Nonlinearity and resonance frequency shift make it difficult to control the operation of the traveling-wave ultrasonic motors (TWUSMs) in a wide velocity and load range. In this paper, a velocity control scheme based on the stator vibration amplitude and the parallel resonance frequency (VCBVF) of TWUSMs is proposed. Then, the stator vibration amplitude (SVA) and parallel resonance frequency ( f p ) are detected by a transformer ratio-arm bridge. Based on the linear relationship between the velocity and the SVA of TWUSMs, the proposed scheme achieves the control of the mechanical loop and the electrical loop. The linear relationship between the velocity and the SVA makes the mechanical loop achieve the target velocity efficiently, according to the SVA, and the electrical loop could provide the target SVA quickly. Experimental results show that the response time of velocity is 3-4 ms under different load torques and the overshoot is less than 22%. In addition, the proposed scheme improves the efficiency of TWUSMs due to f p tracking. Due to directing the SVA control, the proposed scheme can heighten the velocity response and the load adaptability of TWUSMs, and promote the application of TWUSMs under various conditions.
Keywords: parallel resonance frequency; stator vibration amplitude; traveling-wave ultrasonic motors; velocity control.