Analytic modeling and driving for an ultrasonic wheel system

In this paper, a 3-D mechanical element with an extra electrical degree of freedom is employed to simulate the dynamic vibration modes of the linear piezoelectric, mechanical, and piezoelectro-mechanic behaviors of an ultrasonic piezoelectric wheel system. In piezoelectric finite element formulation, a discretized equation of motion is developed and solved by using the integration scheme to explain why an adaptive boundary condition, a simple support condition with one fixed point on the wheel central for the mechanical design of ultrasonic directly driving system, is defined so that a lateral elliptical motion of the contact point between wheel and ground can be realized for driving the wheel carrier. Guyan reduction and Householder–Bisection inverse iteration are used as an optimal solver to find the modal frequencies and associated mode shapes. In this research, a speed control scheme is implemented by using commercial DSP technique for an open-loop speed driver.