Research on Fast and Precise Positioning Strategy of an Ultrasonic Motor Based on the Ultrasonic Friction Reduction Theory

To address the problems of the large positioning error and long positioning time of the traditional positioning strategy, namely, the two-phase simultaneous power-off method (TPSPM), a new positioning strategy, called the first single-phase then two-phase power-off method (FSPTTPPM), based on the ultrasonic friction reduction theory, has been proposed in this work. This method realizes zero sliding displacement between the friction material and the stator during the torsional oscillation of the shaft by controlling the driving circle frequency and the duration of the single-phase power-off period, which reduces the deviation of the displacement reservation value. In order to verify the correctness of the driving mechanism, a test platform has been built, and two positioning strategies have been used for experimental verification. The following experimental results have been obtained: compared to TPSPM, FSPTTPPM has the advantages of higher positioning accuracy and short positioning time. In terms of the positioning accuracy, the relative errors of the displacement reservation values of FSPTTPPM and TPSPM vary with the initial angular velocity (0.24 to 1.18 rad/s) in the range of -0.4 to 0.1 and -0.8 to 0.8, respectively. In addition, the relative error of the displacement reservation value is closer to zero than that of TPSPM at the same initial angular velocity. In terms of the positioning time, when the initial angular velocity is greater than 0.7 rad/s, the positioning time of the FSPTTPPM is approximately 10 ms smaller than that of the TPSPM.