An ultrasonic motor speed control method and device based on variable gain iterative learning

An ultrasonic motor and iterative learning technology, applied to piezoelectric effect/electrostrictive or magnetostrictive motors, generators/motors, electrical components, etc., can solve problems such as convergence speed and steady-state characteristics, and achieve Effects of increasing convergence speed and improving performance

Inactive Publication Date: 2019-01-18
HENAN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0018] The purpose of the present invention is to provide a method and device for controlling the speed of an ultrasonic motor based on variable gain iterative learning to solve the problem that the prior art cannot take into account the convergence speed and steady-state characteristics

Method used

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  • An ultrasonic motor speed control method and device based on variable gain iterative learning
  • An ultrasonic motor speed control method and device based on variable gain iterative learning
  • An ultrasonic motor speed control method and device based on variable gain iterative learning

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Embodiment 1

[0040] Such as figure 1 As shown, the ultrasonic motor speed control method based on the P-type iterative learning controller in the prior art is as follows: the ultrasonic motor speed given value Nref(t) is made a difference with the ultrasonic motor speed actual value n(t) to obtain the ultrasonic motor speed Error value e k+1 (t), the ultrasonic motor speed error value e k+1 (t) Through the P-type iterative learning controller, the iterative learning control output u is obtained k+1 (t), will iteratively learn to control the output u k+1 (t) As a given value of the frequency of the ultrasonic motor, it is used to act on the ultrasonic motor. Among them, the expression of the P-type iterative learning controller is shown in formula (1).

[0041] The method of this embodiment is in figure 1 Based on the improvement, the improved control block diagram is as follows Figure 5 As shown, its specific improvement points are in Figure 5 Enclosed in a dashed box.

[0042] f...

Embodiment 2

[0053] The difference of embodiment 1 is that the method of the present invention is applied as Figure 4 In the ultrasonic motor speed control based on the improved P-type iterative learning controller shown, that is, the learning gain K in this control method p It is also adaptive. The larger the actual speed value of the ultrasonic motor, the smaller the learning gain, and the smaller the actual speed value of the ultrasonic motor, the larger the learning gain. Specific Learning Gain K p The method for obtaining the value of can refer to Method Embodiment 1, which will not be repeated here.

[0054] Device embodiment

[0055] This embodiment provides an ultrasonic motor speed control device based on variable gain iterative learning, the device is a device with data processing capabilities such as a computer, the device includes a processor and a memory, and the two are directly or indirectly electrically connected , to realize data transmission or interaction. The proc...

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Abstract

The invention relates to an ultrasonic motor speed control method and device based on variable gain iterative learning. that rotational speed of an ultrasonic motor based on improve P-type iterative learning controller or P-type iterative learning control is improved, The learning gain varies according to the actual speed of the ultrasonic motor. The larger the actual speed of the ultrasonic motor, the smaller the learning gain, and the smaller the actual speed of the ultrasonic motor, the greater the learning gain. The invention improves the convergence speed, but also prevents the response curve from oscillating, and effectively improves the ultrasonic iterative learning control performance.

Description

technical field [0001] The invention belongs to the technical field of ultrasonic motors, in particular to a method and device for controlling the speed of ultrasonic motors based on variable gain iterative learning. Background technique [0002] Ultrasonic motors have broad application prospects in the fields of automotive electronics, precision instruments, robots, aerospace, and weaponry. However, due to the nonlinearity of the piezoelectric material inside the ultrasonic motor and the frictional transfer of mechanical energy between the stator and rotor, the ultrasonic motor has stronger time-varying nonlinear operating characteristics than the traditional electromagnetic motor. At the same time, the ultrasonic motor drive circuit works in the switch state, and its control relationship also has nonlinear characteristics, which makes the time-varying nonlinearity of the ultrasonic motor system more obvious, and it is difficult to obtain good motion control performance. I...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02N2/14
CPCH02N2/142
Inventor 史敬灼宋璐黄文文周颖姚跃
Owner HENAN UNIV OF SCI & TECH
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