Output feedback controller-based ultrasonic motor servo control method

A technology of ultrasonic motor and output feedback, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., and can solve the problems of output signal detection error, control variable estimation error, etc.

Active Publication Date: 2017-06-13
MINJIANG UNIV
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  • Abstract
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Problems solved by technology

[0002] In the design of the existing ultrasonic motor servo control system, there is a detect

Method used

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  • Output feedback controller-based ultrasonic motor servo control method
  • Output feedback controller-based ultrasonic motor servo control method
  • Output feedback controller-based ultrasonic motor servo control method

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Embodiment Construction

[0069] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0070] This embodiment provides a servo control method for an ultrasonic motor based on an output feedback controller, which is characterized in that it includes the following steps:

[0071] Step S1: if figure 1 As shown, a base 12 and an ultrasonic motor 4 arranged on the base 12 are provided, the output shaft 3 of the ultrasonic motor 4 is connected with the photoelectric encoder 1, and the output shaft 6 of the other side is connected with the flywheel inertial load 7. connected, 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 a control system;

[0072] Step S2: the control system is based on the output feedback control, and the Lyapunov func...

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Abstract

The invention relates to an output feedback controller-based ultrasonic motor servo control method, comprising the following steps: S1: providing a base and an ultrasonic motor arranged on the base, wherein an output shaft at one side of the ultrasonic motor is connected with a photoelectric encoder, an output shaft at 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 respectively connected to a control system; S2: the control system being established on the basis of output feedback control, and a Lyapunov function being used as a tuning function on the controller are used for obtaining better control performance. The control system consists of a feedback controller and a motor, and the whole controller system is established on the basis of feedback calculation so as to obtain better control performance. The device and the control method thereof provided by the invention have the advantages of high accuracy, simple and compact structure and good service effect.

Description

technical field [0001] The invention relates to the field of motor controllers, in particular to an ultrasonic motor servo control method based on an output feedback controller. Background technique [0002] In the design of the existing ultrasonic motor servo control system, there is a detection error for the output signal, which may lead to an estimation error of the control variable. To avoid this situation, we now propose a feedback adaptive control scheme. This control system can effectively improve the control efficiency of the system and further reduce the degree of influence of the system on uncertainty. Therefore, the position and speed control of the motor can obtain better dynamic characteristics. Contents of the invention [0003] In view of this, the purpose of the present invention is to provide an ultrasonic motor servo control method based on an output feedback controller, which not only has high control accuracy, but also has a simple and compact structu...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 傅平
Owner MINJIANG UNIV
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