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Table of contents
Résumé en français
Introduction
I.1 Objectives and scope of the research
I.2 Initiation to piezoelectric actuators and motors
I.2.1 Direct and converse piezoelectric effects
I.2.2 Principle of piezoelectric actuator and motor
I.2.3 Nonlinearities of piezoelectric actuators
I.2.3.1 Hysteresis
I.2.3.2 Creep
I.2.3.3 Vibrational dynamics
I.3 Classification of piezoelectric motors and operating principles
I.3.1 Quasi-static piezoelectric motors
I.3.1.1 Inertia motors
I.3.1.2 Stepping motors
I.3.2 Ultrasonic piezoelectric motors
I.3.2.1 Standing waves ultrasonic motors
I.3.2.2 Traveling waves ultrasonic motors
I.4 Piezoelectric motor applications
I.5 Thesis contributions
I.6 Thesis outlines
Synthesis of Robust Position Controllers of Piezoelectric Motors
II.1 Introduction
II.2 H-infinity position controller
II.3 RST position controller
II.4 Conclusions
Modeling and Design of Robust Closed Loop Position Controllers for Rotary Traveling Wave Ultrasonic Motor
III.1 Introduction
III.2 Working principle of rotary TWUSM (USR60)
III.3 Literature review
III.3.1 Modeling of rotary TWUSM
III.3.2 Position control of rotary TWUSM
III.4 Proposed Simulink model of USR60
III.4.1 Stator
III.4.2 Contact surface
III.4.2.1 Half-contact length, x0
III.4.2.2 Stick points, xs
III.4.2.3 Torque generation
III.4.3 Rotor (vertical motion)
III.4.4 Rotor (angular motion)
III.5 Simulation of USR60 model
III.6 Experimental test bench
III.6.1 Experimental platform description
III.6.2 Experimental characteristics of USR60
III.6.3 Phase shift-position transfer function identification
III.7 Synthesis of robust position controllers of USR60
III.7.1 H-infinity position controller of USR60
III.7.2 RST position controller of USR60
III.7.3 Simulation of closed loop USR60 positionning system
III.7.3.1 Transfer function model simulations
III.7.3.2 Simulation results based on electromechanical model
III.8 Real-time implementation of TWUSM closed loop positioning system
III.8.1 H-infinity test results
III.8.2 RST test results
III.8.3 . Comparative study of controller performances
III.9 Conclusions
Modeling and Design of Robust Closed Loop Position Controllers for Piezoelectric Actuator Drive (PAD)
IV.1 Introduction
IV.2 PAD working principle and features
IV.2.1 PAD working principle
IV.2.2 PAD features
IV.3 Modeling of Piezoelectric Actuator Drive (PAD7220)
IV.4 Experimental test bench
IV.4.1 Experimental platform description
IV.4.2 Frequency-position relationship identification
IV.5 Synthesis of robust position controllers of PAD
IV.5.1 H-infinity position controller of PAD
IV.5.2 RST position controller of PAD
IV.6 Simulation results
IV.7 Real-time implementation of PAD closed loop positioning system
IV.7.1 H-infinity test results
IV.7.2 RST test results
IV.7.3 Comparative study
IV.8 Conclusions
Modeling and Design of Robust Closed Loop Position Controllers for Linear Walking Piezoelectric Motor
V.1 Introduction
V.2 Literature Review of WPZM position controllers
V.3 Contributions and outlines
V.4 Working Principle of Walking Piezoelectric Motor
V.5 Experimental test bench and motor transfer function identification
V.5.1 Experimental test bench
V.5.2 Motor transfer function identification
V.6 Synthesis of robust position controllers of WPZM
V.6.1 H-infinity position controller of WPZM
V.6.2 RST position controller of WPZM
V.7 Simulation of WPZM closed loop system
V.8 Real-time implementation of WPZM closed loop positioning system
V.8.1 H-infinity test results
V.8.2 RST test results
V.8.3 Comparative study
V.9 Conclusions
Suggestions, recommendations, and general conclusions
VI.1 Summary and contributions of this thesis
VI.1.1 Summary
VI.1.2 Contributions
VI.2 General conclusions
VI.2.1 Traveling wave ultrasonic motor (USR60)
VI.2.2 Rotary quasi-static motor (PAD7220)
VI.2.3 Linear walking piezoelectric motor (N-310.13)
VI.2.4 Recommendations for future works
Appendix A: USR60-E3T
A.1. Datasheet parameters of USR60-E3T
A.2. Simulation parameters of USR60-E3T
A.3. Real time implementation of position control of USR60 (Simulink file)
Append B: PAD7220
B.1. Datasheet parameters of PAD7220
B.2. Simulation parameters of PAD7220
B.3. Real time implementation of position control of PAD7220 (Simulink file)
B.4. Real time graphical interface for PAD7220 (ControlDesk)
Appendix C: N-310.13
C.1. Datasheet parameters of N-310.13
C.2. Real time implementation of position control of N-310.13 (Simulink file)
C.3. Real time graphical interface for N-310.13 (ControlDesk)
C.4. Schematic files for control boar
