Control of a multi-direction piezoelectric linear motor using a gyroscopic feedback control

In this paper, we report a method to control the rotational action of a planer-type piezoelectric motor. The motor is a planertype piezoelectric actuator that uses two bending modes to create multi-directional traveling waves. The structure is simple and cost-effective. The multi-integer Frequency, Two-Mode method is used to drive the x- or y-directors, and the OneFrequency Two-Mode method is used to drive the motor rotates with respect to the z-axis. To control the multi-directional motorization of this motor in the x and y directions, we integrate a gyroscope to perform a precision directional control with feedback control. The gyroscope senses the rotational signal with respect to the z-axis, and the angular rotational signal is used to monitor the movement of the motor. The design and experimental studies on the multi-directional piezoelectric linear motor are discussed in this paper.