兵工自动化2025，Vol.44Issue(7)：42-49,8.DOI:10.7690/bgzdh.2025.07.009
基于实用稳定性的行波旋转超声电机鲁棒控制方法
Robust Control Method of Traveling Wave Rotary Ultrasonic Motor Based on Practical Stability
摘要
Abstract
Aiming at the problem of poor control effect caused by complex coupling,nonlinearity and uncertainty of ultrasonic motor,a robust control method of traveling wave rotary ultrasonic motor based on practical stability was proposed.According to the dynamic characteristics of the stator and rotor of the traveling wave ultrasonic motor and the friction system,a complex nonlinear dynamic model of the traveling wave ultrasonic motor system is constructed,and the complex nonlinearity and coupling of the Hertz contact model are simplified through Taylor expansion to meet the requirements of the controller design;The influence of system uncertainty is discussed,and α synthesis is used to characterize the system uncertainty,by which a robust controller is proposed.Simulation results demonstrate the superiority of the proposed control design.The hardware in the loop Simulink simulation experimental platform is constructed,and the superiority of the controller is finally confirmed.The experimental results show that the control method is carefully designed step by step based on the model,which is versatile and can solve the complex uncertainties of all traveling wave ultrasonic motors.关键词
旋转行波超声电机/鲁棒控制/实用稳定性/非线性/不确定性Key words
rotary traveling wave ultrasonic motor/robust control/practical stability/nonlinearity/uncertainty分类
信息技术与安全科学引用本文复制引用
刘卜溢,孙芹芹,吴大伟..基于实用稳定性的行波旋转超声电机鲁棒控制方法[J].兵工自动化,2025,44(7):42-49,8.基金项目
国家自然科学基金(62303219) （62303219）
中国博士后基金(2022M721599) （2022M721599）
江苏省自然科学基金(BK20230879) （BK20230879）
