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A symmetrical hybrid driving waveform (SHDW) is proposed in this paper, which includes a symmetrical saw-tooth driving waveform and a sinusoidal friction regulation waveform, and the sinusoidal friction regulation waveform is applied to the shrinkage period of the symmetrical saw-tooth driving waveform. In other words, the proposed SHDW can be achieved when the waveform symmetry of the hybrid driving...
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