Speed Control of Ultrasonic Motor Based on Muller Iteration

Newton iterative learning is a common method for nonlinear speed control of ultrasonic motors, but it requires the determination of the differential term, which is difficult and affects the performance. To overcome this problem, a Muller iterative learning control strategy based on numerical analysis is proposed in this paper. A STM32-based ultrasonic motor drive control system is designed to implement the proposed strategy and achieve precise control of the motor speed. The simulation and experimental results show that the proposed method can effectively improve the control performance and response speed of the ultrasonic motor, demonstrating its feasibility in practical applications.