This paper presents a high-efficiency compensation method of the dead zone with the aid of the adaptive dither for the ultrasonic motor. Prior to proposing the method, the influence of the dither on the principal elements of the dead zone, i.e. the deviations of the control variable and the minimum velocity, is analyzed. Then, the improved generation method of the adaptive dither is proposed, which introduces the adaptive dither by orthogonally adjusting the amplitudes of the applied voltages instead of changing the phase difference as mentioned in the existing studies. Experimental measurements have demonstrated that the proposed method not only can effectively compensate the dead zone and conveniently control the velocity, but also is superior to the existing phase-difference-based method in terms of improving the efficiency of the USM.

This paper proposes two kinds of approaches of angular rate sensing for micro-spacecraft with a gyrowheel (GW), which can combine attitude sensing with attitude control into one single device to achieve a compact micro-spacecraft design. In this implementation, during the three-dimensional attitude control torques being produced, two-dimensional spacecraft angular rates can be sensed from the signals of the GW sensors, such as the currents of the torque coils, the tilt angles of the rotor, the motor rotation, etc. This paper focuses on the problems of the angular rate sensing with the GW at large tilt angles of the rotor. For this purpose, a novel real-time linearization approach based on Lyapunov’s linearization theory is proposed, and a GW linearized measurement model at arbitrary tilt angles of the rotor is derived. Furthermore, by representing the two-dimensional rotor tilt angles and tilt control torques as complex quantities and separating the twice periodic terms about the motor spin speed, the linearized measurement model at smaller tilt angles of the rotor is given and simplified. According to the respective characteristics, the application schemes of the two measurement models are analyzed from the engineering perspective. Finally, the simulation results are presented to demonstrate the effectiveness of the proposed strategy.

A gyrowheel (GW) is a kind of electronic electric-mechanical servo system, which can be applied to a spacecraft attitude control system (ACS) as both an actuator and a sensor simultaneously. In order to solve the problem of two-dimensional spacecraft angular rate sensing as a GW outputting three-dimensional control torque, this paper proposed a method of an extended high gain observer (EHGO) with the derived GW mathematical model to implement the spacecraft angular rate estimation when the GW rotor is working at large angles. For this purpose, the GW dynamic equation is firstly derived with the second kind Lagrange method, and the relationship between the measurable and unmeasurable variables is built. Then, the EHGO is designed to estimate and calculate spacecraft angular rates with the GW, and the stability of the designed EHGO is proven by the Lyapunov function. Moreover, considering the engineering application, the effect of measurement noise in the tilt angle sensors on the estimation accuracy of the EHGO is analyzed. Finally, the numerical simulation is performed to illustrate the validity of the method proposed in this paper.

GyroWheel is an integrated device that can provide three-axis control torques and two-axis angular rate sensing for small spacecrafts. Large tilt angle of its rotor and de-tuned spin rate lead to a complex and non-linear dynamics as well as difficulties in measuring angular rates. In this paper, the problem of angular rate sensing with the GyroWheel is investigated. Firstly, a simplified rate sensing equation is introduced, and the error characteristics of the method are analyzed. According to the analysis results, a rate sensing principle based on torque balance theory is developed, and a practical way to estimate the angular rates within the whole operating range of GyroWheel is provided by using explicit genetic algorithm optimized neural networks. The angular rates can be determined by the measurable values of the GyroWheel (including tilt angles, spin rate and torque coil currents), the weights and the biases of the neural networks. Finally, the simulation results are presented to illustrate the effectiveness of the proposed angular rate sensing method with GyroWheel.

This paper presents a high-efficiency inverter with the aid of the soft-switching technology, which is accomplished by the resonance of the in-series inductance with the snubber capacitance. The equivalent circuit of the quarter-phase ultrasonic motor is initially deduced, based on which the topology along with the operations of the novel inverter is subsequently presented. The configuration of the new quarter-phase inverter shows its unique in terms of the shared arms and the specially-designed snubber capacitance in comparison with the existing inverters. The circuit analysis infers that the dead time of the inverter is the key factor to arrive at the zero-voltage-switching or the zero-current-switching operations. Experimental measurements have demonstrated that the efficiency of the whole drive increases by a factor of 1.25 after replacing the traditional inverter with the proposed one. It should also be noted that the proposed inverter in association with the design method of the dead time not only can work for the quarter-phase ultrasonic motor, but also can be applicable for other kinds of quarter-phase devices. The soft-switching operations are achieved in the quarter-phase inverter for the first time, whose amplitudes of the output voltage and switching frequency are not required to be constant any more.