Torque of a Travelling Wave Ultrasonic Motor</title><author role="aut"><persName><forename type="first">Frédéric</forename><surname>Giraud</surname></persName><email>frederic.giraud@polytech-lille.fr</email><idno type="idhal">frederic-giraud</idno><idno type="halauthor">654799</idno><idno type="ORCID">http://orcid.org/0000-0002-5688-711X</idno><affiliation ref="#struct-111223"></affiliation><affiliation ref="#struct-13338"></affiliation></author><author role="aut"><persName><forename type="first">Paul</forename><surname>Sandulescu</surname></persName><email></email><idno type="halauthor">660067</idno><affiliation ref="#struct-13338"></affiliation></author><author role="aut"><persName><forename type="first">Michel</forename><surname>Amberg</surname></persName><email></email><idno type="halauthor">543461</idno><affiliation ref="#struct-111223"></affiliation><affiliation ref="#struct-13338"></affiliation></author><author role="aut"><persName><forename type="first">Betty</forename><surname>Lemaire-Semail</surname></persName><email></email><idno type="halauthor">1125653</idno><orgName ref="#struct-370442"></orgName><affiliation ref="#struct-111223"></affiliation><affiliation ref="#struct-13338"></affiliation></author><author role="aut"><persName><forename type="first">Fiorin</forename><surname>Ionescu</surname></persName><email></email><idno type="halauthor">1122290</idno><orgName ref="#struct-302605"></orgName><affiliation ref="#struct-302604"></affiliation></author><editor role="depositor"><persName><forename>Frédéric</forename><surname>Giraud</surname></persName><email>frederic.giraud@polytech-lille.fr</email></editor></titleStmt><editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2015-01-28 18:21:36</date><date type="whenModified">2016-01-16 01:10:22</date><date type="whenReleased">2015-01-29 14:02:55</date><date type="whenProduced">2011-07-09</date><date type="whenEndEmbargoed">2015-01-29</date><ref type="file" target="https://hal.inria.fr/hal-00642523/document"><date notBefore="2015-01-29"></date></ref><ref type="file" subtype="author" n="1" target="https://hal.inria.fr/hal-00642523/file/TOH_short_digi_new.pdf"><date notBefore="2015-01-29"></date></ref></edition><respStmt><resp>contributor</resp><name key="166613"><persName><forename>Frédéric</forename><surname>Giraud</surname></persName><email>frederic.giraud@polytech-lille.fr</email></name></respStmt></editionStmt><publicationStmt><distributor>CCSD</distributor><idno type="halId">hal-00642523</idno><idno type="halUri">https://hal.inria.fr/hal-00642523</idno><idno type="halBibtex">giraud:hal-00642523</idno><idno type="halRefHtml">Haptics, IEEE Transactions on, IEEE, 2011, pp.327-331. <10.1109/TOH.2011.20></idno><idno type="halRef">Haptics, IEEE Transactions on, IEEE, 2011, pp.327-331. <10.1109/TOH.2011.20></idno></publicationStmt><seriesStmt><idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno><idno type="stamp" n="INRIA">INRIA - Institut National de Recherche en Informatique et en Automatique</idno><idno type="stamp" n="EC-LILLE">Ecole Centrale de Lille</idno><idno type="stamp" n="ENSAM">Ecole Nationale Supérieure d'Arts et Métiers</idno><idno type="stamp" n="IRCICA">Institut de Recherche sur les Composants logiciels et matériels pour l'Information et la Communication Avancée</idno><idno type="stamp" n="INRIA-LILLE">INRIA Lille - Nord Europe</idno><idno type="stamp" n="CRISTAL" p="UNIV-LILLE3">Centre de Recherche en Informatique, Signal et Automatique de Lille (CRISTAL)</idno><idno type="stamp" n="INRIA_TEST">INRIA - Institut National de Recherche en Informatique et en Automatique</idno><idno type="stamp" n="INRIA2">INRIA 2</idno><idno type="stamp" n="UNIV-LILLE3">Université de Lille Sciences humaines et sociales</idno></seriesStmt><notesStmt><note type="audience" n="2">International</note><note type="popular" n="0">No</note><note type="peer" n="1">Yes</note></notesStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Modeling and Compensation of the Internal Friction Torque of a Travelling Wave Ultrasonic Motor</title><author role="aut"><persName><forename type="first">Frédéric</forename><surname>Giraud</surname></persName><email>frederic.giraud@polytech-lille.fr</email><idno type="idHal">frederic-giraud</idno><idno type="halAuthorId">654799</idno><idno type="ORCID">http://orcid.org/0000-0002-5688-711X</idno><affiliation ref="#struct-111223"></affiliation><affiliation ref="#struct-13338"></affiliation></author><author role="aut"><persName><forename type="first">Paul</forename><surname>Sandulescu</surname></persName><idno type="halAuthorId">660067</idno><affiliation ref="#struct-13338"></affiliation></author><author role="aut"><persName><forename type="first">Michel</forename><surname>Amberg</surname></persName><idno type="halAuthorId">543461</idno><affiliation ref="#struct-111223"></affiliation><affiliation ref="#struct-13338"></affiliation></author><author role="aut"><persName><forename type="first">Betty</forename><surname>Lemaire-Semail</surname></persName><idno type="halAuthorId">1125653</idno><orgName ref="#struct-370442"></orgName><affiliation ref="#struct-111223"></affiliation><affiliation ref="#struct-13338"></affiliation></author><author role="aut"><persName><forename type="first">Fiorin</forename><surname>Ionescu</surname></persName><idno type="halAuthorId">1122290</idno><orgName ref="#struct-302605"></orgName><affiliation ref="#struct-302604"></affiliation></author></analytic><monogr><idno type="halJournalId" status="INCOMING">69813</idno><title level="j">Haptics, IEEE Transactions on</title><imprint><publisher>IEEE</publisher><biblScope unit="issue">4</biblScope><biblScope unit="pp">327-331</biblScope><date type="datePub">2011-07-09</date></imprint></monogr><idno type="doi">10.1109/TOH.2011.20</idno><ref type="seeAlso">http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5871610&tag=1</ref></biblStruct></sourceDesc><profileDesc><langUsage><language ident="en">English</language></langUsage><textClass><keywords scheme="author"><term xml:lang="en">real-time control</term><term xml:lang="en">Force feedback</term><term xml:lang="en">ultrasonic motor</term><term xml:lang="en">haptic display</term></keywords><classCode scheme="halDomain" n="spi.nrj">Engineering Sciences [physics]/Electric power</classCode><classCode scheme="halDomain" n="info.info-hc">Computer Science [cs]/Human-Computer Interaction [cs.HC]</classCode><classCode scheme="halTypology" n="ART">Journal articles</classCode></textClass><abstract xml:lang="en">This paper deals with the control and experimentation of a one-degreeof- freedom haptic stick, actuated by a travelling wave ultrasonic motor. This type of actuator has many interesting properties such as low-speed operation capabilities and a high torque-to-weight ratio, making it appropriate for haptic applications. However, the motor used in this application displays nonlinear behavior due to the necessary contact between its rotor and stator. Moreover, due to its energy conversion process, the torque applied to the end-effector is not a straightforward function of the supply current or voltage. This is why a forcefeedback control strategy is presented, which includes an online parameter estimator. Experimental runs are then presented to examine the fidelity of the interface.</abstract></profileDesc></hal></record>Pour manipuler ce document sous Unix (Dilib)
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