A dual-degree-of-freedom platform drive controller for an embedded ultrasonic motor

Abstract

The invention discloses an embedded-type driving controller for an ultrasonic motor two-freedom-degree platform. The embedded-type driving controller for the ultrasonic motor two-freedom-degree platform comprises an external crystal oscillation input unit, an embedded-type micro processor and a power amplifying and matching unit, wherein clock signals sent by the external crystal oscillation input unit are respectively distributed to four EPWM modules through an EPWM clock unit in the embedded-type micro processor. Continuous and real-time frequency signal regulation is realized through the internal module of the micro processor, the control purposes of high performance and high stability of a platform motor are achieved, communication between a motor driver and an upper computer is realized by programming the embedded-type micro processor, and therefore receiving of remote control commands and real-time monitoring of the operation state of the motor are realized. Real-time linkage of an X-directional platform ultrasonic motor and a Y-directional platform ultrasonic motor can be simultaneously controlled, and a control circuit is simple in structure, low in cost and more favorable for integration and miniaturization of a driving circuit.

Description

technical field [0001] The invention relates to a hardware configuration capable of realizing high-performance, high-precision rotational speed stability and a matching software control method for controlling a driver applied to a two-degree-of-freedom ultrasonic motor platform, belonging to the field of ultrasonic motor drive control. Background technique [0002] Ultrasonic motor is a kind of motor in which piezoelectric ceramics excite elastic resonance mode to produce periodic traveling waves with submicron deformation, and then perform work through friction. Compared with traditional motors, ultrasonic motors have the characteristics of low speed, large torque / mass ratio, fast response, self-locking when power failure, nanoscale resolution, and no electromagnetic interference. The dual-degree-of-freedom platform using two ultrasonic motors can realize high-precision and fast tracking and positioning of the platform, and has broad application prospects in the fields of b...

AI Technical Summary

Problems solved by technology

The dual-degree-of-freedom platform adopts two ultrasonic motors. Traditionally, two drivers are used to drive the two ultrasonic motors respectively. One driver controls the ultrasonic motor with one degree of freedom (X direction), while the other driver controls the other degree of freedom (Y direction). ) ultrasonic motor, and then use a microcontroller to realize the sensor signal acquisition and positioning tracking control of the platform. On the whole, the platform drive control system is relatively large in size, and it is difficult to realize the control strategy of frequency modulation, voltage regulation and phase modulation combination. Low algorithm efficiency and high failure rate

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