Speed-position dual close-loop control scheme for ultrasonic motor

Abstract

The invention relates to a control method for increasing the operation performance of a plurality of ultrasonic motors running in equipment. The method belongs to the automatic control field. When a plurality of ultrasonic motors are needed to drive and control at the same time in a set of equipment, the position feedback control can obtain better position accuracy, and the speed of the ultrasonic motors changes more tempestuously because the response speed of the ultrasonic motors is very fast, so the running stability of the whole equipment cannot be ensured; and the speed feedback control can obtain well moving stability, but the position accuracy is worse. In order to resolve the contradiction, a novel speed-position double close loop control mode is designed, the speed close loop control voltage increment and the position close loop control voltage increment are added up, and the sum is taken as the total control voltage increment and acts on drivers of the ultrasonic motors so as to increase the integral operation performance of the ultrasonic motors and driving equipment thereof. The control method is applied to the equipment driven by the ultrasonic motors, and is especially suitable for occasions requiring a plurality of the ultrasonic motors to drive and control at the same time.

Description

Technical field: [0001] The ultrasonic motor speed-position double closed-loop control mode belongs to the field of automatic control. Background technique: [0002] With the continuous development of ultrasonic motor technology and the continuous expansion of application fields, there have been situations in which multiple ultrasonic motors need to be driven and controlled simultaneously in a set of equipment. It is used to drive the joints of the space manipulator. [0003] At present, the driving control of ultrasonic motors is still limited to the situation of a single ultrasonic motor, and these control strategies may not be effectively directly applied to the driving control of multiple ultrasonic motors. [0004] The speed-position joint control of the traditional motor generally has two forms, one is the position closed loop including the speed closed loop, such as figure 1 As shown in (a); the other is that the speed closed loop includes the position closed loop, ...

AI Technical Summary

Problems solved by technology

Position feedback control can obtain better joint position accuracy, but because the speed response of the ultrasonic motor is very fast, the speed of the robot joint changes more violently, so that the stability of the robot's operation cannot be guaranteed; speed feedback control can obtain a good Motion smoothness, but poor joint position accuracy

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