Online error elimination and correction method for space phase modulation ring traveling wave motor structure

Abstract

The invention provides an online error elimination and correction method for a space phase modulation ring traveling wave motor structure. Based on the detected wave amplitude deviation and space phase deviation of the space phase modulation ring traveling motor caused by the structural error, the space phase modulation ring traveling wave ultrasonic motor has the ability of generating standing waves different in space phase and amplitude, and the wave amplitude deviation and space phase deviation are eliminated and corrected respectively so as to correct the standing wave component in a stator caused by the structural error; and in the method, by adjusting the B3-phase and B4-phase voltage amplitudes of the space phase modulation ring traveling wave ultrasonic motor, the B-phase standing wave amplitude deviation (delta)c and space phase difference deviation (delta)x caused by the structural error are eliminated so that the B-phase standing wave amplitude is equal to the A-phase standing wave amplitude, and the space phase of the B-phase standing wave is staggered from the A-phase standing wave by 90 degrees. At the moment, the synthetic waveforms in the motor stator are all traveling waves; and since the structural error standing wave caused by the motor structural error is eliminated, the motor performance is improved.

Description

technical field [0001] The invention relates to a method for on-line elimination and correction of the structural error of a spatial phase modulation ring traveling wave motor. Background technique [0002] The two-phase piezoelectric ceramics of the ring traveling wave ultrasonic motor produce two-phase time and phase differences on the stator When the motor structure is completely symmetrical, the amplitudes of the two-phase standing waves are equal, and the spatial phases are also different It synthesizes a "pure" traveling wave in the stator. However, there are always errors in the structure of the motor, which will make the amplitudes of the two-phase standing waves unequal, and the spatial phase difference will also deviate from The composite waveform in the stator is not an ideal traveling wave, but a composite wave containing traveling wave components and standing wave components. Compared with the ideal situation, the traveling wave component is reduced, there...

AI Technical Summary

Problems solved by technology

However, due to nonlinear factors, the multi-solitary pole and composite lonely pole technology can only qualitatively detect the direction where Δc and Δx deviate from 0, and cannot accurately obtain the expression of the standing wave component of the structural error. Therefore, it is impossible to correct by directly generating the correcting standing wave Yes, it can only be corrected through the process of continuous and repeated detection-correction

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