@inproceedings{4081,
  abstract     = {{This  paper  gives  a  review  of  research  activities  at  the  Institute  for  Power  Electronics  and  ElectricalDrives in Paderborn to the control of rotary travelling wave type ultrasonic motors. Based on a special designedhardware environment an advanced control scheme for inverter-fed travelling wave type ultrasonic motors is pre-sented. After several modelling steps, including an averaged model for the controller design, a speed control schemeis implemented on a prototype drive. It is realized as an outer control loop of an underlaid voltage and travellingbending wave vector controller. The novel speed control is using an inverse contact model by a neural network, inorder  to  compensate  the  nonlinear  torque  generation  of  the  motor.  The  so  equipped  ultrasonic  motor-drive  meetsrequirements  for  applications  in  the  field  of  servo-drives  e.g.  robotics.  Since  the  reference  values  of  the  bendingwave control are calculated from the desired torque value by the neural network, open loop control of the drive´s torque is feasible, too. }},
  author       = {{Maas, Jürgen and Schulte, Thomas and Grotstollen, H. and Fröhleke, Norbert}},
  location     = {{Paderborn}},
  pages        = {{129 -- 143}},
  title        = {{{Model-Based Control of Travelling Wave Type Ultrasonic Motors.}}},
  year         = {{1999}},
}