Model-free integral sliding mode control method of ultrasonic motor servo system

An ultrasonic motor, integral sliding mode technology, applied in the direction of AC motor control, general control strategy, estimation/correction of motor parameters, etc., can solve the problem of difficult to fully compensate the nonlinearity of ultrasonic motor servo system.

Active Publication Date: 2020-10-30
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

Disturbance and model uncertainty observation and its feedforward compensation technology, sliding mode variable structure control technology, and application of adaptive robust control, although the system is insensitive to external disturbances and parameter perturbations, can improve the dynamic stiffness of the motor and suppress the influence of disturbances. Obtain a controller design with good dynamic performance and strong robustness, but it is difficult to achieve full compensation for the nonlinearity of the ultra

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  • Model-free integral sliding mode control method of ultrasonic motor servo system
  • Model-free integral sliding mode control method of ultrasonic motor servo system
  • Model-free integral sliding mode control method of ultrasonic motor servo system

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Embodiment Construction

[0043] Embodiments of the invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0044] A model-free integral sliding mode control method of an ultrasonic motor servo system according to the present invention, the rotary servo system relied on mainly includes a microcontroller, an ultrasonic motor driver, an ultrasonic motor, and a photoelectric rotary encoder, such as figure 1 shown.

[0045] Among them, the microcontroller is the core of the servo system, including the model-free integral sliding mode controller operation module, the expected input signal response module, the UART interface module with FPGA, the motor start and stop response module, the motor forward and reverse response module, the incremental Type photoelectric encoder interface...

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Abstract

The invention discloses a model-free integral sliding mode control method of an ultrasonic motor servo system. A system operation control effect is achieved based on actual measurement data of a closed-loop system; design of a controller does not contain any mathematical model information of the system; output of the controller is designed only by utilizing online and offline I/O data of a controlled system and knowledge obtained through data processing, output of the controller is sent to an ultrasonic motor driver through a UART interface of the controller, and the ultrasonic motor driver outputs a corresponding SPWM signal to drive the ultrasonic motor to operate. Design of the model-free integral sliding mode control method can achieve the advantages of high steady-state tracking precision, fast dynamic response, strong anti-interference ability, high robustness, small load change influence, adaptive ability and the like.

Description

technical field [0001] The invention relates to a model-free integral sliding mode control method of an ultrasonic motor servo system, belonging to the technical fields of automation control and motor control. Background technique [0002] Ultrasonic motor technology involves many disciplines such as materials, machinery, power electronics, and production technology. It has complex nonlinearity, and its mechanical structure and working principle are completely different from traditional electromagnetic motors. Motor static mathematical theory models are very difficult. Although some people have tried to propose some mathematical models, there are still many obvious defects, so the traditional control scheme of the ultrasonic motor is not necessarily effective; secondly, the ultrasonic motor uses the inverse piezoelectric effect of the piezoelectric ceramic sheet, the stator and the piezoelectric Electric ceramics generate resonance, and convert electrical energy into mechan...

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Application Information

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IPC IPC(8): H02P23/00H02P23/12H02P23/14
CPCH02P23/0009H02P23/12H02P23/14
Inventor 李华峰孙阳
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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