Robust Speed Control of Ultrasonic Motor Based on H_∞ Control with Repetitive Compensator

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概要

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• A constant speed control system of an ultrasonic motor(USM)is designed based on H_∞ control with a repetitive compensator. Generally driving mechanism of USM uses frictional force. It comes the following disadvantages of the motors : (1)the dynamic response shows non-linear natures and depends on the operating temperature ; (2)the average rotational speed gradually decreases with temperature rise ; (3)the speed fluctuates periodically synchronizing with rotation. To tackle the problems, multiplicative uncertainties are introduced into the plant model to represent the non-linearity and the temperature dependency. The decrease and the fluctuation in speed are treated as a step and a periodic disturbance respectively. The control system is designed as follows. Firstly, and integral type H_∞ controller is designed which guarantees robust stability against the uncertainties. Secondly, a repetitive compensator is attached to the system without loosing stability to attenuate the periodic disturbance. Experiments confirm the validity of the proposed control system.

• 一般社団法人日本機械学会の論文
• 1999-12-15

著者

• KIMURA Tetsuya

  Faculty of Bioresources, Mie University

• Kimura Tetsuya

  College Of Engineering Osaka Prefecture University

• Yanabe Shigeo

  Faculty Of Engineering Nagaoka University Of Technology

• KOBAYASHI Yasuhide

  Faculty of Engineering, Nagaoka University of Technology

• Kobayashi Yasuhide

  Faculty Of Engineering Nagaoka University Of Technology

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