Self-feedback piezoelectric driving control method

Abstract

The invention provides a self-feedback type piezoelectric driving control method. Establishing a piezoelectric driving closed-loop control system, and collecting a driving voltage signal and a self-feedback voltage signal of the ultrasonic motor; establishing a force observer of the control system to estimate the pre-tightening force and the driving force of the motor; estimating a real-time speed value of the rotor by using a rotor speed observer of the control system; performing off-line setting on controller parameters of the control system by using a least square support vector machine algorithm, and resolving a control voltage through a nonlinear PID controller of the control system; a driver of the control system is used for generating driving voltage, a driving voltage signal is connected to the motor, and closed-loop control is completed. The problems that the dynamic response speed and feedback precision are reduced, the system complexity is increased, the maintenance cost is increased, and the advantage of compact structure of an ultrasonic motor cannot be exerted in piezoelectric driving closed-loop control depending on a displacement or speed sensor are solved.

Description

technical field [0001] The invention relates to the technical field of piezoelectric drive control, in particular to a self-feedback piezoelectric drive control method. Background technique [0002] As a type of piezoelectric motor, ultrasonic motor has the characteristics of simple structure, high positioning accuracy, self-locking when power off, low noise, and no electromagnetic interference. It has great advantages in the fields of precision positioning such as aerospace and communication engineering. Because the ultrasonic motor involves many problems such as stator vibration, nonlinear contact of the movable stator, and friction drive characteristics, it is difficult to establish a comprehensive and accurate dynamic model of the performance of the ultrasonic motor. Therefore, the traditional closed-loop control strategy relies on real-time acquisition of position or speed signals, but the installation of displacement or speed sensors will affect the dynamic response sp...

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Problems solved by technology

[0003] The invention provides a self-feedback piezoelectric drive control method, which is used to solve the problems of reduced dynamic response speed and feedback accuracy, increased system complexity, increased maintenance costs, and inability to exert The problem of the compact structure of the ultrasonic motor; the use of force observers and speed observers to estimate the driving force and speed, compared with the traditional piezoelectric drive closed-loop control system, without additional speed sensors, can effectively improve the dynamic response of the piezoelectric drive system speed, increased system bandwidth and reliability, and ensured the advantages of compact motor structure

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