EFFECTIVE DOUBLE LOOP CONTROL FOR A SQUARE WAVE BRUSHLESS DC MOTOR

A new type of brushless DC motor has been developed by using a square wave rare earth permanent magnet synchronous motor with its double loop control circuit. The double loop control scheme of the drive system yields a combination of desired characteristics including simplified control structure, small ripple torque, high speed accuracy, wide operating speed range, and fast dynamic response. Experimental results confirm excellent characteristics of the motor.

Speed Control of Travelling Wave Type Ultrasonic Motors Using Artificial Neural Network

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.

A Novel Traveling Wave Ultrasonic Motor Using a Bar Shaped Transducer

A novel traveling wave ultrasonic motor was proposed. The structure of the motor is rather simple and different from the conventional traveling wave ultrasonic motors. Its production processes are very convenient. It is composed of a stator constituted with a ring and a bar shaped transducer and two cone shaped rotors. The rotors were pressed on inner surface of the ring by means of a pre-pressure system. The bar shaped transducer has a sand- wich-like configuration,where two sets of piezoelectric element are bolted. One set excites a longitudinal vibration of the bar, and the other set excites a flexural vibration of the bar. The ring＇s traveling wave excited with the longitudinal vibration and the bending vibration of the bar transducer was simulated with FEM （finite element method）. The prototype of the motor was made and investigated experimentally for its performance. Its maximum torque and rotating speed are 0.25 N · m and 50 r/min, respectively.

A wide-angle wave control method of reducing torque ripple for brushless DC motor

In order to deal with torque pulsation problem caused by traditional control method for brushless DC （BLDC） motor and to achieve high precision and good stability, a novel control strategy is proposed. Compared with the traditional control scheme, by using phase voltage as a control objective and making waveform of phase current approximately quasi-sinusoidal, torque ripple of BLDC motor is reduced from the original 14% to 3.4%, while toque is increased by 3.8%. Furthermore, by detecting zero-crossings of back electromotive force （BEMF） with non-conducting phases, sensorless control is realized. The new control strategy is simple. It can minimize torque ripple, increase torque, and realize sensorless control for BLDC motor. Simulation and experiments show good performance of BLDC motor by using the new control method.

Working principle and design of a double cylinders type traveling wave ultrasonic motor using composite transducer

A double cylinders type traveling wave ultrasonic motor using composite transducer was proposed.The proposed stator contained two cylinders and one composite transducer,and the transducer located on the outer surfaces of cylinders.The composite transducer included two exponential horns located on leading ends,and the horns insected with the cylinders at tip ends.Two degenerated flexural vibration modes spatially and temporally orthogonal to each other were excited in each cylinder by the composite transducer.In this new design,a single transducer could excite two flexural traveling waves in the cylinders.Thus,elliptical motions were achieved at the particles on the teeth.The working principle of the proposed motor was analyzed.The cylinder and transducer were designed with FEM.The resonant frequencies of two vibration modals of the stator were tuned to be the same,and the motion trajectories of nodes on the teeth were analyzed.Transient analysis results show that the motion trajectories of teeth are ellipses.The results of this paper can guide the development of this new type of ultrasonic motor.

THE EQUIVALENT CIRCUIT AND CONTROL SYSTEM OF TRAVELLING WAVE TYPE ULTRASONIC MOTOR

The ultrasonic motor is a sort of new type of micromotor with special structure. By use of piezoelectric converse effect of ceramics, the electrical energy is transformed into mechanical energy. Its operating principle is quite different from that of the traditional motors. In this paper the equivalent circuits of the ring stator and even the whole motor are proposed after studying the equivalent circuit of piezoelectric vibrator. Then the paper makes detailed analyses of each part of the control system, which has been simplified by the equivalent circuit. The theory in this paper has been proved through experiments.

Novel Traveling Wave Sandwich Piezoelectric Transducer with Single Phase Drive:Theoretical Modeling,Experimental Validation,and Application Investigation

Most of traditional traveling wave piezoelectric transducers are driven by two phase different excitation signals,leading to a complex control system and seriously limiting their applications in industry.To overcome these issues,a novel traveling wave sandwich piezoelectric transducer with a single-phase drive is proposed in this study.Traveling waves are produced in two driving rings of the transducer while the longitudinal vibration is excited in its sandwich composite beam,due to the coupling property of the combined structure.This results in the production of elliptical motions in the two driving rings to achieve the drive function.An analytical model is firstly developed using the transfer matrix method to analyze the dynamic behavior of the proposed transducer.Its vibration characteristics are measured and compared with computational results to validate the effectiveness of the proposed analytical model.Besides,the driving concept of the transducer is investigated by computing the motion trajectory of surface points of the driving ring and the quality of traveling wave of the driving ring.Additionally,application example investigations on the driving effect of the proposed transducer are carried out by constructing and assembling a tracked mobile system.Experimental results indicated that 1)the assembled tracked mobile system moved in the driving frequency of 19410 Hz corresponding to its maximum mean velocity through frequency sensitivity experiments;2)motion characteristic and traction performance measurements of the system prototype presented its maximum mean velocity with 59 mm/s and its maximum stalling traction force with 1.65 N,at the excitation voltage of 500 V_(RMS).These experimental results demonstrate the feasibility of the proposed traveling wave sandwich piezoelectric transducer.

Simplified circuit model of disk-shaped traveling wave ultrasonic motor

This paper presents a method of establishing simplified equivalent circuit model of traveling wave ultrasonic motor by using 1/2 wavelength stator with the similar vibration characteristics. Combined with the vibration mode characteristics of the composite stator, the method utilizes Hamilton principle to obtain precise solution of the simplified equivalent circuit. The model shows the mechanism of ultrasonic motor, considering the influence of non-axisymmetric vibration mode, tooth outline, anisotropy of PZT (Piezoelectric ceramic), etc. With this method, various electric parameters corresponding to different vibration modes, such as static capacitance, dynamic capacitance, dynamic inductance, dynamic resistance, equivalent input impedance, etc., can be solved. Experiments show good agreement with theoretical results.

Analysis on influence of seismic travelling wave effect on semi-active control for long-span rigid-continuous bridge

The analysis approach of semi-active control for long-span rigid-continuous bridge under seismic travelling wave input is established. Magnetorheological dampers are set on the positions of the bridge beatings. The semi-active control calculation and analysis are performed for a five-span rigid-continuous bridge under seismic travelling waves with different apparent surface velocities. The results indicate that travelling wave effect remarkably influences the uncontrolled seismic responses, the semi-active control seismic responses and vibration control effects for the long-span rigid-continuous bridge. It is disadvantageous to the responses of the beams and the piers under the travelling wave input with lower apparent surface velocity, and travelling wave effect can decrease the vibration control effects evidently. Therefore, the travelling wave effect should be considered for the selection of the parameter values of semi-active control system in order to get the designing control effect.

Computational analysis of vibration modes of disk-shaped piezoelectric traveling wave motors

According to Kirchhoff-Love's assumptions, this paper establishes linear system of equations for solving eigen frequency constant and corresponding mode shape. Using engineer-ing and numerical analysis software Matlab5.2 and method of coefficient determinant searching arithmetic, eigen frequency constant and mode shape of the stator with i.d./ o.d. ratio of 0.1, 0.3, 0.35, 0.6 and different vibration modes are accurately solved and analyzed. By means of Newton interpolation method, contributions of transverse deflection amplitude and vibration energy corresponding to various modes are determined. This paper offers a valid theoretical foundation for the optimum design of the stator of disk-shaped ultrasonic motors. Furthermore, according to results of numerical analysis, several choosing principles of vibration modes are summarized.

Analytic study on the optimal control of water hammer waves in pipes

To realize the accurate control of water hammer in pipes by valve stroking, based on basic differential equations of water hammer subjected to initial and boundary conditions, the traveling solution of wave equations in finite region was applied to the linear water hammer problem. With the given velocity function at the valve and the introduction of curve integration independent of integral path, the exact analytic solution of dimensionless water hammer pressure was obtained in the course of valve closing. Based on the definition of eigen wave height, optimal eigen wave height and observation time, the control goal of water hammer pressure and the judgment rule of the optimal eigen wave height were determined, then the optimal velocity function in the calculated example was derived, which can reduce the water hammer pressure maximally. According to this function, a valve closing program was set, and the optimal control of water hammer could be realized.

LEAD SCREW LINEAR ULTRASONIC MOTOR USING BENDING VIBRATION MODES

The operating principle of a lead screw linear ultrasonic motor using bending vibration modes is analyzed. The simplified beam bending vibration model is used to analyze the dynamics characteristics of the motor. Motion trajectory equations are derived for driving points of the stator. The motor operation and driving mechanisms are investigated. The vibration modes and the construction of the motor are analyzed by using the finite element method （FEM）. A prototype motor is built and its stator dimension is 13 mm × 13 mm× 30 mm. The motor is experimentally characterized and the maximum output force of 5- 2 N is obtained.

Travel time function for basic link considering signal control in network traffic model

In order to describe the travel time of signalcontrolled roads, a travel time model for urban basic roads based on the cumulative curve is proposed. First, the traffic wave method is used to analyze the formation and dispersion of the vehicle queue. Cumulative curves for road entrances and exits are established. Based on the cumulative curves, the travel time of the one-lane road under stable flow input is derived. And then, the multi-lane road is decomposed into a series of single-lane links based on its topological characteristics. Hence, the travel time function for the basic road is obtained. The travel time is a function of road length, flow and control parameters. Numerical analyses show that the travel time depends on the supply-demand condition, and it has high sensitivity during peak hours.

Experimental study of noncontact ultrasonic motor with non-symmetrical electrode

We have proposed a novel noncontact ultrasonic motor based on non-syinmetrical electrode driving. The configuration of this electrode and the fabrication process of rotors are presented. Its vibration characteristics are computed and analysed by using the finite element method and studied experimentally. Good agreement between them is obtained. Moreover, it is also shown that this noncontact ultrasonic motor is operated in antisymmetric radial vibration mode of B21 mode. The maximum revolution speed for three-blade and six-blade rotors are 5100 and 3700r/min at an input voltage of 20V, respectively. Also, the noncontact high-speed revolution of the rotors can be realized by the parts of Ⅰ, Ⅲ of the electrode or Ⅱ, Ⅳ of the electrode. The levitation distance between the s tator and rotor is about 140μm according to the theoretical calculation and the experimental measurement.

Gradient descent decomposition of force-field motor primitives optogenetically elicited for motor mapping of the murine lumbosacral spinal cord

Generating diverse motor behaviors critical for survival is a challenge that confronts the central nervous system(CNS)of all animals.During movement execution,the CNS performs complex calculations to control a large number of neuromusculoskeletal elements.The theory of modular motor control proposes that spinal interneurons are organized in discrete modules that can be linearly combined to generate a variety of behavioral patterns.These modules have been previously represented as stimulus-evoked force fields(FFs)comprising isometric limb-endpoint forces across workspace locations.Here,we ask whether FFs elicited by different stimulations indeed represent the most elementary units of motor control or are themselves the combination of a limited number of even more fundamental motor modules.To probe for potentially more elementary modules,we optogenetically stimulated the lumbosacral spinal cord of intact and spinalized Thy1-ChR2 transgenic mice(n=21),eliciting FFs from as many single stimulation loci as possible(20-70 loci per mouse)at minimally necessary power.We found that the resulting varieties of FFs defied simple categorization with just a few clusters.We used gradient descent to further decompose the FFs into their underlying basic force fields(BFFs),whose linear combination explained FF variability.Across mice,we identified 4-5 BFFs with partially localizable but overlapping representations along the spinal cord.The BFFs were structured and topographically distributed in such a way that a rostral-to-caudal traveling wave of activity across the lumbosacral spinal cord may generate a swing-to-stance gait cycle.These BFFs may represent more rudimentary submodules that can be flexibly merged to produce a library of motor modules for building different motor behaviors.

ACTIVE VIBRATION CONTROL OF FINITE L-SHAPED BEAM WITH TRAVELLING WAVE APPROACH

In this paper, the disturbance propagation and active vibration control of a finite L-shaped beam axe studied. The dynamic response of the structure is obtained by the travelling wave approach. The active vibration suppression of the finite L-shaped beam is performed based on the structural vibration power flow. In the numerical calculation, the influences of the near field effect of the error sensor and the small error of the control forces on the control results are all considered. The simulation results indicate that the structural vibration response in the medium and high frequency regions can be effectively computed by the travelling wave method. The effect of the active control by controlling the power flow is much better than that by controlling the acceleration in some cases. And the control results by the power flow method are slightly affected by the locations of the error sensor and the small error of the control forces.

A rotary ultrasonic motor using radial bending mode of ring with nested PZT excitation

This study presents and verifies a new idea for constructing a rotary traveling wave ultrasonic motor （USM） that uses the radial bending mode of a ring. In the new design, 20 trapezoid cross section slots are cut symmetrically in the outer surface of a thick duralumin alloy ring, where 20 PZT stacks are nested. In each slot, two wedging blocks are set between the PZT stack and the two sides of the slot respectively to apply preloading on the PZT ceramics. Two radial bending modes of the stator that have a phase difference of a quarter wavelength on space are generated by using the d33 operating mode of the PZT elements, and then a flexural traveling wave is formed by the superimposing of two standing waves whose amplitudes are equal and phases are different by 90~ temporally. Two conical rotors are pressed to each end of the ring type stator by a coiled spring. The finite element method （FEM） simulation is developed to validate the feasibility of the proposed motor. The maximal speed and torque of the prototype are tested to be 126 r/rain and 0.8 N＇m, respectively.

EXACT ANALYSIS OF WAVE PROPAGATION IN AN INFINITE RECTANGULAR BEAM

The Fourier series method was extended for the exact analysis of wave propagation in an infinite rectangular beam.Initially,by solving the three-dimensional elastodynamic equations a general analytic solution was derived for wave motion within the beam.And then for the beam with stress-free boundaries,the propagation characteristics of elastic waves were presented.This accurate wave propagation model lays a solid foundation of simultaneous control of coupled waves in the beam.

Vibration control of the finite L-shaped beam structures based on the active and reactive power flow

This paper analyzes the physical meaning of the active and reactive power flow in the finite L-shaped beams and studies the active vibration control of the structures based on the active and reactive power flow.The traveling wave approach is used to calculate the structural dynamic responses.Because the error of control force is inevitable in practical applications,the effects of the error of control force on the control results are studied.The study indicates that the error of control force has pronounced influence on the control results of the acceleration and reactive power flow.It is obvious that the reactive power flow can represent the vibration strength component of the complex intensity,and the active power flow strongly depends on the structural damping of the finite beams.

FLEXURAL WAVE PROPAGATION IN NARROW MINDLIN'S PLATE

Appling Mindlin＇s theory of thick plates and Hamilton system to propagation of elastic waves under free boundary condition, a solution of the problem was given. Dispersion equations of propagation mode of strip plates were deduced from eigenfunction expansion method. It was compared with the dispersion relation that was gained through solution of thick plate theory proposed by Mindlin. Based on the two kinds of theories, the dispersion curves show great difference in the region of short waves, and the cutoff frequencies are higher in Hamiltonian systems. However, the dispersion curves are almost the same in the region of long waves.