An Approach to Force-Feedback Control with Traveling Wave Ultrasonic Motor
Identifieur interne : 004A18 ( Main/Merge ); précédent : 004A17; suivant : 004A19An Approach to Force-Feedback Control with Traveling Wave Ultrasonic Motor
Auteurs : T. Michael Seigler [États-Unis] ; Nishant Venkatesan [États-Unis] ; Daniel Inman [États-Unis]Source :
- Journal of intelligent material systems and structures [ 1045-389X ] ; 2009.
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Abstract
The traveling wave ultrasonic motor is considered for use in haptic devices where feedback forces are required, particularly in force-feel systems where a certain input- output relation is desired between the applied torque and the response. Owing to some of its unique characteristics, there are circumstances where the ultrasonic motor may be considered an appealing alternative to the more standard DC motor. However, the two types of motors are significantly different in their principles of operation, and are not necessarily interchangeable for all applications. The ultrasonic motor is limited in that the torque cannot be arbitrarily controlled under external loading. Moreover, direct control of the motor torque is difficult due to the complex nature of the contact mechanics. To accommodate these limitations, we investigated a method of model reference force-feedback control, in which the interaction torque is used as the reference source. Experimental results demonstrated that the closed-loop system is able to approximate simple second-order behavior, thus approximating the feel of a spring and damper.
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Michael Seigler</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, University of Kentucky</s1><s2>Lexington</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>États-Unis</country><wicri:noRegion>Lexington</wicri:noRegion></affiliation></author><author><name sortKey="Venkatesan, Nishant" sort="Venkatesan, Nishant" uniqKey="Venkatesan N" first="Nishant" last="Venkatesan">Nishant Venkatesan</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, University of Kentucky</s1><s2>Lexington</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>États-Unis</country><wicri:noRegion>Lexington</wicri:noRegion></affiliation></author><author><name sortKey="Inman, Daniel" sort="Inman, Daniel" uniqKey="Inman D" first="Daniel" last="Inman">Daniel Inman</name><affiliation wicri:level="2"><inist:fA14 i1="02"><s1>Department of Mechanical Engineering</s1><s2>Virginia Tech, VA</s2><s3>USA</s3><sZ>3 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Virginie</region></placeName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">10-0046480</idno><date when="2009">2009</date><idno type="stanalyst">PASCAL 10-0046480 INIST</idno><idno type="RBID">Pascal:10-0046480</idno><idno type="wicri:Area/PascalFrancis/Corpus">000686</idno><idno type="wicri:Area/PascalFrancis/Curation">000D19</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000625</idno><idno type="wicri:doubleKey">1045-389X:2009:Seigler T:an:approach:to</idno><idno type="wicri:Area/Main/Merge">004A18</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">An Approach to Force-Feedback Control with Traveling Wave Ultrasonic Motor</title><author><name sortKey="Seigler, T Michael" sort="Seigler, T Michael" uniqKey="Seigler T" first="T. 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Michael Seigler</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, University of Kentucky</s1><s2>Lexington</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>États-Unis</country><wicri:noRegion>Lexington</wicri:noRegion></affiliation></author><author><name sortKey="Venkatesan, Nishant" sort="Venkatesan, Nishant" uniqKey="Venkatesan N" first="Nishant" last="Venkatesan">Nishant Venkatesan</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, University of Kentucky</s1><s2>Lexington</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>États-Unis</country><wicri:noRegion>Lexington</wicri:noRegion></affiliation></author><author><name sortKey="Inman, Daniel" sort="Inman, Daniel" uniqKey="Inman D" first="Daniel" last="Inman">Daniel Inman</name><affiliation wicri:level="2"><inist:fA14 i1="02"><s1>Department of Mechanical Engineering</s1><s2>Virginia Tech, VA</s2><s3>USA</s3><sZ>3 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Virginie</region></placeName></affiliation></author></analytic><series><title level="j" type="main">Journal of intelligent material systems and structures</title><title level="j" type="abbreviated">J. intell. mater. syst. struct.</title><idno type="ISSN">1045-389X</idno><imprint><date when="2009">2009</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">Journal of intelligent material systems and structures</title><title level="j" type="abbreviated">J. intell. mater. syst. struct.</title><idno type="ISSN">1045-389X</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Closed loop control</term><term>Electric motors</term><term>Experimental study</term><term>Feedback</term><term>Input-output</term><term>Mechanical contacts</term><term>Micromotors</term><term>Miniaturization</term><term>Modelling</term><term>Motor torque</term><term>Piezoelectric transducers</term><term>Ultrasonic motors</term><term>Vibration control</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Contrôle vibration</term><term>Moteur ultrason</term><term>Transducteur piézoélectrique</term><term>Boucle réaction</term><term>Couple moteur</term><term>Contact mécanique</term><term>Micromoteur</term><term>Miniaturisation</term><term>Moteur électrique</term><term>Commande boucle fermée</term><term>Entrée sortie</term><term>Modélisation</term><term>Etude expérimentale</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">The traveling wave ultrasonic motor is considered for use in haptic devices where feedback forces are required, particularly in force-feel systems where a certain input- output relation is desired between the applied torque and the response. Owing to some of its unique characteristics, there are circumstances where the ultrasonic motor may be considered an appealing alternative to the more standard DC motor. However, the two types of motors are significantly different in their principles of operation, and are not necessarily interchangeable for all applications. The ultrasonic motor is limited in that the torque cannot be arbitrarily controlled under external loading. Moreover, direct control of the motor torque is difficult due to the complex nature of the contact mechanics. To accommodate these limitations, we investigated a method of model reference force-feedback control, in which the interaction torque is used as the reference source. Experimental results demonstrated that the closed-loop system is able to approximate simple second-order behavior, thus approximating the feel of a spring and damper.</div></front></TEI><affiliations><list><country><li>États-Unis</li></country><region><li>Virginie</li></region></list><tree><country name="États-Unis"><noRegion><name sortKey="Seigler, T Michael" sort="Seigler, T Michael" uniqKey="Seigler T" first="T. Michael" last="Seigler">T. Michael Seigler</name></noRegion><name sortKey="Inman, Daniel" sort="Inman, Daniel" uniqKey="Inman D" first="Daniel" last="Inman">Daniel Inman</name><name sortKey="Venkatesan, Nishant" sort="Venkatesan, Nishant" uniqKey="Venkatesan N" first="Nishant" last="Venkatesan">Nishant Venkatesan</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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