Servo self-adaptive control system and method for supersonic wave motor in input saturation conditions

An ultrasonic motor, adaptive control technology, applied in control systems, AC motor control, motor vibration suppression control and other directions, can solve problems such as flutter

Active Publication Date: 2017-06-20
MINJIANG UNIV
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Problems solved by technology

[0002] There is a discontinuous function sgn(z n )

Method used

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  • Servo self-adaptive control system and method for supersonic wave motor in input saturation conditions
  • Servo self-adaptive control system and method for supersonic wave motor in input saturation conditions
  • Servo self-adaptive control system and method for supersonic wave motor in input saturation conditions

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Embodiment Construction

[0076] The technical solution of the present invention will be specifically described below in conjunction with the accompanying drawings.

[0077] The present invention provides an ultrasonic motor servo self-adaptive control system under the condition of input saturation, 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 with the photoelectric encoder 1, and the output shaft 6 of the other side is connected with 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.

[0078] Further, the ultrasonic motor 4 , the photoelectric encoder 1 , and the torque sensor 10 are respectively fixed on the base 12 via the ultrasonic mo...

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Abstract

The invention relates to a servo self-adaptive control system and method for a supersonic wave motor in input saturation conditions. The system comprises a pedestal and a supersonic wave motor fixing rack used for fixing the supersonic wave motor, wherein the supersonic wave motor fixing rack is arranged on the pedestal, an output shaft on one side of the supersonic wave motor is connected with a photoelectric encoder, an output shaft on the other side is connected with a flywheel inertia load, the output shaft of the flywheel inertia load is connected with a force moment sensor via a shaft coupling device, and a signal output end of the photoelectric encoder and a signal output part of the force moment sensor are respectively connected to a control system. The control system consists of a backstepping controller and a motor, a whole controller system is built based on backstepping calculation, and therefore good control effects can be obtained. The servo self-adaptive control system and method for the supersonic wave motor in the input saturation conditions put forward in the invention is high in control accuracy, simple and compact in structure and good in using effects.

Description

technical field [0001] The invention relates to the field of motor controllers, in particular to an ultrasonic motor servo self-adaptive control system and method under input saturation conditions. Background technique [0002] There is a discontinuous function sgn(z n ) is involved in the control, which may cause chatter. To avoid this situation, we now propose an improved backstepping 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] The purpose of the present invention is to provide an ultrasonic motor servo adaptive control system and method under input saturation conditions, so as to overcome the defects in the prior art. [0004] In order to achieve the above object, the technical solution of the present i...

Claims

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Application Information

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IPC IPC(8): H02P23/04H02P25/02
CPCH02P23/04H02P25/02
Inventor 傅平
Owner MINJIANG UNIV
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