Active control of a planner piezoelectric rotational motor using hall sensors and magnetic array

In this paper, we report a piezoelectric rotational motor that can perform precision angular motorization control. This rotational motor is a composite composed of a stainless-steel plate and four PZT actuators, and mathematical model and numeric analysis were employed to determine optimal parameters for clockwise and counterclockwise rotations. The driving method is based on activating opposing bending modes with identical driving frequency but different phase. Hall sensors and magnet ring are integrated to provide a PID control for precision control. An accuracy of 0.145 deg is realized.