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Coordination control method for optimizing vibration mode of traveling wave ultrasonic motor

An ultrasonic motor and coordinated control technology, which is applied in the direction of generator/motor, motor parameter estimation/correction, observer control, etc., can solve the problems of increased loss and decreased output accuracy of TWUSM, and achieve long control intervals and overcome Non-linear flaws, easy-to-achieve effects

Active Publication Date: 2020-12-01
HEBEI UNIV OF TECH
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Problems solved by technology

[0004] However, the strict symmetry of TWUSM two-phase stator parameters cannot be achieved due to the manufacturing process, ambient temperature, wear and serious nonlinearity of the motor body. Intersecting vibration mode, which leads to the decrease of the output accuracy of TWUSM and the increase of loss

Method used

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  • Coordination control method for optimizing vibration mode of traveling wave ultrasonic motor
  • Coordination control method for optimizing vibration mode of traveling wave ultrasonic motor
  • Coordination control method for optimizing vibration mode of traveling wave ultrasonic motor

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Embodiment Construction

[0035] In order to make the present invention more comprehensible, the present invention is further described below in conjunction with specific examples.

[0036] The invention provides a coordinated control method (method for short, refer to figure 1 -5), the equipment used in this method includes traveling wave ultrasonic motor (model is TRUM-60A), Hall current sensor (model is HCS-LTS06A), voltage divider sampling resistor, high-speed ADC (analog-to-digital converter), Vibration mode observer, FIFO memory, duty cycle PI iterative learning controller, phase PI iterative learning controller and two H-bridge driving circuits; among them, vibration mode observer, FIFO memory, two PI type iterative learning controllers The devices are implemented in FPGA (Field Programmable Gate Array); two H-bridge drive circuits respectively control the two-phase drive voltage of the traveling wave ultrasonic motor;

[0037] The concrete steps of this method are:

[0038] The first step is ...

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Abstract

The invention discloses a coordination control method for optimizing a vibration mode of a traveling wave ultrasonic motor. The coordination control method comprises the following steps: 1, setting initial driving voltages and initial phases of H-bridge driving circuits; 2, collecting the output voltage and the output current of the traveling wave ultrasonic motor in the current vibration period,and obtaining a two-phase stator vibration mode of the traveling wave ultrasonic motor; 3, calculating the amplitude difference and the phase difference of the two-phase stator vibration modes of thetraveling wave ultrasonic motor in the current vibration period; 4, calculating the driving voltage duty ratios of the two H-bridge driving circuits in the next vibration period; 5, calculating the driving voltage phase of the B-phase H-bridge driving circuit in the next vibration period; and 6, taking the driving voltage duty ratios of the two H-bridge driving circuits in the next vibration period and the driving voltage phases of the H-bridge driving circuits for controlling the B phase of the traveling wave ultrasonic motor as the inputs of the respective H-bridge driving circuits. The two-phase voltage of the traveling wave ultrasonic motor is controlled by cooperatively controlling the driving voltages of the two H-bridge driving circuits.

Description

technical field [0001] The invention relates to the technical field of motor mode control, in particular to a coordinated control method for optimizing the vibration mode of a traveling wave ultrasonic motor. Background technique [0002] Traveling wave ultrasonic motor (abbreviated as TWUSM) is a micro motor, which uses the inverse piezoelectric effect to convert the microscopic vibration of the stator into the macroscopic rotation of the rotor by friction. Fast and other characteristics, suitable for low-speed and high-torque occasions, and are widely used in medical, aerospace, precision instruments and other fields. [0003] The working principle of TWUSM is to excite the two-phase orthogonal vibration modes by applying two equal-amplitude high-frequency sinusoidal voltages with a mutual difference of π / 2 to the space-orthogonal two-phase piezoelectric vibrator, and then synthesize traveling waves in the stator and drive The elliptical movement of the particles on the s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02N2/12H02N2/14H02N2/16H02P23/12H02P23/14
CPCH02N2/12H02N2/142H02N2/163H02P23/12H02P23/14
Inventor 荆锴林夏萍刘畅李安吉董砚
Owner HEBEI UNIV OF TECH
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