摘要：超声波电机具有明显的非线性和时变特性。线性模型难于准确表达超声波电机的非线性特性，通常需要采取变参数的模型形式，导致模型复杂化。直接采用适当的非线性模型形式来建立超声波电机的模型，可以得到更为简单、有效的电机模型。针对超声波电机位置控制需要，采用菌群觅食优化算法进行模型参数和阶次辨识，建立了以频率为输入、电机转轴位置为输出的超声波电机非线性Hammerstein模型。模型计算数据与实测数据的比较，表明了所建模型的有效性。
关键词：超声波电机；Hammerstein模型；菌群觅食优化算法
Abstract: Ultrasonic motor (USM) has obvious nonlinearity and timevarying characteristic. Linear model cannot describe the nonlinearity clearly. So, variable parameters should be applied in the model. It makes the model be complex. In order to get a simple and effective model, an appropriate form of nonlinear model can be used to establish the model of USM. Nonlinear Hammerstein model of ultrasonic motor was established to satisfy the need of position control, in which the frequency is the input, the position of motor rotor is the output. The parameters and orders of the model were identified using bacterial foraging optimization algorithm. The validity of the model was verified using experimental data.
Key words:ultrasonic motor；hammerstein model；bacterial foraging optimization algorithm