Contour Control Method of Ultrasonic Motor Servo Control System Based on State Observer
A servo control system, ultrasonic motor technology, applied in piezoelectric effect/electrostrictive or magnetostrictive motors, generators/motors, electrical components, etc., can solve problems such as the availability of position information and the noisy speed signal
Active Publication Date: 2019-08-06
MINJIANG UNIV
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Problems solved by technology
[0002] In the existing ultrasonic motor servo control system, since the axis is only equipped with a linear or angular position encoder, it results in only the position information of the system being available
However, when the system is operating at low speeds the velocity signal it produces is often very noisy
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[0115] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0116] Please refer to figure 1, the present invention provides a method for controlling the contour of an ultrasonic motor servo control system based on a state observer, and provides an ultrasonic motor servo control system, including a base 12 and an ultrasonic motor 4 disposed on the base 12, the ultrasonic motor 4- The side output shaft 3 is connected with the photoelectric encoder 1, and the other side output shaft 6 is connected with the flywheel inertial load 7, and the output shaft 8 of the flywheel inertial load 7 is connected with the torque sensor 10 through the elastic coupling 9, so 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. This method is based on the state observer, and it also minimizes the contour tracking error of the servo s...
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The invention relates to a contour control method of an ultrasonic motor servo control system based on a state observer, An ultrasonic motor includes a control system, a base and an ultrasonic motor arranged on the base, characterized in that: one output shaft on a side of the ultrasonic motor is connected with the photoelectric encoder, the output shaft on the other is connected with the flywheelinertial load, the output shaft of the flywheel inertial load is connected with a torque sensor through a shaft coupling, the signal output terminal of the photoelectric encoder and the signal outputterminal of the torque sensor are connected with a control system; The control system includes a contour controller based on a state observer. Themethod also minimizes the tracking error so as to adjust a function in the design of the controller, so that better control efficiency can be obtained, the control accuracy is high, and the structure is simple, compact and the use effect is good.
Description
technical field [0001] The invention relates to the field of motor controllers, in particular to a method for controlling the contour of an ultrasonic motor servo control system based on a state observer. Background technique [0002] In existing ultrasonic motor servo control systems, since the shaft is only equipped with linear or angular position encoders, it results in only system position information being available. However, when the system is operating at low speeds the velocity signal it produces is often very noisy. At low speeds, noise can easily dominate the measured signal. In order to avoid this situation, the practice of control systems must address the lack of state information, and the operation of the controller can only rely on position information. In this section, an output feedback contour controller design method based on the sliding friction model is proposed. By incorporating the state observer design into the control scheme, the whole method can c...
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IPC IPC(8): H02N2/14
CPCH02N2/142
Inventor 傅平
Owner MINJIANG UNIV