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Model-Based Torque Control of Piezoelectric Ultrasonic Motors

Award Information

National Aeronautics and Space Administration
Award ID:
Program Year/Program:
2004 / STTR
Agency Tracking Number:
Solicitation Year:
Solicitation Topic Code:
Solicitation Number:
Small Business Information
Tietronix Software, Inc.
1331 Gemini Avenue Suite 300 Houston, TX 77058-
View profile »
Woman-Owned: No
Minority-Owned: Yes
HUBZone-Owned: No
Phase 1
Fiscal Year: 2004
Title: Model-Based Torque Control of Piezoelectric Ultrasonic Motors
Agency: NASA
Contract: NNJ04JC51C
Award Amount: $99,972.00


Piezoelectric ultrasonic motors (PUMs) are ideal actuators for a variety of spaced-based robotics applications. These motors replace conventional drive systems consisting of motor, gear train, and brake with a rugged and reliable actuator containing one moving part. It is not currently feasible to fully exploit the capabilities of PUMs due to the lack of model-based torque control systems. This research will eliminate the barrier to PUM adoption and lead to model-based torque control algorithms and driver hardware. The key result of the Phase I STTR will be demonstration of the feasibility of model-based torque control of PUMs using a passive inertial load. This result will provide assurance that the overall project result, development of model-based torque control hardware and software, is both feasible and attainable. This result will be achieved via the development of a mathematical model relating motor input parameters and speed to output torque and experimental validation of the model. This Phase I STTR will also produce a design for an enhanced laboratory apparatus incorporating an active load, thus permitting detailed modeling of the space-based robot actuation environment.

Principal Investigator:

James Dabney
Principal Investigator

Business Contact:

Victor Tang
Small Business Information at Submission:

Tietronix Software, Inc.
1331 Gemini Ave. Suite 300 Houston, TX 77058

EIN/Tax ID: 760611704
Number of Employees:
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
Research Institution Information:
University of Houston, Clear Lake
2700 Bay Area Boulevard
Houston, TX 77058
Contact: Glenn Houston
Contact Phone: (281) 283-3015
RI Type: Nonprofit college or university