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Hysteresis Compensation Control Method of Ultrasonic Motor Servo Control System Based on Observer

A servo control system, ultrasonic motor technology, applied in piezoelectric effect/electrostrictive or magnetostrictive motors, generators/motors, electrical components, etc., can solve the problems of cycle repetition signal control error, system performance impact, etc.

Active Publication Date: 2018-01-05
MINJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Due to the existence of torque-speed hysteresis in the design of the existing ultrasonic motor servo control system, the performance of the system is affected, and there is a certain error in the control of periodic repetitive signals

Method used

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  • Hysteresis Compensation Control Method of Ultrasonic Motor Servo Control System Based on Observer
  • Hysteresis Compensation Control Method of Ultrasonic Motor Servo Control System Based on Observer
  • Hysteresis Compensation Control Method of Ultrasonic Motor Servo Control System Based on Observer

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Embodiment Construction

[0057] The technical solution of the present invention will be specifically described below in conjunction with the accompanying drawings.

[0058] The hysteresis compensation control method of the ultrasonic motor servo control system based on the observer of the present invention provides an ultrasonic motor servo control system, such as figure 1 As shown, it includes a base 12 and an ultrasonic motor 4 arranged on the base 12, the output shaft 3 of the ultrasonic motor 4 is connected to the photoelectric encoder 1, and the output shaft 6 on the other side is connected to the flywheel inertial load 7 , the output shaft 8 of the flywheel inertial load 7 is connected to the torque sensor 10 through the elastic coupling 9, and the signal output end of the photoelectric encoder 1 and the signal output end of the torque sensor 10 are respectively connected to the control system. The ultrasonic motor 4 , photoelectric encoder 1 and torque sensor 10 are respectively fixed on the ba...

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Abstract

The invention relates to an observer-based hysteresis compensation control method for an ultrasonic motor servo control system, and provides the ultrasonic motor servo control system. The ultrasonic motor servo control system comprises a base and an ultrasonic motor arranged on the motor, wherein an output shaft on one side of the ultrasonic motor is connected with a photoelectric encoder while an output shaft on the other side of the ultrasonic motor is connected with a flywheel inertia load; the output shaft of the flywheel inertia load is connected with a torque sensor through a coupling; and the signal output end of the photoelectric encoder and the signal output end of the torque sensor are connected to a control system separately. The hysteresis compensation control method is based on the observer, and controls the system in a hysteresis compensation control manner; and therefore, the system hysteresis is the minimum while the dynamic error of the observer is eliminated, so that better control efficiency is obtained. According to the hysteresis compensation control method, the system of the overall controller is established on the basis of the observer; and function adjustment based on a principle of minimum error is carried out in the design of the observer, so that the better control efficiency can be obtained.

Description

technical field [0001] The invention relates to the field of motor controllers, in particular to an observer-based hysteresis compensation control method for an ultrasonic motor servo control system. Background technique [0002] Due to the existence of torque-speed hysteresis in the design of the existing ultrasonic motor servo control system, the performance of the system is affected, and there is a certain error in the control of the periodic repetitive signal. In order to improve the control effect of following, we design the hysteresis compensation control of the ultrasonic motor servo control system based on the observer. From the implementation results of trajectory following, we found that the system has significantly improved the effect of reducing motion hysteresis, and factors such as parameter changes, noise, cross-coupling interference, and friction can hardly affect the motion system effect, so The hysteresis compensation control of the ultrasonic motor servo ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02N2/14
CPCH02N2/142
Inventor 傅平程敏
Owner MINJIANG UNIV
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