Year of Publication

2009

Degree Name

Master of Science (MS)

Document Type

Thesis

College

Engineering

Department

Mechanical Engineering

First Advisor

Dr. Thomas M. Seigler

Abstract

The traveling wave ultrasonic motor is considered for use in haptic devices where a certain input-output relation is desired between the applied force and the resulting motion. Historically, DC motors have been the standard choice for this purpose. Owing to its unique characteristics, the ultrasonic motors have been considered an attractive alternative. However, there are some limitations when using the ultrasonic motor for force-feedback applications. In particular, direct torque control is difficult, and the motor can only supply torque in the direction of motion. To accommodate these limitations we developed an indirect control approach. The experimental results demonstrate that the model reference control method was able to approximate a second order spring-damper system.

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