hal-00642523, version 1
Modeling and Compensation of the Internal Friction Torque of a Travelling Wave Ultrasonic Motor
Frédéric Giraud
1, 2Paul Sandulescu 2Betty Semail a, 1, 2Michel Amberg 1, 2Fiorin Ionescu b
Haptics, IEEE Transactions on, 4 (2011) 327-331
Résumé : This paper deals with the control and experimentation of a one-degreeof- freedom haptic stick, actuated by a travelling wave ultrasonic motor. This type of actuator has many interesting properties such as low-speed operation capabilities and a high torque-to-weight ratio, making it appropriate for haptic applications. However, the motor used in this application displays nonlinear behavior due to the necessary contact between its rotor and stator. Moreover, due to its energy conversion process, the torque applied to the end-effector is not a straightforward function of the supply current or voltage. This is why a forcefeedback control strategy is presented, which includes an online parameter estimator. Experimental runs are then presented to examine the fidelity of the interface.
- a – Université des Sciences et Technologies de Lille - Lille I
- b – University Polytechnica of Bucharest
- 1 : MINT (INRIA Lille - Nord Europe)
- INRIA – CNRS : UMR8022 – Université Lille I - Sciences et technologies – IRCICA
- 2 : Laboratoire d'électrotechnique et d'électronique de puissance (L2EP) (L2EP)
- Université Lille I - Sciences et technologies – Arts et Métiers ParisTech – Ecole Centrale de Lille – Haute Etude d'Ingénieurs
- Domaine : Sciences de l'ingénieur/Energie électrique
Informatique/Interface homme-machine - Mots-clés : Force feedback – real-time control – haptic display – ultrasonic motor
- hal-00642523, version 1
- http://hal.inria.fr/hal-00642523
- oai:hal.inria.fr:hal-00642523
- Contributeur : Frédéric Giraud
- Soumis le : Vendredi 18 Novembre 2011, 11:14:07
- Dernière modification le : Vendredi 18 Novembre 2011, 11:14:07
Documents associés
DOI : 10.1109/TOH.2011.20
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