Model of ultrasonic motor is the foundation of the design of ultrasonic motor�s speed and position controller. A two-input and\r\none-output dynamic Takagi-Sugeno model of ultrasonic motor driving system is worked out using fuzzy reasoning modeling\r\nmethod in this paper. Many fuzzy reasoning modeling methods are sensitive to the initial values and easy to fall into local\r\nminimum, and have a large amount of calculation. In order to overcome these defects, equalized universe method is used in\r\nthis paper to get clusters centers and obtain fuzzy clustering membership functions, and then, the unknown parameters of the\r\nconclusions of fuzzy rules are identified using least-square method. Different experimental data that are tested with different\r\noperational conditions are used to examine the validity of the fuzzy model. Comparison between experimental data and calculated\r\ndata of the model indicates that the model can well describe the nonlinear characteristics among the frequency, amplitude of\r\ndriving voltage and rotating speed. The proposed fuzzy model can be used to analyze the performance of ultrasonic motor driving\r\nsystem, and also can be used to design the speed and position controller of ultrasonic motor.
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