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Analysis and phase control of a piezoelectric traveling-wave ultrasonic motor for haptic stick application

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3 Author(s)
F. Giraud ; Lab. d'Electrotechnique et d' Electronique de Puissance, Villeneuve d'Ascq, France ; B. Semail ; J. -T. Audren

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.

Published in:

IEEE Transactions on Industry Applications  (Volume:40 ,  Issue: 6 )