Golden section adaptive speed control of ultrasonic motors

Aiming at the obvious nonlinearity of ultrasonic motor, a kind of adaptive speed control strategy is studied in this paper. The three-order characteristic model of ultrasonic motor which can describe the motor's control characteristics is established. Using frequency of the driving voltage as control variable, a golden section adaptive speed controller is designed based on the characteristic model. According to the analysis on experimental results, the improved measures such as logic integral and differential control laws are proposed to improve the control performance. The experiments indicate the availability of the proposed control strategy.