2P1-D12 球面超音波モータの位置制御性能の比較

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In this paper, we investigate the position control of spherical ultrasonic motor (SUSM). The generated torque of SUSM is influenced by the phase difference and the driving frequency of applied AC voltages. Therefore, the control strategy is classified into three types. We formulate the position control rules for SUSM based on the three types of control variables, and investigate the performances experimentally.
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