Vector control method applied to a traveling wave in a finite beam

This paper presents the closed-loop control of exciters to produce a traveling wave in a finite beam. This control is based on a dynamical modeling of the system established in a rotating reference frame. This method allows dynamic and independent control of the phase and amplitude of two vibration modes. The condition to obtain the traveling wave is written in this rotating frame, and requires having two vibration modes with the same amplitude, and imposing a phase shift of 90° between them. The advantage of the method is that it allows easy implementation of a closed loop control that can handle parameter drift of the system, after a temperature rise, for example. The modeling is compared with measurement on an experimental test bench which also implements real-time control. We managed to experimentally obtain a settling time of 250 ms for the traveling wave, and a standing wave ratio (SWR) of 1.3

Geometrical optimization of an ultrasonic tactile plate for surface texture rendering

International audienceThe Tactile plate consists of piezo-ceramics glued on a copper-beryllium resonator. Its purpose is to create pro-grammable tactile sensations, which give the illusion of finely textured surfaces. The illusion originates from the variable friction between a finger and the vibrating resonator, caused by the squeeze film effect. In order to obtain a maximal deflection of the plate for a minimal supply voltage, an optimization is carried out of the length, thickness, and width of both the resonator and the ceramics. Constraints are realistic geometrical dimensions, a resonance frequency of at least 25 kHz, and a low supply voltage. The plate is modelled by both an analytical and a numerical model. The maximal dynamical deflection per volt was achieved with thin piezo ceramics (0.5 mm) at the minimal frequency of 25 kHz. A high deflection can be obtained in a wide range of the resonator length. With increasing length, the optimal resonator thickness increases too. The plate width seems to have little influence. Experiments are carried out on two plates with different geometry

Inversion-based control of electromechanical systems using causal graphical descriptions

Causal Ordering Graph and Energetic Macroscopic Representation are graphical descriptions to model electromechanical systems using integral causality. Inversion rules have been defined in order to deduce control structure step-bystep from these graphical descriptions. These two modeling tools can be used together to develop a two-layer control of system with complex parts. A double-drive paper system is taken as an example. The deduced control yields good performances of tension regulation and velocity tracking

Modelling of forging processes assisted by piezoelectric actuators : principles and experimental validation

This paper presents the modelling of a forging processes assisted by a piezoelectric actuator (PA), which is used to generate specific low frequency vibration waveforms. Experimental results show that such waveforms reduce the necessary forging force during upsetting tests. The main problems which remain are defining the appropriate waveforms, predicting their influence on the process and the actuator and designing the control. Due to the complexity of the interactions between the different components of the system, a complete model of the process is needed. Such a model is developed here using an energetic macroscopic representation to preserve causality throughout the modelling. Simulation results are then compared to representative experimental results

Modelling of piezoelectric actuators used in forging processes: principles and experimental validation

This paper deals with the modelling of a piezo- electric stack actuator used to generate specific low frequency vibration waveforms to assist forging processes. Experimental results show that such waveforms reduce the necessary forging force during upsetting tests. The main problems which remain are defining the appropriate waveforms, predicting their in- fluence on the process and the actuator and designing the control. Due to the complexity of the interactions between the different components of the system, a complete model of the process is needed. Such a model is developed here using an energetic macroscopic representation to preserve causality throughout the modelling. Simulation results are then compared to representative experimental results

Industrial equipment for Powder transportation using piezoelectric “friction control” method

This paper presents a new powder transportation system that uses a high frequency flexural stationary wave coupled with a low frequency horizontal displacement of a beam to produce the transport of the powder. The ultrasonic wave is produced with the help of piezoelectric cells glued under the beam and is used to decrease the friction coefficient between the powder and the beam surface

Inversion-based control of electromechanical systems using causal graphical descriptions

Causal Ordering Graph and Energetic Macroscopic Representation are graphical descriptions to model electromechanical systems using integral causality. Inversion rules have been defined in order to deduce control structure step-bystep from these graphical descriptions. These two modeling tools can be used together to develop a two-layer control of system with complex parts. A double-drive paper system is taken as an example. The deduced control yields good performances of tension regulation and velocity tracking

Analysis of the energy harvesting performance of a piezoelectric bender outside its resonance

When the frequency of the source of vibration of a piezolectric generator is significantly different from its eigenfrequency, the dielectric power losses become prominent and decrease the amount of power which is practically harvested. For off-resonance vibrating frequencies, the optimal operating conditions can be obtained with a Maximum Power Point Tracking method. This paper introduces complex phasors in the study of power conversion for piezoelectric generators. These complex phasors are used to describe three strategies which help simplify the tracking of the optimal generator output power for vibration frequencies which are away from resonance. Experimental results obtained on a prototype illustrate and confirm the approach with the phasor approaches illustrate and confirm the success of the proposed optimal power tracking strategies. Finally, we show that the efficiency results of each strategy depend on whether they are used inside or outside a frequency bandwidth around the eigenfrequency, and that the length of this bandwidth depends on the excitation amplitude.IRCICA Stimtac Project, INRIA Mint Project

A torque estimator for a traveling wave ultrasonic motor - application to an active claw

International audienceDepending on its electrical to mechanical energy conversion process, the torque on a Travelling Wave Ultrasonic Motor(TWUM)'s shaft is not directly proportional to a measur-able electrical variable, such as current or voltage, but is derived from a complicated process at the stator/rotor interface. The load torque is thus quite unknown, and this can be a disadvantage in applications where a torque limitation is required or a torque measurement is needed. The aim of this article is to come up with a straightforward torque estimator on a TWUM. For that purpose, the motor is modelled, this modelling leads to different estimator strategies. More specifically, we chose a strategy for which a speed sensor is useless, relying only on the stator's resonant behavior. The parameters of the motor needed for the estimator are measured afterwards while some non linearities are identified and taken into account. Several experimental trials are then carried out to check the performance of the estimator. Finally, a claw actuated by a TWUM is presented, because this is a typical application where the knowledge of the torque helps guarantee the safety of the device

Control of a multi-degree of freedom worktool for vibrations assisted forging

This paper addresses the control of a tool developed to superimpose vibrations along several directions on a piece during forging. Piezoelectric actuators are used to provide the required forces and speeds. Due to the minute displacements of the actuators, flexible hinges are used in a special arrangement in order realize the specified movements and to ensure controllability. The experimental results confirm the approach