FRIT for Systems with Dead-Zone and Its Application to Ultrasonic Motors

• Wakasa Yuji

  Graduate School of Science and Engineering, Yamaguchi University

• Kanagawa Shinji

  Graduate School of Science and Engineering, Yamaguchi University

• Tanaka Kanya

  Graduate School of Science and Engineering, Yamaguchi University

• Nishimura Yuki

  Graduate School of Science and Engineering, Yamaguchi University

Abstract

Ultrasonic motors (USMs) intrinsically have a dead-zone property which is sensitive to load changes. This paper proposes a fictitious reference iterative tuning (FRIT) method for systems with a dead-zone property such as USMs. The standard FRIT method is basically developed for linear systems and may not give a satisfactory control performance for noninvertible nonlinear systems including USMs. In contrast, the proposed FRIT method can achieve such a performance by introducing a right inverse of a dead-zone function as a dead-zone compensator. In the optimization process of FRIT, the so-called covariance matrix adaptation evolution strategy (CMA-ES) is used for simultaneously searching a dead-zone parameter as well as controller parameters. CMA-ES is a kind of stochastic multi-point search techniques and is effective for nondifferentiable and nonconvex optimization problems. Experimental results for a USM are given to show the effectiveness of the proposed method.

Journal

• IEEJ Transactions on Electronics, Information and Systems

  IEEJ Transactions on Electronics, Information and Systems 131 (6), 1209-1216, 2011

  The Institute of Electrical Engineers of Japan

Keywords

• Fictitious reference iterative turning
• PID control
• Ultrasonic motor
• Dead-zone
• Covariance matrix adaptation evolution strategy

Details

• CRID: 1390282679585940480
• NII Article ID: 10030526672
• NII Book ID: AN10065950
• DOI: 10.1541/ieejeiss.131.1209
• BIBCODE: 2011ITEIS.131.1209W
• ISSN: 13488155
• ISSN: 03854221
• NDL BIB ID: 11133579
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I11133579
• Web Site: http://www.jstage.jst.go.jp/article/ieejeiss/131/6/131_6_1209/_pdf
• Text Lang: en
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed