超音波モータ実時間制御システムの開発と温度特性を用いた速度制御器の構築(機械力学,計測,自動制御)

概要

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Ultrasonic motors (USM's) have some special unique features, such as high-torque under low-speed operation, compact size, and no electromagnetic noise. The USM is expected to apply an element of the artificial muscle. The basic driving principle of the USM is based on friction force between a rotor and a stator. Therefore, it is difficult to drive the USM at a constant speed, because the generation of heat by friction changes the friction force. In this study, we constructed a real-time system of the USM by RT-Linux to develop an artificial muscle. And, we proposed a speed controller of the USM, considering the temperature rise of the USM. In the results, this method was proved the most effective for the speed control of the USM in experiments.
社団法人日本機械学会の論文
2003-01-25