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Coordinated Control Method for Optimizing Vibration Modes of Traveling Wave Ultrasonic Motors

A technology of ultrasonic motor and coordinated control, which is applied in the direction of generator/motor, motor parameter estimation/correction, observer control, etc., and can solve problems such as increased loss and reduced output accuracy of TWUSM

Active Publication Date: 2021-07-06
HEBEI UNIV OF TECH
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AI Technical Summary

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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  • Coordinated Control Method for Optimizing Vibration Modes of Traveling Wave Ultrasonic Motors
  • Coordinated Control Method for Optimizing Vibration Modes of Traveling Wave Ultrasonic Motors
  • Coordinated Control Method for Optimizing Vibration Modes of Traveling Wave Ultrasonic Motors

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Embodiment Construction

[0035] In order to make the present invention easier to understand, 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 present invention is a coordinated control method for optimizing vibration mode of a traveling wave ultrasonic motor, which includes the first step of setting the initial driving voltage and initial phase of the H-bridge drive circuit; Output voltage and output current to obtain the two-phase stator vibration mode of the traveling wave ultrasonic motor; the third step is to calculate the amplitude difference and phase difference of the two-phase stator vibration mode of the traveling wave ultrasonic motor in the current vibration period; the fourth step , calculate the driving voltage duty ratio of the two H-bridge driving circuits in the next vibration period; the fifth step, calculate the driving voltage phase of the B-phase H-bridge driving circuit in the next vibration period; The driving voltage duty ratio of each H-bridge driving circuit and the driving voltage phase of the H-bridge driving circuit controlling the B-phase of the traveling wave ultrasonic motor are used as the input 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 Patents(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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