RC oscillation-based anti-phase double-path bias ultrasonic motor driving system

Abstract

The invention relates to the technical field of ultrasonic motor driving, and discloses a reverse-phase double-path bias ultrasonic motor driving system based on RC oscillation, which comprises an RC oscillator module, a reverse-phase double-path bias circuit module, a control module, a self-adaptive filter module, a temperature sensor and an environment monitoring module, the invention also provides a control method of the reverse-phase double-path bias ultrasonic motor drive based on RC oscillation, and the method comprises the following steps: generating a high-frequency signal by using the RC oscillator, forming oscillation frequency through the combination of a resistor and a capacitor, and carrying out the temperature compensation of the RC oscillator module based on the environment temperature; complementary signals are generated through the reverse-phase double-path bias circuit module to drive the positive direction and the negative direction of the ultrasonic motor. By adopting the technical scheme of combining the RC oscillator and a temperature compensation mechanism, the influence of temperature change on frequency is compensated by adjusting resistance and capacitance values in real time, and the stability of the system at different environment temperatures is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic motor drive, and particularly to an inverting dual-channel biased ultrasonic motor drive system based on RC oscillation. Background Art

[0002] With the increasing application of ultrasonic motors, especially in the field of precision drive, the stability and accuracy of ultrasonic motor drive systems have become crucial. Ultrasonic motors achieve motion through high-frequency vibration. Therefore, the frequency stability of their drive signals directly affects the performance of the motors. To ensure that the motors can operate stably in various working environments, in the prior art, RC oscillators are generally used to generate high-frequency signals. However, due to factors such as temperature changes, power supply fluctuations, and external electromagnetic interference, the frequency signals output by RC oscillators are often affected by instability, resulting in difficulties in ensuring the accuracy and stability of ultrasonic motors under these adverse conditions.

[0003] In the prior art, although some solutions attempt to address the frequency offset caused by environmental temperature changes through simple temperature compensation methods, these solutions usually lack effective adaptive mechanisms and cannot adjust the working state of the RC oscillator in a timely manner under complex environmental conditions. Especially for the influence of temperature changes on the resistance and capacitance values, traditional technologies mostly rely on static compensation methods and fail to dynamically and real-time adjust the circuit parameters, which makes the performance of the system still unstable at different working temperatures; moreover, existing ultrasonic motor drive systems usually adopt a single control strategy, such as simple PID control or sliding mode control, etc. Although these control methods can achieve a certain degree of precision control, in an environment with multiple disturbances and changes, they cannot effectively cope with the non-linear changes of the system, resulting in the inability to effectively correct the error of the frequency signal and the lack of the ability of multi-unit coordinated control. The cooperation between multiple oscillator units is poor, which often leads to the out-of-synchronization of the system frequency and affects the overall motion accuracy of the ultrasonic motor; furthermore, the existing signal optimization technologies have limited effects in suppressing external noise. Factors such as power supply fluctuations and electromagnetic interference will have a significant impact on the drive signal, and the existing filtering technologies fail to fully adapt to the changes of complex noise sources, resulting in the instability of the frequency signal, thereby affecting the performance of the ultrasonic motor. Therefore, those skilled in the art propose an inverting dual-channel biased ultrasonic motor drive system based on RC oscillation to solve the above problems. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention provides an inverting dual-channel biased ultrasonic motor drive system based on RC oscillation, which solves the influence of factors such as temperature changes, power supply fluctuations, and electromagnetic interference on the frequency stability of ultrasonic motors in the prior art.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: an anti-phase dual-path bias ultrasonic motor drive system based on RC oscillation, comprising:

[0006] RC oscillator module, used to generate a high-frequency signal, which forms an oscillation frequency through a combination of resistors and capacitors;

[0007] The inverting dual-path bias circuit module is used to receive the signal output by the RC oscillator module and invert the signal to generate a complementary signal to drive the ultrasonic motor to move in both positive and negative directions. At the same time, the amplitude and phase of the output signal are controlled to ensure stable and efficient operation of the motor.

[0008] The control module works closely with the RC oscillator module and the inverting dual-path bias circuit module to adjust the output frequency of the RC oscillator module and accurately control the inverting signal to ensure that the ultrasonic motor works stably in various environments;

[0009] The adaptive filter module works in conjunction with the control module and the RC oscillator module to optimize the frequency signal in real time, suppress the impact of external noise, power supply fluctuations, etc. on the oscillation frequency, and ensure the purity and stability of the signal;

[0010] The temperature sensor and environmental monitoring module monitors external factors such as ambient temperature changes, power supply fluctuations and electromagnetic interference in real time, transmits feedback signals to the RC oscillator module and control module, and dynamically adjusts the resistance and capacitance values ​​to compensate for the frequency drift caused by temperature changes and other environmental factors, ensuring that the system always maintains the best working state.

[0011] Preferably, the RC oscillator module comprises:

[0012] an RC oscillator circuit that generates an oscillation frequency based on a combination of a resistor and a capacitor, the resistor and capacitor values ​​being affected by temperature changes and connected to an oscillator output via a power signal;

[0013] The temperature compensation mechanism adjusts the values ​​of resistance and capacitance through the feedback information of the temperature sensor to ensure the stability of the oscillation frequency.

[0014] Preferably, the inverting dual-path bias circuit module comprises:

[0015] An inverting circuit unit, used for inverting the signal output by the RC oscillator module to generate two complementary signals;

[0016] The bias control unit is used to adjust the amplitude and phase of the output signal of the inverting circuit unit, so as to control the driving mode of the ultrasonic motor.

[0017] Preferably, the control module includes:

[0018] The sliding mode control sub-module quickly corrects the frequency error by designing a sliding mode surface to ensure the stability of the system under external disturbances;

[0019] The adaptive control sub-module adapts to system changes by estimating system parameters and dynamically adjusting the control gain;

[0020] The distributed control sub-module coordinates the work of each unit according to the state vectors of multiple RC oscillator units to ensure the frequency synchronization of the system and stable operation.

[0021] Preferably, the adaptive filter module includes:

[0022] The filter unit is used to suppress the noise in the output signal of the RC oscillator module and reduce the influence of external disturbances on the signal by dynamically adjusting the filter weights.

[0023] Preferably, the temperature sensor and environmental monitoring module includes:

[0024] The temperature sensor unit monitors the temperature change in real time and provides a feedback signal to the RC oscillator module;

[0025] The environmental monitoring unit is used to monitor power fluctuations and electromagnetic interference and provide a control signal to adjust the output frequency of the oscillator.

[0026] Preferably, the temperature compensation mechanism of the RC oscillator module includes:

[0027] Temperature sensor feedback, which monitors the temperature change in real time and provides feedback data;

[0028] Resistance and capacitance adjustment, which dynamically adjusts the values of resistance and capacitance according to the feedback data to compensate for the frequency drift caused by temperature change.

[0029] Preferably, the sliding mode control sub-module of the control module adjusts the frequency error through the following steps:

[0030] Design a sliding mode surface, where the sliding mode surface includes the integral of the system state vector and the frequency error;

[0031] Execute sliding mode control, and control the input through the sign function to adjust the frequency to ensure that the frequency error quickly approaches zero.

[0032] Preferably, the distributed control sub-module of the control module coordinates multiple RC oscillator units through the following steps:

[0033] Calculate the state vector, and the state vector of each RC oscillator unit consists of its output signal and error;

[0034] Adjust the control input. Based on the state vectors of multiple units, calculate the adjustment amount through local control gains and interaction matrices to ensure the synchronization of each unit in the system.

[0035] A control method for driving an inverting dual-path biased ultrasonic motor based on an RC oscillator includes the following steps:

[0036] Use an RC oscillator to generate a high-frequency signal, and form an oscillation frequency through a combination of resistors and capacitors. Perform temperature compensation on the RC oscillator module based on the ambient temperature.

[0037] Generate complementary signals through an inverting dual-path biased circuit module to drive the positive and negative directions of the ultrasonic motor.

[0038] Through a sliding mode control sub-module, design a sliding mode surface according to the frequency error and adjust the frequency to ensure the stability of the system under external disturbances.

[0039] Use an adaptive control sub-module to cope with system changes by dynamically adjusting the control gain.

[0040] Utilize a distributed control sub-module to coordinate the operation of multiple RC oscillator units to ensure the overall frequency synchronization of the system.

[0041] Use an adaptive filter module to suppress external noise, optimize the signal output, and reduce interference.

[0042] Real-time monitor the environmental changes through a temperature sensor and an environmental monitoring module, and provide feedback to the RC oscillator module to compensate for the frequency drift caused by temperature changes.

[0043] The present invention provides an inverting dual-path biased ultrasonic motor drive system based on an RC oscillator. It has the following beneficial effects:

[0044] 1. The present invention adopts a technical solution that combines an RC oscillator with a temperature compensation mechanism, achieving the purpose of compensating for the influence of temperature changes on the frequency by adjusting the resistance and capacitance values in real time, ensuring the stability of the system under different ambient temperatures. Compared with the prior art control methods that fail to effectively cope with temperature changes, the present invention can eliminate the frequency drift problem caused by temperature and improve the adaptability of the system in complex environments.

[0045] 2. The present invention adopts a technical solution that combines an inverting dual-path biased circuit module with precise control, achieving the purpose of generating two complementary signals to drive the ultrasonic motor to move in the positive and negative directions. Compared with the one-way drive scheme in the prior art, the present invention effectively avoids the problem of inaccurate motor direction control and improves the motion accuracy and reliability of the motor.

[0046] 3. The present invention introduces a cooperative working mechanism of a sliding mode control, an adaptive control, and a distributed control module, achieving rapid adjustment and synchronization of the frequencies of multiple RC oscillator units under external disturbances and system variations. Compared with traditional control technologies, the present invention has stronger robustness, can adapt to changes in different working environments in real time, and maintain the stable operation of the system.

[0047] 4. The present invention combines an adaptive filter module to optimize the signal output quality, effectively suppressing the influence of external power supply fluctuations and electromagnetic interference on the frequency signal. Compared with the prior art solutions where signal noise cannot be completely suppressed, the present invention can significantly improve the purity of the signal, ensure that the system provides a stable and reliable drive signal, and reduce the influence of external factors on the motor drive accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of the system architecture of the present invention;

[0049] Figure 2 It is a schematic diagram of the architecture of the RC oscillator module of the present invention;

[0050] Figure 3 It is a schematic diagram of the architecture of the inverting dual - path bias circuit module of the present invention;

[0051] Figure 4 It is a schematic diagram of the architecture of the control module of the present invention;

[0052] Figure 5 It is a schematic diagram of the architecture of the adaptive filter module of the present invention;

[0053] Figure 6 It is a schematic diagram of the architecture of the temperature sensor and environmental monitoring module of the present invention;

[0054] Figure 7 It is a schematic diagram of the method flow of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0055] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0056] Please refer to the attached Figure 1 - attached Figure 6 , the embodiments of the present invention provide an inverting dual - path bias ultrasonic motor drive system based on RC oscillation, including:

[0057] The RC oscillator module is used to generate high-frequency signals, and the oscillation frequency is formed through the combination of resistors and capacitors;

[0058] Specifically, the RC oscillator module is one of the core modules of the system of the present invention. Its main function is to generate stable frequency signals. The RC oscillator module generates oscillation signals through the combination of resistors and capacitors, and these signals will be transmitted as drive signals to the subsequent circuits to drive the movement of the ultrasonic motor. Due to factors such as temperature changes and power supply fluctuations, the frequency output of the RC oscillator will be affected. Therefore, a temperature compensation mechanism is added to this module to ensure that the oscillator can output stable frequency signals under different environmental conditions and meet the high-precision requirements of the system.

[0059] In this embodiment, the RC oscillator module adopts a classic RC oscillation circuit and uses the charge and discharge characteristics between the resistor (R) and the capacitor (C) to generate oscillation signals. Specifically, through the charging and discharging process of the capacitor in the RC circuit, the circuit generates a sine or rectangular wave within a certain time period as the frequency signal output. The frequency f of the oscillation signal is inversely proportional to the values of the resistor and the capacitor, and the formula is as follows:

[0060]

[0061] Where: f is the output oscillation frequency; R is the resistor in the circuit; C is the capacitor.

[0062] It can be seen from this that the magnitude of the oscillation frequency f is determined by the values of the resistor R and the capacitor C.

[0063] Specifically, the operating frequency of the RC oscillator is affected by the resistor and the capacitor, and the values of the resistor R and the capacitor C will change when the temperature changes. For example, the temperature coefficients of the resistor R and the capacitor C are different, which will lead to different rates of change with temperature, thus affecting the oscillation frequency. This frequency fluctuation caused by temperature changes is a common problem in system operation. Therefore, the addition of the temperature compensation mechanism is particularly important.

[0064] As an option, the temperature compensation mechanism in this embodiment uses an integrated temperature sensor to monitor the ambient temperature in real time. The temperature sensor continuously collects the temperature data of the surrounding environment and transmits it to the RC oscillator module through a feedback signal. After receiving the temperature data, the RC oscillator module dynamically adjusts the values of the resistor and the capacitor according to the preset temperature coefficient. Specifically, the values of the resistor and the capacitor are finely adjusted according to the temperature change to compensate for the frequency deviation caused by the temperature change.

[0065] The adjustment process of the temperature compensation mechanism can be calculated through the following formula:

[0066] R(T) = R0(1 + α R ΔT);

[0067] C(T)=C0(1+α C ΔT);

[0068] Where: R(T) is the resistance value after temperature adjustment, which is compensated according to temperature changes; C(T) is the capacitance value after temperature adjustment, which is compensated according to temperature changes; R0 and C0 are the resistance and capacitance at standard temperature respectively; α R and α C is the temperature coefficient of resistance and capacitance; ΔT is the temperature change (unit: ℃).

[0069] When the ambient temperature changes, the adjustment of the resistor and capacitor will be performed according to the above formula to ensure the stability of the oscillator frequency.

[0070] Generally speaking, the temperature compensation mechanism can automatically adjust the working state of the RC oscillator to achieve a stable frequency output. Under extreme temperature conditions, the temperature compensation mechanism can ensure that the system can still provide a stable frequency signal without being overly affected by temperature changes.

[0071] Specifically, in high or low temperature environments, the frequency of the RC oscillator may shift significantly due to changes in resistance and capacitance values. However, after temperature compensation, the RC oscillator can adjust the values ​​of resistance and capacitance based on the real-time monitored temperature data, greatly reducing the impact of temperature changes on the frequency. This compensation mechanism can effectively improve the working accuracy of the ultrasonic motor and avoid performance fluctuations caused by temperature drift.

[0072] The temperature sensor can also adjust the amplitude of the compensation based on the rate of temperature change. In this way, the RC oscillator can not only respond to temperature changes, but also predict and adapt to the rate of temperature change, further improving the stability and response speed of the system.

[0073] To ensure accuracy, the temperature compensation mechanism can work in conjunction with other compensation modules. For example, the combination of the temperature compensation mechanism and the power stability control module can ensure that the output frequency of the RC oscillator module is not affected under different voltages. In addition, the temperature compensation mechanism can also be linked with the signal filtering module to optimize the signal quality in real time and reduce the impact of external interference.

[0074] The RC oscillator module and temperature compensation mechanism in this embodiment can be widely used in various fields with high requirements for frequency stability, especially in ultrasonic motor drive systems. By effectively controlling frequency fluctuations, the system can operate in a wide range of working environments and meet high-precision and low-error working requirements. As the ambient temperature changes, the system will automatically adjust without manual intervention, greatly improving the reliability and adaptability of the system.

[0075] An inverting dual - bias circuit module is used to receive the signal output by the RC oscillator module, invert the signal, generate complementary signals to drive the ultrasonic motor in both positive and negative directions, and at the same time control the amplitude and phase of the output signal;

[0076] Specifically, the main function of the inverting dual - bias circuit module is to invert the frequency signal generated by the RC oscillator module and generate complementary signals through appropriate amplitude and phase adjustment. These two complementary signals will drive the ultrasonic motor in both positive and negative directions. The inverting circuit unit and the bias control unit are two key components of this module, and they work together to ensure the precise movement of the motor.

[0077] In this embodiment, the inverting dual - bias circuit module includes two main sub - modules: an inverting circuit unit and a bias control unit. Specifically, the inverting circuit unit is responsible for receiving the frequency signal output by the RC oscillator module and generating two complementary signals with a phase difference of 180° through an inverting operation. After further adjustment by the circuit, these two signals drive the forward and reverse movements of the ultrasonic motor respectively.

[0078] The working principle of the inverting circuit unit is based on the signal inversion operation, which inverts the input oscillation signal. Specifically, when the RC oscillator module outputs a sine - wave or square - wave signal, the inverting circuit unit will invert the signal to generate a complementary signal with a phase difference of 180°. The two signals have an exact corresponding relationship in amplitude and phase, which ensures that the ultrasonic motor can be precisely driven in both directions.

[0079] As an option, an operational amplifier (Op - Amp) is used as the core component of the inverting circuit in this embodiment. The inverting input terminal of the operational amplifier receives the oscillation signal, and the output terminal generates an inverted signal. Further, through appropriate gain control, it ensures that the amplitude and phase of the output signal meet the design requirements. In this way, the inverting circuit can effectively generate two complementary signals to drive the two directions of the ultrasonic motor.

[0080] The bias control unit is used to precisely control the amplitude and phase of the output signal. Specifically, this unit adjusts the amplitude of the inverted signal to ensure that the amplitudes of the two complementary signals are the same and have an exact phase difference of 180°. Through fine - tuned current and voltage regulation, the bias control unit can ensure that the operation of the ultrasonic motor is not affected by signal imbalance or phase inconsistency, thus achieving precise drive.

[0081] The operation of the inverting circuit unit and the bias control unit is coordinated. When the inverting circuit generates complementary signals, the bias control unit adjusts the signals according to the set voltage and current values to ensure the precise matching of the amplitude and phase of the output signals. In this way, the inverting dual-channel bias circuit module can provide stable and reliable drive signals to ensure the stable operation of the ultrasonic motor.

[0082] Specifically, during use, the inverting dual-channel bias circuit module drives the two directions of the motor through two output signals. Through the action of these two complementary signals, the ultrasonic motor can operate precisely in different directions, avoiding problems such as unstable motor movement caused by signal imbalance or phase error. In addition, through the precise adjustment of the bias control unit, the system can avoid signal amplitude distortion caused by unstable voltage and current.

[0083] The inverting circuit unit can also combine different gain control mechanisms to adjust the amplitude of the output signals. By designing an appropriate gain feedback mechanism, the amplitude of the output signals can be ensured to be stable and the driving accuracy of the ultrasonic motor can be ensured. Specifically, the gain control can be automatically adjusted based on the amplitude of the input signals to meet the requirements in different working environments.

[0084] The inverting dual-channel bias circuit module in this embodiment is applicable to various ultrasonic motor drive systems. Especially in application scenarios that require precise control of direction and movement, through fine inverting and bias control, this module can effectively improve the working accuracy and stability of the ultrasonic motor and reduce errors caused by signal instability.

[0085] Through the combination of the inverting circuit and bias control, the inverting dual-channel bias circuit module in the present invention can provide high-precision and stable drive signals. This not only ensures that the ultrasonic motor can move precisely in the positive and negative directions, but also improves the stability and reliability of the system. In addition, the precise adjustment of the bias control unit enables full control of the amplitude and phase of the output signals, avoiding problems such as unstable motor movement caused by inconsistent signal amplitudes or phase deviations, thus significantly improving the overall performance of the ultrasonic motor drive system.

[0086] The control module closely cooperates with the RC oscillator module and the inverting dual-channel bias circuit module respectively to adjust the output frequency of the RC oscillator module and precisely control the inverting signals;

[0087] Specifically, the control module is a key part to ensure the stable operation of the system. The main function of this module is to adjust the output frequency of the RC oscillator module, so as to ensure that the ultrasonic motor can maintain precise operation under various working environments. For this purpose, the control module includes three sub-modules: a sliding mode control sub-module, an adaptive control sub-module, and a distributed control sub-module. These sub-modules complement each other to ensure that the system can always maintain stability in a dynamically changing environment and can quickly adapt to external disturbances.

[0088] In this embodiment, the control module ensures that the system can provide a stable frequency signal under different environmental conditions by adjusting the frequency of the RC oscillator in real time. The sliding mode control, adaptive control, and distributed control each undertake different tasks and cooperate with each other to form a multi-level and multi-dimensional control mechanism. Specifically, the sliding mode control sub-module is used for rapid correction of frequency errors. The adaptive control sub-module adapts to system changes by dynamically adjusting the control gain, and the distributed control sub-module ensures frequency synchronization between multiple oscillator units.

[0089] The sliding mode control sub-module is an important part of the control module. Its role is to ensure that the frequency error of the system can quickly tend to zero under the influence of external disturbances or uncertainties by designing a sliding mode surface. The core idea of sliding mode control is to use the integral part of the system state vector and frequency error to design a sliding mode surface so that the behavior of the system remains stable on this surface. Specifically, sliding mode control corrects the frequency error by adjusting the control input to make it quickly approach zero.

[0090] Generally, the sliding mode control sub-module designs the sliding mode surface based on the system state vector and frequency error. The formula of the sliding mode surface can be expressed as:

[0091]

[0092] where: s(t) is the sliding mode surface; x(t) is the system state vector, representing the oscillation signal and frequency error; y(t) is the frequency error; C1 is the sliding mode surface weight matrix; λ is the integral gain; represents the integral of the frequency error y(t ′ ) over the time range from time 0 to the current time t to calculate the cumulative effect of the error.

[0093] Specifically, the system adjusts the control input in real time according to the feedback signal to make s(t) approach zero. This way ensures that when the frequency error is large, the system will quickly adjust the frequency, and when the frequency error is small, the adjustment of the system will become more refined, thus ensuring that the system can maintain stability at any time.

[0094] The adaptive control sub-module is responsible for estimating the error of the system in real time and dynamically adjusting the control gain. Specifically, during the operation of the system, the control gain is adjusted according to the real-time error to ensure that the system can adaptively adjust according to external changes. The key to adaptive control is how to estimate online and adjust the gain based on the error of the system, which can effectively cope with factors such as non-linearity and external disturbances in the system.

[0095] The adaptive control sub-module adjusts the gain through the following formula:

[0096]

[0097] Where: is the estimated value of the system parameter; is the estimated value of the system parameter at the previous moment; e(t) is the control error at the current moment; γ is the adaptive gain, which controls the adjustment rate of the gain.

[0098] Through online estimation and dynamic adjustment, the system can automatically adapt to different working environments and external disturbances, thus ensuring the stable output of the frequency.

[0099] The distributed control sub-module is used to ensure the coordinated operation between multiple RC oscillator units. In a relatively complex ultrasonic motor drive system, there may be multiple RC oscillator units working together. The distributed control sub-module coordinates the states between each unit to ensure frequency synchronization between them. Specifically, the distributed control sub-module calculates the state vector of each RC oscillator unit and adjusts the control input based on this information, so that the frequency errors of each unit can be adjusted synchronously.

[0100] The control input of the distributed control sub-module can be calculated through the following formula:

[0101]

[0102] Where: u i (t) is the control input of the i-th oscillator unit; x i (t) is the state vector of the i-th oscillator unit; x j (t) is the state vector of the j-th oscillator unit; K i is the local control gain of the i-th oscillator; L ij is the interaction matrix between different units; N is the number of RC oscillator units in the system.

[0103] In this way, the system can ensure the frequency synchronization between multiple RC oscillator units and avoid system stability problems caused by inconsistent frequencies of individual oscillators. The introduction of the distributed control sub-module greatly improves the robustness and flexibility of the system. Especially in the application scenarios of multi-unit collaboration, it can achieve efficient frequency regulation and collaborative control.

[0104] The adaptive filter module is linked with the control module and the RC oscillator module respectively. By optimizing the frequency signal in real time, it suppresses the influence of external noise and power supply fluctuations on the oscillation frequency.

[0105] Specifically, the adaptive filter module is used to suppress the influence of external noise and power supply fluctuations on the frequency signal of the ultrasonic motor drive system. Since the ultrasonic motor may be affected by power supply fluctuations, electromagnetic interference and other environmental noises during operation, these factors may cause the instability of the oscillation signal, thus affecting the operation of the motor. In order to effectively remove these noises, the system introduces an adaptive filter module to adjust the weight of the filter in real time, thereby optimizing the signal quality and ensuring the stability of the frequency.

[0106] In this embodiment, the adaptive filter module includes a filter unit, which dynamically adjusts the filtering effect by updating the weight in real time to adapt to different types of noises and interferences. Specifically, the filter unit processes the input signal, filters out the unwanted noise part, and retains the effective frequency signal. The adjustment process of the filter is adaptive, which means that the filter can dynamically adjust its parameters according to the real-time feedback to adapt to different noise sources.

[0107] The working principle of the filter unit is based on an adaptive algorithm, usually using common adaptive filtering algorithms such as the least mean square error (LMS) or Kalman filtering. In this embodiment, the filter dynamically adjusts according to the noise characteristics in the input signal, optimizes the output signal by updating the filter weight. Through these methods, the filter can effectively reduce the influence of external noise on the system frequency signal and ensure that the ultrasonic motor can obtain a stable drive signal.

[0108] This embodiment uses the LMS algorithm, which adjusts the weight of the filter by minimizing the error. The core idea of the LMS algorithm is based on the error between the output signal and the desired signal. By adjusting the weight of the filter, the error is minimized. Specifically, the LMS algorithm is updated by the following formula:

[0109] w(n + 1) = w(n) + μ·e(n)·x(n);

[0110] Where: w(n) is the weight vector of the filter; μ is the step factor, which controls the speed of filter weight update; e(n) is the error signal at the current moment, representing the difference between the filter output and the desired signal; x(n) is the current input signal.

[0111] Through this formula, the filter weights are adjusted according to the error, thereby optimizing the quality of the output signal.

[0112] Generally, the adaptive filter module plays a key role in the entire ultrasonic motor drive system. By updating the weights in real time, the filter can adapt to different types of noise sources, including power supply fluctuations, environmental electromagnetic interference, and other types of external signals. The adaptive filter ensures the stable operation of the ultrasonic motor by removing these interference signals and avoids frequency instability problems caused by noise.

[0113] The filter unit can also be combined with the Kalman filtering algorithm, which is a more accurate filtering method, especially excellent in high-noise environments. The core idea of Kalman filtering is to gradually update the state variables by combining the state estimation of the system and the measurement data to obtain a more accurate estimation result. The Kalman filtering algorithm can be updated through the following formula:

[0114]

[0115] K(k) = P(k - 1)·H(k) T ·[H(k)·P(k - 1)·H(k) T + R(k)] -1 ;

[0116] Where: is the state estimation at the current moment; is the state estimation value at the previous moment k - 1; K(k) is the Kalman gain; z(k) is the measurement value at the current moment; H(k) is the measurement matrix; P(k - 1) is the error covariance matrix at the previous moment; R(k) is the covariance matrix of the measurement noise.

[0117] By adjusting the Kalman gain K(k), the filter can more accurately remove noise and optimize the quality of the signal.

[0118] The filter can also be adjusted in segments according to the system requirements, adopting different filtering strategies for different types of noise. For example, in an environment with strong high-frequency noise, the filter can adopt a more aggressive filtering strategy, while in an environment with strong low-frequency noise, the filter can adopt a more smoothing adjustment method. In this way, the system can make flexible adjustments according to changes in the external environment to ensure that the frequency signal always remains stable.

[0119] By introducing an adaptive filter, the system can effectively remove noise and power fluctuations in the external environment, ensuring the normal operation of the ultrasonic motor under the requirements of high precision and high stability. The filter can dynamically adjust its parameters according to real-time feedback, effectively cope with environmental changes, and optimize the signal quality. This not only improves the stability of the signal but also enhances the adaptability of the system in complex environments.

[0120] The temperature sensor and the environmental monitoring module, by real-time monitoring of external factors such as environmental temperature changes, power fluctuations, and electromagnetic interference, transmit feedback signals to the RC oscillator module and the control module to dynamically adjust the resistance and capacitance values.

[0121] Specifically, the temperature sensor and the environmental monitoring module are mainly responsible for real-time monitoring of external factors such as temperature changes, power fluctuations, and electromagnetic interference in the environment where the ultrasonic motor drive system is located. These environmental factors directly affect the output frequency of the RC oscillator module. Therefore, through the precise monitoring of this module, the system parameters can be adjusted in a timely manner to ensure the continuous and stable operation of the ultrasonic motor under complex environmental conditions. The temperature sensor unit and the environmental monitoring unit, through real-time feedback, help the system adapt to different working environments, thus eliminating the system instability caused by external environmental changes.

[0122] In this embodiment, the temperature sensor and the environmental monitoring module are composed of two key units: the temperature sensor unit and the environmental monitoring unit. The temperature sensor unit is mainly used to detect the temperature changes in the system environment and feedback the temperature information to the RC oscillator module. The environmental monitoring unit mainly monitors environmental noises such as power fluctuations and electromagnetic interference, and adjusts the working state of the RC oscillator according to these data feedbacks to avoid adverse effects of external interference on the system.

[0123] The temperature sensor unit is responsible for real-time monitoring of the temperature changes in the environment where the ultrasonic motor drive system is located. The temperature data will be transmitted to the RC oscillator module through feedback signals. These data are used to adjust the resistance and capacitance values in the RC oscillator to compensate for the frequency drift caused by temperature changes. Since the temperature coefficients of the resistance and capacitance are different, temperature changes will cause their values to change, thereby affecting the frequency output by the oscillator. Therefore, the real-time feedback of the temperature sensor unit is crucial to ensure that the RC oscillator module maintains a stable working frequency in different environments.

[0124] The temperature sensor unit uses elements such as thermocouples and thermistors (NTC or PTC) as temperature sensing elements. By combining these elements with a temperature-sensitive circuit, precise measurement of the environmental temperature can be achieved. The output signal of the temperature sensor is transmitted to the control module, which in turn adjusts the working state of the RC oscillator module.

[0125] In this embodiment, the temperature sensor unit uses an NTC thermistor, and the law of its resistance changing with temperature is very clear. By monitoring the change of this resistance, the system can accurately calculate the ambient temperature and dynamically adjust the resistance and capacitance values in the RC oscillator according to the preset temperature coefficient to compensate for the frequency offset caused by temperature changes.

[0126] The environmental monitoring unit is responsible for monitoring possible power fluctuations and electromagnetic interference in the environment. Since these factors have a direct impact on frequency stability, the environmental monitoring unit ensures that the system can be adjusted in a timely manner through real-time monitoring of the power supply and electromagnetic interference sources. Especially in the case of large power fluctuations or strong external electromagnetic interference, the environmental monitoring unit analyzes the monitoring signals to identify power noise or electromagnetic interference sources and adjusts the system parameters according to this information.

[0127] Specifically, the environmental monitoring unit realizes real-time monitoring of power fluctuations and electromagnetic interference through a voltage monitoring unit and an electromagnetic interference sensor. The voltage monitoring unit can capture the changes in power fluctuations and notify the control module through a feedback signal; the electromagnetic interference sensor can detect the electromagnetic radiation in the environment and feedback relevant information to the system. These information will help the control module determine whether it is necessary to adjust the working parameters of the RC oscillator module to ensure that the output frequency of the oscillator is not affected by interference.

[0128] Power fluctuation monitoring can judge whether the power supply is normal by comparing the input voltage with the set standard voltage range in real time. When the power supply voltage fluctuates, the monitoring unit will send a warning signal to the control module to indicate possible power problems. Through power fluctuation monitoring, the system can respond in a timely manner and reduce the impact of power problems on the system frequency.

[0129] By combining the temperature sensor unit and the environmental monitoring unit, this module can provide accurate temperature and environmental status data for the system. These real-time feedbacks can effectively adjust the working state of the RC oscillator module, thereby eliminating the influence of environmental changes such as temperature and power supply on frequency stability. Especially in a complex and changeable working environment, changes in temperature and power supply may cause instability of the oscillation frequency, and through real-time monitoring and adjustment, the system can maintain a stable operating state.

[0130] A control method for driving an inverting dual-path biased ultrasonic motor based on RC oscillation described below can be correspondingly referred to with an inverting dual-path biased ultrasonic motor drive system based on RC oscillation described above.

[0131] Please refer to Appendix Figure 7 , a control method for driving an inverting dual-path biased ultrasonic motor based on RC oscillation, includes the following steps:

[0132] S1. Generate a high-frequency signal using an RC oscillator, form an oscillation frequency through a combination of resistors and capacitors, and perform temperature compensation on the RC oscillator module based on the ambient temperature;

[0133] S2. Generate complementary signals through an inverting dual-biased circuit module to drive the positive and negative directions of the ultrasonic motor;

[0134] S3. Through the sliding mode control sub-module, design a sliding mode surface according to the frequency error and adjust the frequency to ensure the stability of the system under external disturbances;

[0135] S4. Use the adaptive control sub-module to cope with system changes by dynamically adjusting the control gain;

[0136] S5. Utilize the distributed control sub-module to coordinate the operation of multiple RC oscillator units to ensure the overall frequency synchronization of the system;

[0137] S6. Use the adaptive filter module to suppress external noise, optimize the signal output, and reduce interference;

[0138] S7. Through the temperature sensor and the environmental monitoring module, monitor environmental changes in real time and provide feedback to the RC oscillator module to compensate for the frequency drift caused by temperature changes.

[0139] Specifically, S1. Generate a high-frequency signal using an RC oscillator, form an oscillation frequency through a combination of resistors and capacitors, and perform temperature compensation on the RC oscillator module based on the ambient temperature; in this step, the RC oscillator generates a high-frequency signal according to the preset combination of resistors and capacitors, and the generated oscillation signal is used as the drive signal of the ultrasonic motor. Since the values of the resistors and capacitors may be affected by temperature changes, resulting in an offset of the oscillation frequency, it is necessary to perform temperature compensation on the RC oscillator through a temperature compensation mechanism, and adjust the resistor and capacitor values in real time to ensure that temperature changes do not cause frequency instability.

[0140] S2. Generate complementary signals through an inverting dual-biased circuit module to drive the positive and negative directions of the ultrasonic motor; the inverting dual-biased circuit module receives the signal output by the RC oscillator module and generates two complementary signals with a phase difference of 180° through reverse processing. These two complementary signals are used to drive the positive and negative directions of the ultrasonic motor to ensure that the motor can move precisely in both directions.

[0141] S3. Through the sliding mode control sub-module, design a sliding mode surface according to the frequency error and adjust the frequency to ensure the stability of the system under external disturbances; the sliding mode control sub-module designs the sliding mode surface and adjusts it according to the frequency error to ensure that the system can quickly return to a stable state when encountering external disturbances or uncertainties. The control input is corrected through the sign function, making the frequency error tend to zero, thereby maintaining the stability of the system.

[0142] S4. Use the adaptive control sub-module to respond to system changes by dynamically adjusting the control gain. Based on real-time monitoring of the system state and error estimation, the adaptive control sub-module responds to system changes by dynamically adjusting the control gain. The system can automatically optimize the control gain according to external environment or internal parameter changes, thereby ensuring the accuracy and stability of the frequency output.

[0143] S5. Utilize the distributed control sub-module to coordinate the operation of multiple RC oscillator units to ensure overall system frequency synchronization. When the system contains multiple RC oscillator units, the distributed control sub-module ensures frequency synchronization between each unit. By calculating the state vectors of each unit and making adjustments based on their interactions, the system can effectively coordinate the operation of all units and avoid affecting the overall system performance due to inconsistent frequencies.

[0144] S6. Use the adaptive filter module to suppress external noise, optimize signal output, and reduce interference. The adaptive filter module adjusts the filter weights in real time to eliminate the influence of external noise and power fluctuations on the system signal. Through effective noise suppression, the filter can ensure the purity and stability of the signal output, thereby improving the overall performance of the system and avoiding interference from errors to the frequency signal.

[0145] S7. Through the temperature sensor and the environment monitoring module, monitor environmental changes in real time and provide feedback to the RC oscillator module to compensate for frequency drift caused by temperature changes. The temperature sensor and the environment monitoring module monitor the temperature changes and power fluctuations in the environment where the system is located, and feedback data in real time. Based on these feedback signals, the RC oscillator module can automatically adjust the resistance and capacitance values to compensate for the impact of temperature changes on the frequency and ensure the stable operation of the system in different working environments.

[0146] The method of this embodiment can be used to implement the above system embodiment, and its principle and technical effects are similar, so details are not described here again.

[0147] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An anti-phase dual-path bias ultrasonic motor drive system based on RC oscillation, characterized in that: include: RC oscillator module, used to generate a high-frequency signal, which forms an oscillation frequency through a combination of resistors and capacitors; The inverting dual-path bias circuit module is used to receive the signal output by the RC oscillator module, and invert the signal to generate a complementary signal to drive the ultrasonic motor to move in positive and negative directions, while controlling the amplitude and phase of the output signal; The control module closely cooperates with the RC oscillator module and the inverting dual-path bias circuit module to adjust the output frequency of the RC oscillator module and precisely control the inverting signal; The adaptive filter module is linked with the control module and the RC oscillator module respectively, and suppresses the influence of external noise and power supply fluctuation on the oscillation frequency by optimizing the frequency signal in real time; The temperature sensor and environment monitoring module transmits feedback signals to the RC oscillator module and control module to dynamically adjust the resistance and capacitance values ​​by monitoring the external factors of ambient temperature changes, power supply fluctuations and electromagnetic interference in real time.

2. The anti-phase dual-path bias ultrasonic motor driving system based on RC oscillation according to claim 1 is characterized in that: The RC oscillator module includes: an RC oscillator circuit that generates an oscillation frequency based on a combination of a resistor and a capacitor, the resistor and capacitor values ​​being affected by temperature changes and connected to an oscillator output via a power signal; The temperature compensation mechanism adjusts the values ​​of resistance and capacitance through the feedback information of the temperature sensor to ensure the stability of the oscillation frequency.

3. The anti-phase dual-path bias ultrasonic motor driving system based on RC oscillation according to claim 1 is characterized in that: The inverting dual-path bias circuit module comprises: An inverting circuit unit, used for inverting the signal output by the RC oscillator module to generate two complementary signals; The bias control unit is used to adjust the amplitude and phase of the output signal of the inverting circuit unit, so as to control the driving mode of the ultrasonic motor.

4. The anti-phase dual-path bias ultrasonic motor driving system based on RC oscillation according to claim 1 is characterized in that: The control module comprises: The sliding mode control submodule quickly corrects the frequency error by designing the sliding mode surface to ensure the stability of the system under external disturbances; The adaptive control submodule adapts to system changes by estimating system parameters and dynamically adjusting control gains; The distributed control submodule coordinates the work of each unit according to the state vector of multiple RC oscillator units to ensure the frequency synchronization of the system and ensure stable operation.

5. The anti-phase dual-path bias ultrasonic motor driving system based on RC oscillation according to claim 1 is characterized in that: The adaptive filter module comprises: The filter unit is used to suppress the noise in the output signal of the RC oscillator module and reduce the influence of external disturbance on the signal by dynamically adjusting the filter weight.

6. The anti-phase dual-path bias ultrasonic motor driving system based on RC oscillation according to claim 1 is characterized in that: The temperature sensor and environment monitoring module include: The temperature sensor unit monitors the temperature change in real time and provides feedback signal to the RC oscillator module; An environmental monitoring unit is used to monitor power supply fluctuations and electromagnetic interference and provide control signals to adjust the output frequency of the oscillator.

7. The anti-phase dual-path bias ultrasonic motor driving system based on RC oscillation according to claim 1 is characterized in that: The temperature compensation mechanism of the RC oscillator module includes: Temperature sensor feedback, real-time monitoring of temperature changes and providing feedback data; Resistor and capacitor adjustment: Based on feedback data, the values ​​of resistors and capacitors are dynamically adjusted to compensate for frequency drift caused by temperature changes.

8. The anti-phase dual-path bias ultrasonic motor driving system based on RC oscillation according to claim 1 is characterized in that: The sliding mode control submodule of the control module adjusts the frequency error by the following steps: Design a sliding surface, where the sliding surface includes the system state vector and the integral of the frequency error; Sliding mode control is performed to adjust the frequency by controlling the input with a sign function to ensure that the frequency error quickly approaches zero.

9. The anti-phase dual-path bias ultrasonic motor driving system based on RC oscillation according to claim 1 is characterized in that: The distributed control submodule of the control module coordinates multiple RC oscillator units by the following steps: Calculate the state vector, the state vector of each RC oscillator unit is composed of its output signal and error; Adjust the control input, based on the state vectors of multiple units, calculate the adjustment amount through local control gains and interaction matrices to ensure the synchronization of each unit in the system.

10. A control method for driving an anti-phase dual-path biased ultrasonic motor based on RC oscillation, applied to an anti-phase dual-path biased ultrasonic motor driving system based on RC oscillation according to any one of claims 1 to 9, characterized in that: The following steps are involved: Use an RC oscillator to generate a high-frequency signal, and form the oscillation frequency through a combination of resistors and capacitors, and perform temperature compensation on the RC oscillator module based on the ambient temperature; Generate complementary signals through the inverting dual-path bias circuit module to drive the ultrasonic motor in positive and negative directions; Through the sliding mode control submodule, the sliding mode surface is designed according to the frequency error and the frequency is adjusted to ensure the stability of the system under external disturbances; Use the adaptive control submodule to dynamically adjust the control gain to cope with system changes; Use the distributed control submodule to coordinate the work of multiple RC oscillator units to ensure the overall frequency synchronization of the system; Use adaptive filter module to suppress external noise, optimize signal output and reduce interference; The temperature sensor and the environment monitoring module monitor the environmental changes in real time and provide feedback to the RC oscillator module to compensate for the frequency drift caused by temperature changes.

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