Research on Speed Measurement Method of Standing Wave Rotating Ultrasonic Motor Based on Unscented Kalman Filter

There is a significant error in measuring the speed of ultrasonic motors using traditional speed measurement algorithms, which affects the closed-loop operation control accuracy of the motor. In view of this situation, this paper proposes an improved Kalman filter speed measurement algorithm-UKF, which can effectively adapt to USM, a highly nonlinear and time-varying system. Compared with the traditional M method and the general Kalman filter algorithm, the experiment proves that the method can track the motor speed quickly and accurately, and the speed measurement system can be introduced into the closed-loop control to achieve better control performance.