Positioning System with Progressive Wave-Type Ultrasonic Motor under Self-Tuning Fuzzy Control
Junji Fukumi,* Takuya Kamano,* Takayuki Suzuki*
and Yu Kataoka**
*Department of Electrical and Electronics Engineering, Faculty of Engineering, The University of Tokushima, 2-1, Minamijosanjima, Tokushima, 770 Japan
** Kataoka Machine Co. Ltd., 4765-46, Sangawa, Iyomishima, 799-04 Japan
This paper considers the use of a self-tuning fuzzy controller for a positioning system with a progressive wavetype ultrasonic motor. The system consists of a feedback loop with a conventional controller and a self tuning fuzzy controller. The objective of the self tuning fuzzy controller is to restrain the adverse effect of nonlinear characteristics of the motor and to improve the tracking performance. The self-tuning fuzzy controller is functionally divided into two layers. The fuzzy rules are automatically adjusted by a tuning algorithm so that the tracking error is minimized in the upper layer. In lower layer, the output signal of the self tuning fuzzy controller is obtained by fuzzy reasoning procedure. After the tuning process is completed, the tracking error almost converges to zero, and the ultrasonic motor is no longer controlled by the fixed gain feedback controller but by the self-tuning fuzzy controller. The effectiveness of the proposed self-tuning fuzzy controller is demonstrated by an experiment.
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