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A method, device and system for controlling the speed of an ultrasonic motor

An ultrasonic motor, speed control technology, applied in the control system, motor control, electrical components and other directions, can solve the problems of poor response performance of the control system, sag of the speed response curve, etc., to eliminate the phenomenon of speed sag and improve the response performance.

Active Publication Date: 2020-05-05
HENAN UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] The object of the present invention is to provide a kind of ultrasonic motor speed control method, device and system, in order to solve the phenomenon that the ultrasonic motor speed response curve sinks when using the improved P-type iterative learning controller, resulting in the problem that the response performance of the control system becomes worse

Method used

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  • A method, device and system for controlling the speed of an ultrasonic motor
  • A method, device and system for controlling the speed of an ultrasonic motor
  • A method, device and system for controlling the speed of an ultrasonic motor

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Embodiment 1

[0034] for analysis figure 2 The reasons for the sinking phenomenon in the speed response curve shown are, image 3 gives figure 2 Partial zoom-in diagram of speed step response curve in middle, Figure 4 , Figure 5 given respectively with image 3 The speed error curve corresponding to the speed step response curve and the output control quantity curve of the improved P-type iterative learning controller (hereinafter referred to as the controller) are shown.

[0035] As can be seen: image 3 The speed corresponding to the first data point shown is less than the given value (30r / min), Figure 4 The speed error value corresponding to the first data point shown is positive and relatively large, so the output control variable u corresponding to the first data point of the k+1th running process calculated according to formula (1) k+1 (1) (that is, the driving frequency of the ultrasonic motor, hereinafter referred to as the frequency) is compared with the output control ...

Embodiment 2

[0054] like Figure 11 As shown, the difference between this embodiment and method embodiment 1 is only that the formula in the control quantity calculation link is formula (5), specifically:

[0055] u k+1 (i)=u k+1 (i-1)+[u k (i)-u k (i-1)] (5)

[0056] It is easy to see that formula (5) is based on the control variable u at the previous moment in the k+1th closed-loop control process k+1 (i-1) and the difference between the control quantity at the current moment and the control quantity at the previous moment in the k-th closed-loop control process [u k (i)-u k (i-1)], calculate the control variable u at the current moment in the k+1th closed-loop control process k+1 (i), embodies the nature of iterative learning control.

[0057] In the following, the effectiveness of the ultrasonic motor speed control method of this embodiment is verified through experiments using the softened speed step given value. The experimental results are shown in Figure 12 (The dotted li...

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Abstract

The invention provides a method, a device and a system for rotating speed control of an ultrasonic motor, and belongs to the technical field of rotating speed control of the ultrasonic motors. The method comprises the following steps of controlling reduction of controlled quantity output by an improved P-type iterative learning controller at a current moment in a closed-loop control process if a rotating speed error of the current moment in the closed-loop control process is larger than zero and the control quantity output by the improved P-type iterative learning controller at the current moment in the closed-loop control process is larger than the control quantity output by the improved P-type iterative learning controller at the previous moment in a process of carrying out rotating speed control on the ultrasonic motor by utilizing the improved P-type iterative learning controller in order to enable the control quantity output by the improved P-type iterative learning controller atthe current moment in the closed-loop control process to be smaller than the control quantity output by the improved P-type iterative learning controller at the previous moment, and controlling the rotating speed of the ultrasonic motor through the reduced control quantity. The method, the device and the system solve the problem that a rotating speed response curve of the ultrasonic motor has a sinking phenomenon due to the fact that the improved P-type iterative learning controller is used.

Description

technical field [0001] The invention relates to a method, device and system for controlling the speed of an ultrasonic motor, and belongs to the technical field of speed control of an ultrasonic motor. Background technique [0002] A paper titled "P and PI Type Iterative Learning Speed ​​Control of Ultrasonic Motors" in the 2015 Vol. The control method of ultrasonic motor speed control, this control method cannot guarantee the effectiveness of the control process, and in the case of a step speed given value, it will lead to jitter in the process of motor speed tracking and steady-state speed deviation. In order to solve this problem, this paper proposes an ultrasonic motor speed control method based on an improved P-type iterative learning controller. The corresponding control system block diagram of this method is shown in figure 1 , figure 1 The structural unit in the dashed box is the "improved P-type iterative learning controller (hereinafter referred to as the control...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P29/00
CPCH02P29/00
Inventor 史敬灼宋璐周颖黄文文
Owner HENAN UNIV OF SCI & TECH