Kapelke, Simon (Physik Instrumente (PI) SE & Co. KG)

Model-Based Prediction of the Dead Zone Behavior of PILine(R) Ultrasonic Motors

Scheduled for presentation during the Regular Session "Estimation and filtering" (WeCT1), Wednesday, July 16, 2025, 17:50−18:10, Room 105

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

PILine® ultrasonic motors belong to the group of standing wave ultrasonic motors and, as common for this kind of systems, use certain eigenmodes of a piezoelectric actuator in order to generate motion. The microscopic motion of the actuator is transmitted via a coupling element to a moving slider, where macroscopic motion can be obtained due to frictional interaction. Within this contribution, a generic model structure for standing wave ultrasonic motors is presented accounting for actuator and vibro-impact dynamics of the system. The model is utilized in order to estimate the dead zone behavior at low driving voltages, which is typical for many friction-based drives. An accurate prediction of this strongly nonlinear behavior allows for reduced control effort and higher precision of ultrasonic motors.