In some applications of linear ultrasonic motors (LUSMs), not installing speed/position sensors can reduce the size and cost of the system, changes in load will cause fluctuations in the speed of the LUSM. To eliminate the influence of load changes on speed, a speed sensorless control scheme based on stator vibration amplitude compensation (SSCBVC) is proposed. This scheme is implemented under the framework of the stator vibration amplitude-based speed control (VBSC) and frequency tracking. Based on the stator vibration amplitude-speed and the output force-speed curves of the LUSM, the relationship between the load changes and stator vibration amplitude (SVA) to be compensated is established, realizing a speed sensorless control of the LUSM under variable load conditions. The experimental results show that the maximum fluctuation of the speed is about 2.2% when the output force changes from 0 to 6N with SSCBVC. This scheme can effectively reduce the influence of load changes on the speed of the LUSM without using speed/position sensors.

中文翻译：

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定子振动幅度补偿的直线超声电机无速度控制

在线性超声马达（LUSM）的某些应用中，未安装速度/位置传感器会减小系统的尺寸和成本，负载的变化将导致LUSM速度的波动。为了消除负荷变化对速度的影响，提出了一种基于定子振动幅度补偿（SSCBVC）的无速度传感器控制方案。该方案是在基于定子振动幅度的速度控制（VBSC）和频率跟踪的框架下实现的。基于LUSM的定子振动幅度-速度和输出力-速度曲线，建立了负载变化与待补偿的定子振动幅度（SVA）之间的关系，实现了可变负载条件下LUSM的无速度传感器控制。 。实验结果表明，在使用SSCBVC的情况下，当输出力从0变为6N时，速度的最大波动约为2.2％。该方案可以有效地减少负载变化对LUSM速度的影响，而无需使用速度/位置传感器。