Experimental Modeling of Rotary Traveling-Wave Ultrasonic Motor

  • Qingquan Liu
  • Xin HuoEmail author
  • Weijia Shi
  • Hui Zhao
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 582)


Ultrasonic motor (USM) is difficult to model theoretically because of the complexity and nonlinearity of its working principle. By considering the USM as a black box model, the experimental model of the USM can be determined from the relationship between the input and output measurement data. This paper introduces the composition and working principle of USM. Two-point model method and area model method for obtaining the parameters of the dynamic process of the model are introduced. The simulation analyzes the influence of sampling frequency, environmental noise, and modeling method on the modeling effect. The experimental platform is built and an actual USM is experimentally modeled to verify the feasibility of the modeling method.


Ultrasonic motor Black box model Dynamic process Experimental modeling 


  1. 1.
    Chen, Z., Zhao, C.: An effective frequency tracking control and balancing compensation between CW and CCW rotation speed techniques for ultrasonic motor. In: Proceeding of the IEEE Ultrasonics Symposium, vol. 3, pp. 2251–2254 (2004)Google Scholar
  2. 2.
    Shi, W., Wang, Y., Zhao, H., Huo, X., Chen, W.: LPV modelling and identification of nonlinear temperature dependence for ultrasonic motor. In: Proceeding of the Chinese Control And Decision Conference (CCDC), Shenyang, pp. 203–208 (2018)Google Scholar
  3. 3.
    Niu, Z., Cui, Y.: Simulation model for ultrasonic motors powered by resonant converters. In: Proceeding of the International Conference on Mechatronics and Machine Vision in Practice, pp. 1–5 (2007)Google Scholar
  4. 4.
    Jeong, S., Chong, H., Park, M.: Driving characteristics of the thin type ultrasonic motor using microcontroller. Piezoelectrics Appl. 49(2), 152–160 (2010)Google Scholar
  5. 5.
    Harmouch, K., Daniel, L., Bernard, Y. Aubry, J.M., Marchal, P.: Dynamic contact modelling for resonant piezoelectric motors. In: Proceeding of the International Conference on New Actuators, Bremen, Germany, pp. 1–4 (2018)Google Scholar
  6. 6.
    Senjyu, T., Nakamura, M., Urasaki, N.: Mathematical model of ultrasonic motors for speed control. In: Proceeding of the Twenty-First Annual IEEE Applied Power Electronics Conference and Exposition, vol. 6, no. 1, pp. 119–125 (2006)Google Scholar
  7. 7.
    Bekiroglu, E.: Ulteasonic motors: their models, drives, controls and applications. J. Electroceram. 20(3–4), 277–286 (2008)CrossRefGoogle Scholar
  8. 8.
    Shuncai, Y., Ru, Z., Fei, D., Yifeng, R.: Study on modeling and state estimation of ultrasonic motor based on data driving. In: Proceedings of the International Conference on Modelling, Identification and Control (ICMIC), Guiyang, pp. 1–5 (2018)Google Scholar
  9. 9.
    Wang, G.: Force transfer model and characteristics of traveling-wave type ultrasonic motors. In: Proceeding of the IEEE Conference on Industrial Electronics and Applications, Harbin, pp. 1965–1970 (2007)Google Scholar
  10. 10.
    Wang, G., Guo, J.: Research on the frequency temperature characteristics of the ultrasonic motor. Electr. Mach. Control 12(6), 675–679 (2008)Google Scholar
  11. 11.
    Zhang, J., Zhang, T.: Development of servo control technique on ultrasonic motors. Electr. Mach. Control 13(6), 879–885 (2009)Google Scholar
  12. 12.
    Tarnaud, T., Joseph, W., Martens, L., Tanghe, E.: Computational modeling of ultrasonic subthalamic nucleus stimulation. Proc. IEEE Trans. Biomed. Eng. 66(4), 1155–1164 (2019)CrossRefGoogle Scholar
  13. 13.
    Yang, X., Liu, Y., Chen, W., Zhao, X.: New excitation method for sandwich transducer using bending composite vibrations: modeling, simulation, and experimental evaluation. In: Proceeding of the IEEE Transactions on Industrial Electronics, vol. 65, no. 6, pp. 4889–4896, June 2018CrossRefGoogle Scholar

Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  1. 1.Control and Simulation CenterHarbin Institute of TechnologyHarbinPeople’s Republic of China
  2. 2.Institute of Ultra-Precision Optoelectronic Instrument EngineeringHarbin Institute of TechnologyHarbinPeople’s Republic of China

Personalised recommendations