摘要
Ultrasonic motor (USM) is a newly developed motor, and it has some excellent performances and useful features, therefore, it has been expected to be of practical use. However, the driving principle of USM is different from that of other electromagnetic type motors, and the mathematical model is complex to apply to motor control. Furthermore, the speed characteristics of the motor have heavy nonlinearity and vary with driving conditions. Hence, the precise speed control of USM is generally difficult. This paper proposes a new speed control scheme for USM using an artificial neural network. An accurate tracking response can be obtained by random initialization of the weights of the network owing to the powerful on line learning capability. Two prototype ultrasonic motors of travelling wave type were fabricated, both having 100 mm outer diameters of stator and piezoelectric ceramic. The usefulness and validity of the proposed control scheme are examined in experiments.
超声马达有许多优异的性能，并且正在逐步走向实用化．然而，超声马达的速度控制特性具有高度非线性且随工作状态而变化，所以，精确的速度控制对于超声马达非常困难．本文提出了一种新的利用人工神经网络的超声马达速度控制方法，通过制作压电陶瓷外径为１００ ｍｍ 的大尺寸、大扭矩压电行波超声马达样机并对其进行试验，试验证明：应用该方法具有很好的速度控制效果．
