A superimpose pulse speed regulating drive system and drive method

Abstract

The invention provides a superimposed pulse speed regulating driving system and a driving method. In the method, each PWM output terminal outputs a square wave pulse with a duty cycle of 25%. In eachcontrol cycle, sinA and sinB, cosA and cosB output m pulses sequentially in superposition form, and the number of pulses superposed on sin and cos terminals is (2* m-N); Adjust the driving frequency of sin and cos by adjusting the values of m and n to adjust the motor speed and stability. Through the superposed pulse speed regulation driving method provided by the invention, not only the real-timerotational speed does not have large amplitude periodic jitter, The stability of the motor speed is obviously improved, and through the adjustment of some parameters, the motor speed can be adjustedcoarsely and then fine-tuned to achieve the purpose of setting the speed. Compared with the traditional PID algorithm which only changes the frequency, the time taken to adjust the motor speed to theset speed is much shorter, and the response speed of the motor speed is improved.

Description

Technical field: [0001] The invention relates to a superimposed pulse speed regulation driving system and a driving method, belonging to the power supply technology of an ultrasonic motor. Background technique: [0002] Ultrasonic motor, also known as piezoelectric motor, is a new type of driver based on the vibration of ultrasonic frequency of functional ceramics. Ultrasonic motor involves many fields such as vibration, wave science, material science, tribology, electronic science, computing technology and experimental technology. Compared with traditional motors, it has low speed, large torque, fast response speed, and automatic Lock, nanometer resolution, no electromagnetic interference and other characteristics. [0003] Traditionally, motor speed is adjusted through three methods: frequency modulation, voltage regulation and phase modulation, but these three methods have their own disadvantages as low-speed driving methods. The load capacity of the frequency modulatio...

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Problems solved by technology

like figure 2 As shown, the patent number is US2007 / 0247023 technical scheme, the method of discontinuous pulse output is set in the two phases of sin and cos of the motor, the data of the rotational speed measured through the experiment is as follows image 3 As shown, although this method can obtain the low speed of arc seconds, the real-time speed has a large periodical jitter; the reason is that the motor runs in a continuous periodic start-stop state, and the speed fluctuation of the motor changes from a transient state in continuous operation to a In the normal state of stepping operation, the large inertia system leads to system instability and the consequence of speed oscillation, which has a great impact on the speed stability of the motor

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