Dynamic Speed Measurement System for Ultrasonic Motors Based on Photoelectric Encoders

Current speed measurement methods for ultrasonic motors (USMs) are typically suitable for steady-state operation. Considering the fast dynamic response characteristics of ultrasonic motors, this paper develops a novel dynamic speed measurement system for ultrasonic motors based on a photoelectric encoder and microcontroller. First, the development process of the dynamic speed measurement system is described. Then, the hardware components of the system are introduced in detail. Finally, an experimental testing platform is constructed to validate the performance of the proposed speed measurement method. The results demonstrate that the device achieves a measurement accuracy of 99.7% with a sampling rate of 50 microseconds, and a rotational speed resolution of 0.0001 revolutions per minute, providing support for analyzing the dynamic characteristics of ultrasonic motors and optimizing controller design.