Journal
IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS
Volume 40, Issue 6, Pages 1541-1549Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIA.2004.836317
Keywords
actuator; causal modeling; haptic; phase control; piezoelectric; traveling wave; ultrasonic
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An original modeling of a traveling-wave ultrasonic motor is established in order to provide a new torque control law for this category of actuators. In particular, self-driving is implemented, avoiding the classical drawbacks of frequency control, i.e., pull-out phenomenon. With such a robust control, force feedback application is available. Experimental results are obtained on an active haptic stick.
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