Driving control method and device of ultrasonic motor and laser communication terminal

Abstract

The invention discloses a driving control method and device of an ultrasonic motor and a laser communication terminal, which are used for reducing start-stop vibration impact and high-frequency noise in a pulse stepping driving process of the ultrasonic motor and improving the operation stability and displacement precision of the ultrasonic motor. The method comprises the steps that a stepping driving signal is generated based on acquired signal configuration parameters, a pulse continuous part of the stepping driving signal comprises two simple harmonic signals, and the absolute value of the phase difference of the two simple harmonic signals is gradually increased and then gradually decreased in the pulse continuous part; and driving an ultrasonic motor by using the stepping driving signal.

Description

Technical Field

[0001] This application relates to the field of drive control technology, and in particular to a drive control method, device and laser communication terminal for an ultrasonic motor. Background Technology

[0002] Ultrasonic motors are a new type of drive unit with advantages such as small size, light weight, fast response, high torque at low speed, good electromagnetic compatibility, and self-locking when power is off. Therefore, they have broad application prospects in high-precision fields such as aviation, aerospace, and medical care, and are especially suitable for small and lightweight inter-satellite laser communication terminals.

[0003] The ultrasonic motor mainly consists of a stator, rotor, piezoelectric ceramic ring, friction material layer, bearings, and shaft. The piezoelectric ceramic ring is bonded to the bottom of the stator, and the friction material layer is bonded to the bottom of the rotor, contacting the stator teeth through axial preload. The ultrasonic motor uses the inverse piezoelectric effect of the piezoelectric ceramic to excite stator vibration, and then uses the friction between the stator and rotor to rotate the rotor, thus realizing the conversion of electrical energy into mechanical energy.

[0004] Currently, ultrasonic motors typically use a pulse stepping drive mode. In this drive mode, each step causes the ultrasonic motor to start up suddenly and stop suddenly. The high start-stop acceleration will cause strong vibration and high-frequency noise interference. This start-stop vibration impact seriously affects the operating stability and displacement accuracy of the ultrasonic motor. Summary of the Invention

[0005] This application provides a driving control method, device, and laser communication terminal for an ultrasonic motor, which reduces the start-stop vibration and high-frequency noise during the pulse stepping drive process of the ultrasonic motor, and improves the operating stability and displacement accuracy of the ultrasonic motor.

[0006] In a first aspect, embodiments of this application provide a driving control method for an ultrasonic motor, the method comprising:

[0007] Based on the acquired signal configuration parameters, a stepping drive signal is generated. The pulse duration of the stepping drive signal includes two simple harmonic signals. The absolute value of the phase difference between the two simple harmonic signals gradually increases and then gradually decreases within the pulse duration.

[0008] The ultrasonic motor is driven using the stepper drive signal.

[0009] As an optional implementation, the signal configuration parameters include: phase difference configuration parameters, harmonic signal configuration parameters, and pulse signal configuration parameters;

[0010] The stepping drive signal is generated based on the acquired signal configuration parameters, including:

[0011] Based on the phase difference configuration parameters, a phase difference sequence is generated, wherein multiple sequence values ​​in the phase difference sequence first increase and then decrease;

[0012] The two simple harmonic signals are generated based on the phase difference sequence and the configuration parameters of the simple harmonic signal;

[0013] The stepping drive signal is generated based on the configuration parameters of the two harmonic signals and the pulse signal.

[0014] As an optional implementation, the simple harmonic signal configuration parameters include: the number of simple harmonic signal periods y corresponding to each phase difference, and the period duration of the simple harmonic signal to be generated, where y is a positive integer;

[0015] The step of generating the two simple harmonic signals based on the phase difference sequence and the simple harmonic signal configuration parameters includes:

[0016] Based on the number of sequence values ​​contained in the phase difference sequence and the number of simple harmonic signal periods y corresponding to each phase difference, the total number of periods of the simple harmonic signal to be generated is determined.

[0017] Based on the total number of periods of the simple harmonic signal to be generated, the total period of the simple harmonic signal to be generated is divided into multiple period groups, and each period group includes y periods.

[0018] Based on the sequence values ​​contained in the phase difference sequence and the preset rotation direction of the ultrasonic motor, the phase difference corresponding to each period group is determined, and the period group corresponds one-to-one with the sequence values ​​in the phase difference sequence in chronological order;

[0019] Based on the total number of periods of the simple harmonic signal to be generated, the phase difference corresponding to each period group, and the period duration of the simple harmonic signal to be generated, the two simple harmonic signals are generated.

[0020] As an optional implementation, determining the phase difference corresponding to each cycle group based on the sequence values ​​contained in the phase difference sequence and the preset rotation direction of the ultrasonic motor includes:

[0021] When the preset rotation direction is the first direction, the phase difference corresponding to each period group is determined to be the sequence value in the phase difference sequence; or

[0022] When the preset rotation direction is the second direction, the phase difference corresponding to each period group is determined to be the opposite of the sequence value in the phase difference sequence.

[0023] As an optional implementation, the phase difference configuration parameters include: a first phase difference, a second phase difference, and the number of sequence values ​​in the phase difference sequence, wherein the first phase difference is greater than or equal to 0, the second phase difference is greater than the first phase difference, and the second phase difference is less than or equal to π / 2.

[0024] The step of generating a phase difference sequence based on the phase difference configuration parameters includes:

[0025] Based on the first phase difference, the second phase difference, and the number of sequence values ​​in the phase difference sequence, the phase difference sequence is generated using the Sigmoid function or the Gaussian function, wherein the multiple sequence values ​​in the phase difference sequence are normally distributed.

[0026] As an optional implementation, the pulse signal configuration parameters include: pulse stop duration;

[0027] The stepping drive signal is generated based on the configuration parameters of the two harmonic signals and the pulse signal, including:

[0028] The two simple harmonic signals are used as the pulse duration portion within a single cycle of the step drive signal;

[0029] Based on the pulse stop duration, the pulse stop portion within a single cycle of the step drive signal is generated;

[0030] The pulse duration portion and the pulse stop portion are combined to obtain a single-cycle step drive signal, and the single-cycle step drive signal is extended to obtain the step drive signal.

[0031] As an optional implementation, the two harmonic signals have the same amplitude and frequency.

[0032] Secondly, embodiments of this application provide a drive control device for an ultrasonic motor, comprising:

[0033] A drive signal generation unit is used to generate a step drive signal based on the acquired signal configuration parameters. The pulse duration of the step drive signal includes two simple harmonic signals. The absolute value of the phase difference between the two simple harmonic signals gradually increases and then gradually decreases within the pulse duration.

[0034] A drive unit is used to drive an ultrasonic motor using the stepper drive signal.

[0035] As an optional implementation, the signal configuration parameters include: phase difference configuration parameters, harmonic signal configuration parameters, and pulse signal configuration parameters;

[0036] The drive signal generation unit is specifically used for:

[0037] Based on the phase difference configuration parameters, a phase difference sequence is generated, wherein multiple sequence values ​​in the phase difference sequence first increase and then decrease;

[0038] The two simple harmonic signals are generated based on the phase difference sequence and the configuration parameters of the simple harmonic signal;

[0039] The stepping drive signal is generated based on the configuration parameters of the two harmonic signals and the pulse signal.

[0040] As an optional implementation, the simple harmonic signal configuration parameters include: the number of simple harmonic signal periods y corresponding to each phase difference, and the period duration of the simple harmonic signal to be generated, where y is a positive integer;

[0041] The drive signal generation unit is specifically used for:

[0042] Based on the number of sequence values ​​contained in the phase difference sequence and the number of simple harmonic signal periods y corresponding to each phase difference, the total number of periods of the simple harmonic signal to be generated is determined.

[0043] Based on the total number of periods of the simple harmonic signal to be generated, the total period of the simple harmonic signal to be generated is divided into multiple period groups, and each period group includes y periods.

[0044] Based on the sequence values ​​contained in the phase difference sequence and the preset rotation direction of the ultrasonic motor, the phase difference corresponding to each period group is determined, and the period group corresponds one-to-one with the sequence values ​​in the phase difference sequence in chronological order;

[0045] Based on the total number of periods of the simple harmonic signal to be generated, the phase difference corresponding to each period group, and the period duration of the simple harmonic signal to be generated, the two simple harmonic signals are generated.

[0046] As an optional implementation, the drive signal generation unit is specifically used for:

[0047] When the preset rotation direction is the first direction, the phase difference corresponding to each period group is determined to be the sequence value in the phase difference sequence; or

[0048] When the preset rotation direction is the second direction, the phase difference corresponding to each period group is determined to be the opposite of the sequence value in the phase difference sequence.

[0049] As an optional implementation, the phase difference configuration parameters include: a first phase difference, a second phase difference, and the number of sequence values ​​in the phase difference sequence, wherein the first phase difference is greater than or equal to 0, the second phase difference is greater than the first phase difference, and the second phase difference is less than or equal to π / 2.

[0050] The drive signal generation unit is specifically used for:

[0051] Based on the first phase difference, the second phase difference, and the number of sequence values ​​in the phase difference sequence, the phase difference sequence is generated using the Sigmoid function or the Gaussian function, wherein the multiple sequence values ​​in the phase difference sequence are normally distributed.

[0052] As an optional implementation, the pulse signal configuration parameters include: pulse stop duration;

[0053] The drive signal generation unit is specifically used for:

[0054] The two simple harmonic signals are used as the pulse duration portion within a single cycle of the step drive signal;

[0055] Based on the pulse stop duration, the pulse stop portion within a single cycle of the step drive signal is generated;

[0056] The pulse duration portion and the pulse stop portion are combined to obtain a single-cycle step drive signal, and the single-cycle step drive signal is extended to obtain the step drive signal.

[0057] As an optional implementation, the two harmonic signals have the same amplitude and frequency.

[0058] Thirdly, embodiments of this application provide a laser communication terminal, which includes a main control board, an ultrasonic motor driver, an ultrasonic motor, and a coarse tracking pointing mechanism, wherein...

[0059] The main control board is used to determine the signal configuration parameters and send the signal configuration parameters to the ultrasonic motor driver;

[0060] The ultrasonic motor driver is used to generate a stepping drive signal based on the acquired signal configuration parameters. The pulse duration of the stepping drive signal includes two simple harmonic signals. The absolute value of the phase difference between the two simple harmonic signals gradually increases and then gradually decreases within the pulse duration. The stepping drive signal is used to drive the ultrasonic motor.

[0061] The ultrasonic motor is used to drive the coarse tracking pointing mechanism to rotate under the drive of the stepper drive signal;

[0062] The coarse tracking pointing mechanism is used to transmit and receive optical signals, capture and track other laser communication terminals, and establish communication connections with other laser communication terminals.

[0063] As an optional implementation, the signal configuration parameters include: phase difference configuration parameters, harmonic signal configuration parameters, and pulse signal configuration parameters;

[0064] The ultrasonic motor driver is specifically used for:

[0065] Based on the phase difference configuration parameters, a phase difference sequence is generated, wherein multiple sequence values ​​in the phase difference sequence first increase and then decrease;

[0066] The two simple harmonic signals are generated based on the phase difference sequence and the configuration parameters of the simple harmonic signal;

[0067] The stepping drive signal is generated based on the configuration parameters of the two harmonic signals and the pulse signal.

[0068] As an optional implementation, the simple harmonic signal configuration parameters include: the number of simple harmonic signal periods y corresponding to each phase difference, and the period duration of the simple harmonic signal to be generated, where y is a positive integer;

[0069] The ultrasonic motor driver is specifically used for:

[0070] Based on the number of sequence values ​​contained in the phase difference sequence and the number of simple harmonic signal periods y corresponding to each phase difference, the total number of periods of the simple harmonic signal to be generated is determined.

[0071] Based on the total number of periods of the simple harmonic signal to be generated, the total period of the simple harmonic signal to be generated is divided into multiple period groups, and each period group includes y periods.

[0072] Based on the sequence values ​​contained in the phase difference sequence and the preset rotation direction of the ultrasonic motor, the phase difference corresponding to each period group is determined, and the period group corresponds one-to-one with the sequence values ​​in the phase difference sequence in chronological order;

[0073] Based on the total number of periods of the simple harmonic signal to be generated, the phase difference corresponding to each period group, and the period duration of the simple harmonic signal to be generated, the two simple harmonic signals are generated.

[0074] As an optional implementation, the ultrasonic motor driver is specifically used for:

[0075] When the preset rotation direction is the first direction, the phase difference corresponding to each period group is determined to be the sequence value in the phase difference sequence; or

[0076] When the preset rotation direction is the second direction, the phase difference corresponding to each period group is determined to be the opposite of the sequence value in the phase difference sequence.

[0077] As an optional implementation, the phase difference configuration parameters include: a first phase difference, a second phase difference, and the number of sequence values ​​in the phase difference sequence, wherein the first phase difference is greater than or equal to 0, the second phase difference is greater than the first phase difference, and the second phase difference is less than or equal to π / 2.

[0078] The ultrasonic motor driver is specifically used for:

[0079] Based on the first phase difference, the second phase difference, and the number of sequence values ​​in the phase difference sequence, the phase difference sequence is generated using the Sigmoid function or the Gaussian function, wherein the multiple sequence values ​​in the phase difference sequence are normally distributed.

[0080] As an optional implementation, the pulse signal configuration parameters include: pulse stop duration;

[0081] The ultrasonic motor driver is specifically used for:

[0082] The two simple harmonic signals are used as the pulse duration portion within a single cycle of the step drive signal;

[0083] Based on the pulse stop duration, the pulse stop portion within a single cycle of the step drive signal is generated;

[0084] The pulse duration portion and the pulse stop portion are combined to obtain a single-cycle step drive signal, and the single-cycle step drive signal is extended to obtain the step drive signal.

[0085] As an optional implementation, the two harmonic signals have the same amplitude and frequency.

[0086] Fourthly, embodiments of this application provide a drive control device for an ultrasonic motor, the device including a processor and a memory, the memory being used to store a program executable by the processor, the processor being used to read the program in the memory and execute the method described in any one of the first aspects.

[0087] Fifthly, embodiments of this application also provide a computer storage medium having a computer program stored thereon, which, when executed by a processor, is used to implement the steps of the method described in any of the first aspects above.

[0088] In a sixth aspect, this application provides a computer program product comprising: computer program code, which, when run on a computer, causes the computer to perform the method described in any one of the first aspects.

[0089] The beneficial effects of the embodiments of this application are as follows:

[0090] This application provides a driving control method, device, and laser communication terminal for an ultrasonic motor. Based on acquired signal configuration parameters, a stepping drive signal is generated. The pulse duration of this stepping drive signal includes two simple harmonic signals, and the absolute value of the phase difference between the two simple harmonic signals gradually increases and then gradually decreases within the pulse duration. Because the absolute value of the phase difference between the two simple harmonic signals gradually increases and then gradually decreases within the pulse duration, when driving the ultrasonic motor with the stepping drive signal, the ultrasonic motor starts slowly during the phase difference gradually increasing phase and stops slowly during the phase difference gradually decreasing phase. That is, by gradually increasing and then gradually decreasing the absolute value of the phase difference between the two simple harmonic signals, the ultrasonic motor can be started and stopped slowly. Compared with the sudden start and stop of ultrasonic motors in related technologies, the ultrasonic motor has a smaller acceleration during start and stop due to the slow start and stop, thus reducing the start and stop vibration impact and high-frequency noise during the ultrasonic motor pulse stepping drive process, and improving the operating stability and displacement accuracy of the ultrasonic motor.

[0091] These or other aspects of this application will become more apparent in the following description of embodiments. Attached Figure Description

[0092] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0093] Figure 1 This is a schematic diagram of the structure of an ultrasonic motor in related technologies;

[0094] Figure 2 This is a schematic diagram illustrating the working principle of the ultrasonic motor provided in the embodiments of this application;

[0095] Figure 3 A schematic flowchart illustrating a driving control method for an ultrasonic motor provided in an embodiment of this application;

[0096] Figure 4 A schematic diagram of a single-cycle step drive signal provided in an embodiment of this application;

[0097] Figure 5 This is a schematic diagram showing the distribution of each sequence value in the phase difference sequence provided in the embodiments of this application;

[0098] Figure 6 A schematic flowchart illustrating the specific implementation process of a drive control method for an ultrasonic motor provided in this application embodiment;

[0099] Figure 7A schematic diagram of the structure of a drive control device for an ultrasonic motor provided in an embodiment of this application;

[0100] Figure 8 This is a schematic diagram of the structure of a laser communication terminal provided in an embodiment of this application;

[0101] Figure 9 This is a schematic diagram of a drive control device for an ultrasonic motor provided in an embodiment of this application. Detailed Implementation

[0102] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0103] In the embodiments of this application, the term "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0104] The application scenarios described in this application are for the purpose of more clearly illustrating the technical solutions of this application, and do not constitute a limitation on the technical solutions provided in this application. Those skilled in the art will understand that with the emergence of new application scenarios, the technical solutions provided in this application are also applicable to similar technical problems. In the description of this application, unless otherwise stated, "multiple" means two or more.

[0105] Before introducing the ultrasonic motor drive control method provided in the embodiments of this application, the technical background of the embodiments of this application will be described in detail below for ease of understanding.

[0106] Ultrasonic motors are a new type of drive unit with advantages such as small size, light weight, fast response, high torque at low speed, good electromagnetic compatibility, and self-locking when power is off. Therefore, they have broad application prospects in high-precision fields such as aviation, aerospace, and medical care, and are especially suitable for small and lightweight inter-satellite laser communication terminals.

[0107] The structure of an ultrasonic motor, such as Figure 1As shown, the device mainly consists of a stator 10, a rotor 11, a piezoelectric ceramic ring 12, a friction material layer 13, a bearing 14, a shaft 15, a housing 16, and a base 17. The piezoelectric ceramic ring 12 is bonded to the bottom side of the stator 10, and the friction material layer 13 is bonded to the bottom side of the rotor 11, contacting the stator teeth through axial preload. The ultrasonic motor excites stator vibration based on the inverse piezoelectric effect of piezoelectric ceramics, and then uses the friction between the stator and rotor to make the rotor rotate, thereby realizing the conversion of electrical energy into mechanical energy.

[0108] Currently, ultrasonic motors typically use a pulse stepping drive mode. In this drive mode, each step causes the ultrasonic motor to start up suddenly and stop suddenly. The high start-stop acceleration causes strong vibrations and high-frequency noise interference. This start-stop vibration shock seriously affects the operational stability and displacement accuracy of the ultrasonic motor, hindering its application in precision optical equipment such as inter-satellite laser communication terminals.

[0109] In view of this, the present application provides a driving control method, device and laser communication terminal for an ultrasonic motor. Based on the acquired signal configuration parameters, a stepping drive signal is generated. The pulse duration of the stepping drive signal includes two simple harmonic signals, and the absolute value of the phase difference between the two simple harmonic signals gradually increases and then gradually decreases within the pulse duration. Since the absolute value of the phase difference between the two simple harmonic signals gradually increases and then gradually decreases within the pulse duration, when driving the ultrasonic motor with the stepping drive signal, the ultrasonic motor starts slowly during the phase difference gradually increasing stage and stops slowly during the phase difference gradually decreasing stage. That is, by gradually increasing and then gradually decreasing the absolute value of the phase difference between the two simple harmonic signals, the ultrasonic motor can be started and stopped slowly. Since the acceleration of the ultrasonic motor during start-stop is small, the start-stop vibration impact and high-frequency noise during the ultrasonic motor pulse stepping drive process can be reduced, thereby improving the operating stability and displacement accuracy of the ultrasonic motor.

[0110] After introducing the technical background of the embodiments of this application, the principle and application scenarios of the ultrasonic motor drive control scheme provided in the embodiments of this application will be explained below.

[0111] Will Figure 1 The contact interface between the stator and rotor of the ultrasonic motor is shown. Expanding the diagram along the circumferential direction yields a schematic representation of the stator and rotor contact interface, as shown below. Figure 2 As shown, when two high-frequency alternating voltages with the same amplitude, the same frequency, and different phases are applied to phase A and phase B of the piezoelectric ceramic, the piezoelectric ceramic generates micro-amplitude vibrations due to the inverse piezoelectric effect, which in turn excites two standing wave modes of the stator with the same amplitude but different phases in time and space. The two standing wave modes are superimposed to form a traveling wave moving along the circumference of the stator.

[0112] At this time, each particle on the stator teeth will form an elliptical motion trajectory. When a certain preload is applied to the rotor, a corresponding frictional force will be generated on the contact surface between the stator and the rotor. Under the action of this frictional force, the elliptical motion generated by the stator teeth will drive the rotor to rotate, and finally convert the micro-amplitude vibration on the piezoelectric ceramic into the macroscopic driving torque of the rotor.

[0113] For ultrasonic motors, as the absolute value of the phase difference between the two simple harmonic signals in the pulse duration of the stepping drive signal gradually decreases from π / 2, the ultrasonic motor macroscopically exhibits a phenomenon of gradually decreasing speed. When the phase difference decreases to a certain phase difference threshold, the speed of the ultrasonic motor decreases to 0. After that, as the phase difference continues to decrease until it reaches 0, the ultrasonic motor remains stationary. Therefore, the interval between the phase difference from 0 to the phase difference threshold is called the phase difference dead zone of the ultrasonic motor.

[0114] This application utilizes the phase difference dead zone characteristic of ultrasonic motors to propose a drive control scheme for ultrasonic motors based on phase difference signals. The ultrasonic motor is started from the phase difference dead zone and stopped when it returns to the phase difference dead zone. During this process, the acceleration of the ultrasonic motor during start-up and stop is small, thereby realizing the smooth start and stop of the ultrasonic motor, reducing start-up and stop vibration impact and noise interference, and improving the operating stability and displacement accuracy of the ultrasonic motor.

[0115] The ultrasonic motor drive control method provided in this application improves the operational stability and displacement accuracy of the ultrasonic motor, enabling its application in precision optical equipment such as laser communication terminals.

[0116] Taking laser communication terminals as an example, inter-satellite laser communication is an inter-satellite communication scheme that uses lasers as information carriers to achieve high-speed data transmission. It has a series of excellent performance characteristics, such as high communication rate, good security, small size, low power consumption, and no need to apply for frequency bands, and is an important component of inter-satellite broadband high-speed links. Inter-satellite laser communication requires calculating the scanning trajectory and tracking trajectory based on data such as the ephemeris of the local satellite, the ephemeris of other satellites, and the attitude of the local satellite. Then, the laser acquisition and tracking are completed through the coarse tracking pointing mechanism of the laser communication terminal.

[0117] In the laser capture and tracking process, as the requirements for displacement accuracy and operational stability gradually increase, higher requirements are placed on the driving of the coarse tracking pointing mechanism in the laser communication terminal. In view of this, an ultrasonic motor can be used to drive the coarse tracking pointing mechanism, and the ultrasonic motor can be driven and controlled by the ultrasonic motor driving control method provided in the embodiments of this application.

[0118] Specifically, when driving and controlling the ultrasonic motor in the coarse tracking pointing mechanism, two simple harmonic signals with the same amplitude and frequency and a phase difference that gradually increases and then decreases in absolute value are generated during the pulse duration of the stepping drive signal. This stepping drive signal starts the ultrasonic motor from the phase difference dead zone and stops it by returning to the phase difference dead zone. During this process, the ultrasonic motor has a small starting and stopping acceleration, can start and stop slowly, and has less vibration, shock and noise interference. The ultrasonic motor has high operating stability and displacement accuracy, which can meet the driving requirements of the coarse tracking pointing mechanism in the laser communication terminal.

[0119] Of course, the ultrasonic motor drive control method provided in this application embodiment can also be applied to other application scenarios that use ultrasonic motors for drive, such as scenarios in the biomedical field where ultrasonic motors are used to drive micro-manipulators, measuring devices, and micro-nozzles of biological materials; scenarios in the field of precision instruments where ultrasonic motors are used to drive focusing systems of optical instruments such as cameras, video cameras, and microscopes; and scenarios in the field of robot manufacturing where ultrasonic motors are used to drive robot shutdown.

[0120] After introducing the principle and application scenarios of the ultrasonic motor drive control scheme provided in the embodiments of this application, the implementation process of the ultrasonic motor drive control method provided in the embodiments of this application will be described in detail below with reference to specific embodiments.

[0121] like Figure 3 As shown in the figure, the implementation flow of the ultrasonic motor drive control method provided in this embodiment is as follows:

[0122] Step 301: Based on the acquired signal configuration parameters, generate a stepping drive signal. The pulse duration of the stepping drive signal includes two simple harmonic signals. The absolute value of the phase difference between the two simple harmonic signals gradually increases and then gradually decreases within the pulse duration.

[0123] Step 302: Use stepper drive signals to drive the ultrasonic motor.

[0124] It should be noted that the stepping drive signal in the embodiments of this application, such as Figure 4 As shown, a single-cycle step drive signal typically consists of two parts: a pulse duration part and a pulse stop part. The pulse duration part includes two simple harmonic signals with the same amplitude and frequency, whose phase difference gradually increases and then gradually decreases. The simple harmonic signals can be sine or cosine signals. The signal level of the pulse stop part is a preset level, such as 0 level, and the pulse stop part can be regarded as no drive signal.

[0125] In specific implementation, the signal configuration parameters are used to generate step drive signals. These parameters can be input by the object, determined by a computer or other terminal device based on artificial intelligence algorithms, or pre-configured with fixed values. This application embodiment does not limit these parameters.

[0126] In practical applications, signal configuration parameters include: phase difference configuration parameters, harmonic signal configuration parameters, and pulse signal configuration parameters. Specifically, when generating a stepping drive signal based on the acquired signal configuration parameters, a phase difference sequence is first generated according to the phase difference configuration parameters. Multiple sequence values ​​in the phase difference sequence first increase and then decrease. Then, based on the phase difference sequence and the harmonic signal configuration parameters, two harmonic signals are generated. One or more periods of the harmonic signals correspond to a sequence value in the phase difference sequence. Finally, the stepping drive signal is generated based on the two harmonic signals and the pulse signal configuration parameters.

[0127] The phase difference configuration parameters include: a first phase difference, a second phase difference, and the number of sequence values ​​in the phase difference sequence. The first phase difference is greater than or equal to 0, the second phase difference is greater than the first phase difference, and the second phase difference is less than or equal to π / 2. Specifically, when generating the phase difference sequence based on the phase difference configuration parameters, the sigmoid function or a Gaussian function is used to generate the phase difference sequence according to the first phase difference, the second phase difference, and the number of sequence values ​​in the phase difference sequence. The multiple sequence values ​​in the phase difference sequence follow a normal distribution.

[0128] It should be noted that the first phase difference in the phase difference configuration parameters, which is the phase difference for starting the ultrasonic motor, needs to be greater than or equal to the minimum phase difference required to maintain the operation of the ultrasonic motor (when the phase difference between the two simple harmonic signals is less than the first phase difference, the speed of the ultrasonic motor will always be 0). Specifically, it can be set according to empirical values. This application embodiment does not limit this. For example, the first phase value is 5° or 10°.

[0129] The second phase difference determines the maximum speed of the ultrasonic motor. By changing the second phase difference, the macroscopic speed of the ultrasonic motor can be changed. The specific setting of the second phase difference can be set according to actual needs. For example, the second phase difference can be 90° or 80°.

[0130] The number of sequence values ​​in the phase difference sequence affects the soft start and soft stop effect of the ultrasonic motor. The larger the number of sequence values ​​in the phase difference sequence, the smaller the rate of change of adjacent sequence values ​​in the phase difference sequence (corresponding to the difference between two adjacent phase differences in a simple harmonic signal), and the better the soft start and soft stop effect of the ultrasonic motor. In practical applications, it can be flexibly set according to actual needs. This application embodiment does not limit this. For example, the number of phase differences is 40, 50, 100, etc.

[0131] In one example, assuming the first phase difference is 5°, the second phase difference is 90°, and the phase difference sequence contains 40 values, the phase difference sequence can be generated using the Sigmoid function or the Gaussian function, such as... Figure 5 As shown, it includes 40 sequence values, and the 40 sequence values ​​are normally distributed.

[0132] In specific implementation, the configuration parameters for the simple harmonic signal include: the number of simple harmonic signal periods y corresponding to each phase difference, and the period duration of the simple harmonic signal to be generated, where y is a positive integer. The number of simple harmonic signal periods corresponding to each phase difference can be set according to actual needs; this embodiment does not limit this. For example, y can take values ​​of 1, 2, 3, 4, etc. The period duration of the simple harmonic signal to be generated refers to the duration of a single period of the simple harmonic signal, which can be set according to actual needs; this embodiment does not limit this. For example, it can be set to 5 milliseconds (ms) or 10 ms, etc.

[0133] Of course, in other embodiments of this application, the configuration parameters of the simple harmonic signal may not include the duration of a single cycle of the simple harmonic signal, but may include the frequency of the simple harmonic signal to be generated.

[0134] Specifically, based on the phase difference sequence and the configuration parameters of the simple harmonic signal, when generating two simple harmonic signals, the total number of periods of the simple harmonic signal to be generated is first determined according to the number of sequence values ​​contained in the phase difference sequence and the number of simple harmonic signal periods y corresponding to each phase difference. For example, if the number of sequence values ​​contained in the phase difference sequence is x, where x is a positive integer, then the total number of periods of the simple harmonic signal to be generated can be determined as n = x × y.

[0135] Then, based on the total number of cycles of the simple harmonic signal to be generated, the total number of cycles of the simple harmonic signal to be generated is divided into multiple cycle groups. Each cycle group includes y cycles. Based on the sequence values ​​contained in the phase difference sequence and the preset rotation direction of the ultrasonic motor, the phase difference corresponding to each cycle group is determined. The cycle groups and the sequence values ​​in the phase difference sequence correspond one-to-one in time order. Finally, based on the total number of cycles of the simple harmonic signal to be generated, the phase difference corresponding to each cycle group, and the cycle duration of the simple harmonic signal to be generated, two simple harmonic signals are generated.

[0136] In practical applications, when determining the phase difference corresponding to each period group based on the sequence values ​​contained in the phase difference sequence and the preset rotation direction of the ultrasonic motor, if the preset rotation direction is the first direction, the phase difference corresponding to each period group is determined to be the sequence value in the phase difference sequence; or if the preset rotation direction is the second direction, the phase difference corresponding to each period group is determined to be the opposite of the sequence value in the phase difference sequence. Here, the first direction can be the forward rotation direction of the ultrasonic motor, and the second direction can be the reverse rotation direction of the ultrasonic motor.

[0137] It should be noted that, as can be seen from the division of periodic groups, the number of periodic groups is the same as the number of sequence values ​​in the phase difference sequence. Therefore, there is a one-to-one correspondence between periodic groups and sequence values ​​in the phase difference sequence. When determining the correspondence between periodic groups and phase differences, it is necessary to determine it in chronological order. That is, the first periodic group corresponds to the first sequence value in the phase difference sequence, the second periodic group corresponds to the second sequence value in the phase difference sequence, and so on, with the last periodic group corresponding to the last sequence value in the phase difference sequence.

[0138] In one example, if the phase difference sequence contains 40 sequence values, denoted as M1, M2...M... 40 Since each phase difference corresponds to 2 simple harmonic signal periods, the number of periods of the simple harmonic signal to be generated is determined to be 80. Based on this number of 80 periods, the periods of the simple harmonic signal to be generated are divided into multiple period groups, each group consisting of 2 periods, resulting in 40 period groups, denoted as N1, N2, ..., N. 40 .

[0139] When determining the phase difference corresponding to each periodic group, if the preset rotation direction of the ultrasonic motor is forward, then according to the time sequence, the phase difference corresponding to periodic group N1 is M1, the phase difference corresponding to periodic group N2 is M2, and so on for periodic group N... 40 The corresponding phase difference is M 40 If the preset rotation direction of the ultrasonic motor is reverse, then the phase difference corresponding to the periodic group N1 in time sequence is -M1, the phase difference corresponding to the periodic group N2 is -M2, and so on for the periodic group N... 40 The corresponding phase difference is -M 40 .

[0140] In practical applications, if the simple harmonic signal is a sinusoidal signal, then the two simple harmonic signals included in the duration of the step drive signal pulse can be represented as follows: and Where t1 and t2 are the periods of the two simple harmonic signals, respectively. Let i be a phase difference sequence, where i is a positive integer, and satisfy the following conditions: The first phase difference, This is the second phase difference.

[0141] In specific implementation, the pulse signal configuration parameters include: pulse stop duration. After obtaining two simple harmonic signals, when generating the step drive signal based on the two simple harmonic signals and the pulse signal configuration parameters, the two simple harmonic signals can be used as the pulse duration part within a single cycle of the step drive signal. According to the pulse stop duration, the pulse stop part within a single cycle of the step drive signal is generated. Then, the pulse duration part and the pulse stop part are combined to obtain the step drive signal of a single cycle. The step drive signal of a single cycle is then extended to obtain the step drive signal.

[0142] In practical applications, the pulse stop portion can be spliced ​​after the pulse duration portion to obtain a single-cycle step drive signal. Then, the single-cycle step drive signal can be extended into multiple cycles to obtain a step drive signal, which can then be used to drive the ultrasonic motor.

[0143] The ultrasonic motor drive control scheme provided in this application embodiment not only enables the ultrasonic motor to start and stop with smaller acceleration, achieving slow start and stop, reducing start-stop vibration and noise interference, and improving motor operation stability and positioning accuracy, but also reduces the step distance of the ultrasonic motor, improves the step resolution of the ultrasonic motor, and has the characteristics of low power consumption.

[0144] The following is combined with Figure 6 Taking the object input signal configuration parameters as an example, the specific implementation process of the ultrasonic motor drive control method provided in this application embodiment will be described in detail. Figure 6 As shown, the specific implementation flow of the ultrasonic motor drive control method provided in this application embodiment includes:

[0145] Step 601: Obtain the signal configuration parameters input by the object. The signal configuration parameters include: first phase difference, second phase difference, number of sequence values ​​in the phase difference sequence, number of simple harmonic signal periods y corresponding to each phase difference, period duration of the simple harmonic signal to be generated, and pulse stop duration.

[0146] Step 602: Generate a phase difference sequence using the Sigmoid function or the Gaussian function based on the first phase difference, the second phase difference, and the number of sequence values ​​in the phase difference sequence.

[0147] Step 603: Determine the total number of periods of the simple harmonic signal to be generated based on the number of sequence values ​​in the phase difference sequence and the number of simple harmonic signal periods y corresponding to each phase difference.

[0148] Step 604: Based on the total number of periods of the simple harmonic signal to be generated, divide the total period of the simple harmonic signal to be generated into multiple period groups, each period group including y periods.

[0149] Step 605: Determine if the preset rotation direction of the ultrasonic motor is the forward direction. If yes, proceed to step 606; otherwise, proceed to step 607.

[0150] Step 606: When the preset rotation direction of the ultrasonic motor is the forward direction, determine the phase difference corresponding to each cycle group as the sequence value in the phase difference sequence.

[0151] Step 607: When the preset rotation direction of the ultrasonic motor is reverse, determine that the phase difference corresponding to each cycle group is the opposite of the sequence value in the phase difference sequence.

[0152] Step 608: Based on the total number of cycles of the simple harmonic signal to be generated, the phase difference corresponding to each cycle group, and the cycle duration of the simple harmonic signal to be generated, generate two simple harmonic signals.

[0153] Step 609: Generate the pulse stop portion within a single cycle of the step drive signal based on the pulse stop duration.

[0154] Step 610: Use the two simple harmonic signals as the pulse duration part within a single cycle of the step drive signal, and combine the pulse duration part and the pulse stop part to obtain the step drive signal for a single cycle.

[0155] Step 611: Extend the step drive signal of a single cycle to obtain the step drive signal.

[0156] Based on the same inventive concept, such as Figure 7 As shown in the figure, this application embodiment also provides a drive control device for an ultrasonic motor, including:

[0157] The drive signal generation unit 701 is used to generate a step drive signal based on the acquired signal configuration parameters. The pulse duration of the step drive signal includes two simple harmonic signals. The absolute value of the phase difference between the two simple harmonic signals gradually increases and then gradually decreases within the pulse duration.

[0158] The drive unit 702 is used to drive the ultrasonic motor using stepper drive signals.

[0159] As an optional implementation, the signal configuration parameters include: phase difference configuration parameters, harmonic signal configuration parameters, and pulse signal configuration parameters;

[0160] The drive signal generation unit 701 is specifically used for:

[0161] Based on the phase difference configuration parameters, a phase difference sequence is generated, in which multiple sequence values ​​first increase and then decrease;

[0162] Based on the phase difference sequence and the configuration parameters of the simple harmonic signal, two simple harmonic signals are generated;

[0163] The stepping drive signal is generated based on the configuration parameters of two simple harmonic signals and a pulse signal.

[0164] As an optional implementation, the simple harmonic signal configuration parameters include: the number of simple harmonic signal periods y corresponding to each phase difference, and the period duration of the simple harmonic signal to be generated, where y is a positive integer;

[0165] The drive signal generation unit 701 is specifically used for:

[0166] Based on the number of sequence values ​​contained in the phase difference sequence and the number of simple harmonic signal periods y corresponding to each phase difference, the total number of periods of the simple harmonic signal to be generated is determined.

[0167] Based on the total number of periods of the simple harmonic signal to be generated, the total period of the simple harmonic signal to be generated is divided into multiple period groups, and each period group includes y periods;

[0168] Based on the sequence values ​​contained in the phase difference sequence and the preset rotation direction of the ultrasonic motor, the phase difference corresponding to each period group is determined, and the period group and the sequence values ​​in the phase difference sequence correspond one-to-one in chronological order.

[0169] Based on the total number of cycles of the simple harmonic signal to be generated, the phase difference corresponding to each cycle group, and the cycle duration of the simple harmonic signal to be generated, two simple harmonic signals are generated.

[0170] As an optional implementation, the drive signal generation unit 701 is specifically used for:

[0171] When the preset rotation direction is the first direction, the phase difference corresponding to each period group is determined to be the sequence value in the phase difference sequence; or

[0172] When the preset rotation direction is the second direction, the phase difference corresponding to each period group is determined to be the opposite of the sequence value in the phase difference sequence.

[0173] As an optional implementation, the phase difference configuration parameters include: a first phase difference, a second phase difference, and the number of sequence values ​​in the phase difference sequence, wherein the first phase difference is greater than or equal to 0, the second phase difference is greater than the first phase difference, and the second phase difference is less than or equal to π / 2.

[0174] The drive signal generation unit 701 is specifically used for:

[0175] Based on the first phase difference, the second phase difference, and the number of phase differences in the phase difference sequence, a phase difference sequence is generated using the Sigmoid function or the Gaussian function. The multiple sequence values ​​in the phase difference sequence are normally distributed.

[0176] As an optional implementation, the pulse signal configuration parameters include: pulse stop duration;

[0177] The drive signal generation unit 701 is specifically used for:

[0178] Two simple harmonic signals are used as the pulse duration portion within a single cycle of the step drive signal;

[0179] Based on the pulse stop duration, generate the pulse stop portion within a single cycle of the step drive signal;

[0180] The pulse duration and pulse stop portions are combined to obtain a single-cycle step drive signal, and the single-cycle step drive signal is extended to obtain a further step drive signal.

[0181] As an alternative implementation, the amplitudes and frequencies of the two simple harmonic signals are the same.

[0182] Based on the same inventive concept, such as Figure 8 As shown in the embodiment of this application, a laser communication terminal 800 is also provided. The laser communication terminal 800 includes a main control board 801, an ultrasonic motor driver 802, an ultrasonic motor 803, and a coarse tracking pointing mechanism 804.

[0183] The main control board 801 is used to determine the signal configuration parameters and send the signal configuration parameters to the ultrasonic motor driver 802.

[0184] In specific implementation, such as Figure 8 As shown, when the main control board 801 determines the signal configuration parameters, it can do so based on the pre-determined scanning trajectory and tracking trajectory. In other embodiments of this application, it can also be determined based on the configuration parameters input by the user. This application does not limit this aspect.

[0185] The ultrasonic motor driver 802 is used to generate a stepping drive signal based on the acquired signal configuration parameters. The pulse duration of the stepping drive signal includes two simple harmonic signals. The absolute value of the phase difference between the two simple harmonic signals gradually increases and then gradually decreases within the pulse duration. The stepping drive signal is used to drive the ultrasonic motor 803.

[0186] The ultrasonic motor 803 is used to drive the coarse tracking pointing mechanism 804 to rotate under the drive of the stepper drive signal.

[0187] The coarse tracking pointing mechanism 804 is used to transmit and receive optical signals, capture and track other laser communication terminals, and establish communication connections with other laser communication terminals.

[0188] In practical applications, the laser communication terminal 800 also includes Figure 8 Other components not shown include, for example, the light source (signal light source and / or beacon light source), photodetector, fast mirror, beam combiner, 45° rotating mirror, receiving collimator, beam splitter, camera, etc.

[0189] As an optional implementation, the signal configuration parameters include: phase difference configuration parameters, harmonic signal configuration parameters, and pulse signal configuration parameters;

[0190] The ultrasonic motor driver 802 is specifically used for:

[0191] Based on the phase difference configuration parameters, a phase difference sequence is generated, in which multiple sequence values ​​first increase and then decrease;

[0192] Based on the phase difference sequence and the configuration parameters of the simple harmonic signal, two simple harmonic signals are generated;

[0193] The stepping drive signal is generated based on the configuration parameters of two simple harmonic signals and a pulse signal.

[0194] As an optional implementation, the simple harmonic signal configuration parameters include: the number of simple harmonic signal periods y corresponding to each phase difference, and the period duration of the simple harmonic signal to be generated, where y is a positive integer;

[0195] The ultrasonic motor driver 802 is specifically used for:

[0196] Based on the number of sequence values ​​contained in the phase difference sequence and the number of simple harmonic signal periods y corresponding to each phase difference, the total number of periods of the simple harmonic signal to be generated is determined.

[0197] Based on the total number of periods of the simple harmonic signal to be generated, the total period of the simple harmonic signal to be generated is divided into multiple period groups, and each period group includes y periods;

[0198] Based on the sequence values ​​contained in the phase difference sequence and the preset rotation direction of the ultrasonic motor, the phase difference corresponding to each period group is determined, and the period group and the sequence values ​​in the phase difference sequence correspond one-to-one in chronological order.

[0199] Based on the total number of cycles of the simple harmonic signal to be generated, the phase difference corresponding to each cycle group, and the cycle duration of the simple harmonic signal to be generated, two simple harmonic signals are generated.

[0200] As an optional implementation, the ultrasonic motor driver 802 is specifically used for:

[0201] When the preset rotation direction is the first direction, the phase difference corresponding to each period group is determined to be the sequence value in the phase difference sequence; or

[0202] When the preset rotation direction is the second direction, the phase difference corresponding to each period group is determined to be the opposite of the sequence value in the phase difference sequence.

[0203] As an optional implementation, the phase difference configuration parameters include: a first phase difference, a second phase difference, and the number of sequence values ​​in the phase difference sequence, wherein the first phase difference is greater than or equal to 0, the second phase difference is greater than the first phase difference, and the second phase difference is less than or equal to π / 2.

[0204] The ultrasonic motor driver 802 is specifically used for:

[0205] Based on the first phase difference, the second phase difference, and the number of sequence values ​​in the phase difference sequence, a phase difference sequence is generated using the Sigmoid function or the Gaussian function. The multiple sequence values ​​in the phase difference sequence are normally distributed.

[0206] As an optional implementation, the pulse signal configuration parameters include: pulse stop duration;

[0207] The ultrasonic motor driver 802 is specifically used for:

[0208] Two simple harmonic signals are used as the pulse duration portion within a single cycle of the step drive signal;

[0209] Based on the pulse stop duration, generate the pulse stop portion within a single cycle of the step drive signal;

[0210] The pulse duration and pulse stop portions are combined to obtain a single-cycle step drive signal, and the single-cycle step drive signal is extended to obtain a further step drive signal.

[0211] As an alternative implementation, the amplitudes and frequencies of the two simple harmonic signals are the same.

[0212] Based on the same inventive concept, such as Figure 9 As shown in the illustration, this application also provides a drive control device for an ultrasonic motor. The device includes a processor 900 and a memory 901. The memory 901 stores programs executable by the processor 900, and the processor 900 reads and executes the programs stored in the memory 901.

[0213] Based on the acquired signal configuration parameters, a stepping drive signal is generated. The pulse duration of the stepping drive signal includes two simple harmonic signals. The absolute value of the phase difference between the two simple harmonic signals gradually increases and then gradually decreases within the pulse duration.

[0214] The ultrasonic motor is driven by a stepper drive signal.

[0215] As an optional implementation, the signal configuration parameters include: phase difference configuration parameters, harmonic signal configuration parameters, and pulse signal configuration parameters;

[0216] Processor 900 is specifically configured to execute:

[0217] Based on the phase difference configuration parameters, a phase difference sequence is generated, in which multiple sequence values ​​first increase and then decrease;

[0218] Based on the phase difference sequence and the configuration parameters of the simple harmonic signal, two simple harmonic signals are generated;

[0219] The stepping drive signal is generated based on the configuration parameters of two simple harmonic signals and a pulse signal.

[0220] As an optional implementation, the simple harmonic signal configuration parameters include: the number of simple harmonic signal periods y corresponding to each phase difference, and the period duration of the simple harmonic signal to be generated, where y is a positive integer;

[0221] Processor 900 is specifically configured to execute:

[0222] Based on the number of sequence values ​​contained in the phase difference sequence and the number of simple harmonic signal periods y corresponding to each phase difference, the total number of periods of the simple harmonic signal to be generated is determined.

[0223] Based on the total number of periods of the simple harmonic signal to be generated, the total period of the simple harmonic signal to be generated is divided into multiple period groups, and each period group includes y periods;

[0224] Based on the sequence values ​​contained in the phase difference sequence and the preset rotation direction of the ultrasonic motor, the phase difference corresponding to each period group is determined, and the period group and the sequence values ​​in the phase difference sequence correspond one-to-one in chronological order.

[0225] Based on the total number of cycles of the simple harmonic signal to be generated, the phase difference corresponding to each cycle group, and the cycle duration of the simple harmonic signal to be generated, two simple harmonic signals are generated.

[0226] As an optional implementation, the processor 900 is specifically configured to execute:

[0227] When the preset rotation direction is the first direction, the phase difference corresponding to each period group is determined to be the sequence value in the phase difference sequence; or

[0228] When the preset rotation direction is the second direction, the phase difference corresponding to each period group is determined to be the opposite of the sequence value in the phase difference sequence.

[0229] As an optional implementation, the phase difference configuration parameters include: a first phase difference, a second phase difference, and the number of phase differences in the phase difference sequence, wherein the first phase difference is greater than or equal to 0, the second phase difference is greater than the first phase difference, and the second phase difference is less than or equal to π / 2.

[0230] Processor 900 is specifically configured to execute:

[0231] Based on the first phase difference, the second phase difference, and the number of phase differences in the phase difference sequence, a phase difference sequence is generated using the Sigmoid function or the Gaussian function. The multiple sequence values ​​in the phase difference sequence are normally distributed.

[0232] As an optional implementation, the pulse signal configuration parameters include: pulse stop duration;

[0233] Processor 900 is specifically configured to execute:

[0234] Two simple harmonic signals are used as the pulse duration portion within a single cycle of the step drive signal;

[0235] Based on the pulse stop duration, generate the pulse stop portion within a single cycle of the step drive signal;

[0236] The pulse duration and pulse stop portions are combined to obtain a single-cycle step drive signal, and the single-cycle step drive signal is extended to obtain a further step drive signal.

[0237] As an alternative implementation, the amplitudes and frequencies of the two simple harmonic signals are the same.

[0238] Based on the same inventive concept, this disclosure provides a computer storage medium comprising: computer program code, which, when executed on a computer, causes the computer to perform any of the ultrasonic motor drive control methods described above. Since the principle by which the computer storage medium solves the problem is similar to that of the ultrasonic motor drive control method, the implementation of the computer storage medium can be found in the implementation of the method, and repeated details will not be elaborated further.

[0239] In specific implementation, computer storage media can include: Universal Serial Bus Flash Drive (USB), portable hard drive, Read-Only Memory (ROM), Random Access Memory (RAM), magnetic disk or optical disk, and other storage media that can store program code.

[0240] Based on the same inventive concept, this disclosure also provides a computer program product, which includes computer program code. When the computer program code is run on a computer, it causes the computer to execute any of the ultrasonic motor drive control methods discussed above. Since the principle by which the above-described computer program product solves the problem is similar to that of the ultrasonic motor drive control method, the implementation of the above-described computer program product can be referred to the implementation of the method, and repeated details will not be described again.

[0241] Computer program products may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0242] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0243] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 Devices that specify the functions in one or more boxes.

[0244] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including an instruction device, which is implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0245] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0246] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A driving control method for an ultrasonic motor, characterized in that, The method includes: Based on the acquired signal configuration parameters, a stepping drive signal is generated. The pulse duration of the stepping drive signal includes two simple harmonic signals. The absolute value of the phase difference between the two simple harmonic signals gradually increases and then gradually decreases within the pulse duration. The ultrasonic motor is driven using the stepper drive signal.

2. The method according to claim 1, characterized in that, The signal configuration parameters include: phase difference configuration parameters, harmonic signal configuration parameters, and pulse signal configuration parameters; The stepping drive signal is generated based on the acquired signal configuration parameters, including: Based on the phase difference configuration parameters, a phase difference sequence is generated, wherein multiple sequence values ​​in the phase difference sequence first increase and then decrease; The two simple harmonic signals are generated based on the phase difference sequence and the configuration parameters of the simple harmonic signal; The stepping drive signal is generated based on the configuration parameters of the two harmonic signals and the pulse signal.

3. The method according to claim 2, characterized in that, The simple harmonic signal configuration parameters include: the number of simple harmonic signal periods y corresponding to each phase difference, and the period duration of the simple harmonic signal to be generated, where y is a positive integer; The step of generating the two simple harmonic signals based on the phase difference sequence and the simple harmonic signal configuration parameters includes: Based on the number of sequence values ​​contained in the phase difference sequence and the number of simple harmonic signal periods y corresponding to each phase difference, the total number of periods of the simple harmonic signal to be generated is determined. Based on the total number of periods of the simple harmonic signal to be generated, the total period of the simple harmonic signal to be generated is divided into multiple period groups, and each period group includes y periods. Based on the sequence values ​​contained in the phase difference sequence and the preset rotation direction of the ultrasonic motor, the phase difference corresponding to each period group is determined, and the period group corresponds one-to-one with the sequence values ​​in the phase difference sequence in chronological order; Based on the total number of periods of the simple harmonic signal to be generated, the phase difference corresponding to each period group, and the period duration of the simple harmonic signal to be generated, the two simple harmonic signals are generated.

4. The method according to claim 3, characterized in that, The step of determining the phase difference corresponding to each period group based on the sequence values ​​contained in the phase difference sequence and the preset rotation direction of the ultrasonic motor includes: When the preset rotation direction is the first direction, the phase difference corresponding to each period group is determined to be the sequence value in the phase difference sequence; or When the preset rotation direction is the second direction, the phase difference corresponding to each period group is determined to be the opposite of the sequence value in the phase difference sequence.

5. The method according to claim 2, characterized in that, The phase difference configuration parameters include: a first phase difference, a second phase difference, and the number of sequence values ​​in the phase difference sequence, wherein the first phase difference is greater than or equal to 0, the second phase difference is greater than the first phase difference, and the second phase difference is less than or equal to π / 2. The step of generating a phase difference sequence based on the phase difference configuration parameters includes: Based on the first phase difference, the second phase difference, and the number of sequence values ​​in the phase difference sequence, the phase difference sequence is generated using the Sigmoid function or the Gaussian function, wherein the multiple sequence values ​​in the phase difference sequence are normally distributed.

6. The method according to claim 2, characterized in that, The pulse signal configuration parameters include: pulse stop duration; The stepping drive signal is generated based on the configuration parameters of the two harmonic signals and the pulse signal, including: The two simple harmonic signals are used as the pulse duration portion within a single cycle of the step drive signal; Based on the pulse stop duration, the pulse stop portion within a single cycle of the step drive signal is generated; The pulse duration portion and the pulse stop portion are combined to obtain a single-cycle step drive signal, and the single-cycle step drive signal is extended to obtain the step drive signal.

7. The method according to any one of claims 1-6, characterized in that, The two simple harmonic signals have the same amplitude and frequency.

8. A drive control device for an ultrasonic motor, characterized in that, include: A drive signal generation unit is used to generate a step drive signal based on the acquired signal configuration parameters. The pulse duration of the step drive signal includes two simple harmonic signals. The absolute value of the phase difference between the two simple harmonic signals gradually increases and then gradually decreases within the pulse duration. A drive unit is used to drive an ultrasonic motor using the stepper drive signal.

9. A laser communication terminal, characterized in that, The laser communication terminal includes a main control board, an ultrasonic motor driver, an ultrasonic motor, and a coarse tracking pointing mechanism, wherein... The main control board is used to determine the signal configuration parameters and send the signal configuration parameters to the ultrasonic motor driver; The ultrasonic motor driver is used to generate a stepping drive signal based on the acquired signal configuration parameters. The pulse duration of the stepping drive signal includes two simple harmonic signals. The absolute value of the phase difference between the two simple harmonic signals gradually increases and then gradually decreases within the pulse duration. The stepping drive signal is used to drive the ultrasonic motor. The ultrasonic motor is used to drive the coarse tracking pointing mechanism to rotate under the drive of the stepper drive signal; The coarse tracking pointing mechanism is used to transmit and receive optical signals, capture and track other laser communication terminals, and establish communication connections with other laser communication terminals.

10. The laser communication terminal according to claim 9, characterized in that, The signal configuration parameters include: phase difference configuration parameters, harmonic signal configuration parameters, and pulse signal configuration parameters; The ultrasonic motor driver is specifically used for: Based on the phase difference configuration parameters, a phase difference sequence is generated, wherein multiple sequence values ​​in the phase difference sequence first increase and then decrease; The two simple harmonic signals are generated based on the phase difference sequence and the configuration parameters of the simple harmonic signal; The stepping drive signal is generated based on the configuration parameters of the two harmonic signals and the pulse signal.

11. The laser communication terminal according to claim 10, characterized in that, The simple harmonic signal configuration parameters include: the number of simple harmonic signal periods y corresponding to each phase difference, and the period duration of the simple harmonic signal to be generated, where y is a positive integer; The ultrasonic motor driver is specifically used for: Based on the number of sequence values ​​contained in the phase difference sequence and the number of simple harmonic signal periods y corresponding to each phase difference, the total number of periods of the simple harmonic signal to be generated is determined. Based on the total number of periods of the simple harmonic signal to be generated, the total period of the simple harmonic signal to be generated is divided into multiple period groups, and each period group includes y periods. Based on the sequence values ​​contained in the phase difference sequence and the preset rotation direction of the ultrasonic motor, the phase difference corresponding to each period group is determined, and the period group corresponds one-to-one with the sequence values ​​in the phase difference sequence in chronological order; Based on the total number of periods of the simple harmonic signal to be generated, the phase difference corresponding to each period group, and the period duration of the simple harmonic signal to be generated, the two simple harmonic signals are generated.

12. The laser communication terminal according to claim 11, characterized in that, The ultrasonic motor driver is specifically used for: When the preset rotation direction is the first direction, the phase difference corresponding to each period group is determined to be the sequence value in the phase difference sequence; or When the preset rotation direction is the second direction, the phase difference corresponding to each period group is determined to be the opposite of the sequence value in the phase difference sequence.

13. The laser communication terminal according to claim 10, characterized in that, The phase difference configuration parameters include: a first phase difference, a second phase difference, and the number of sequence values ​​in the phase difference sequence, wherein the first phase difference is greater than or equal to 0, the second phase difference is greater than the first phase difference, and the second phase difference is less than or equal to π / 2. The ultrasonic motor driver is specifically used for: Based on the first phase difference, the second phase difference, and the number of sequence values ​​in the phase difference sequence, the phase difference sequence is generated using the Sigmoid function or the Gaussian function, wherein the multiple sequence values ​​in the phase difference sequence are normally distributed.

14. The laser communication terminal according to claim 10, characterized in that, The pulse signal configuration parameters include: pulse stop duration; The ultrasonic motor driver is specifically used for: The two simple harmonic signals are used as the pulse duration portion within a single cycle of the step drive signal; Based on the pulse stop duration, the pulse stop portion within a single cycle of the step drive signal is generated; The pulse duration portion and the pulse stop portion are combined to obtain a single-cycle step drive signal, and the single-cycle step drive signal is extended to obtain the step drive signal.

15. The laser communication terminal according to any one of claims 9-14, characterized in that, The two simple harmonic signals have the same amplitude and frequency.

16. A drive control device for an ultrasonic motor, characterized in that, The device includes a processor and a memory for storing a program executable by the processor, and the processor for reading the program in the memory and performing the steps of the method according to any one of claims 1 to 7.

17. A computer storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the method as described in any one of claims 1 to 7.

18. A computer program product, characterized in that, The computer program product includes: computer program code, which, when run on a computer, causes the computer to perform the steps of the method as described in any one of claims 1 to 7.

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