The invention discloses a three-degree-of-freedom
ultrasonic motor driving control method. A three-degree-of-freedom
ultrasonic motor comprises a
signal generation module, a key control module, a power amplification module, a communication module, a
grating ruler analysis module, a
control algorithm, a
data processing module, a power amplification circuit, a matching circuit and a
voltage and current sampling circuit. The
signal generation module outputs six paths of PWM
waves with adjustable frequencies, phases and duty ratios, the
control algorithm module performs adjustment through a
control algorithm according to operation parameters of an
ultrasonic motor fed back by a
grating ruler, the key module is used for manual control, and the communication module is composed of USART logic and DMA logic. A control
algorithm and
data processing are generated by a single-
chip microcomputer, detection and
servo control are carried out through a communication USART module, and real-time monitoring, power amplification and matching are carried out on a
serial port assistant of an upper computer, and a
voltage and current sampling circuit drives and stabilizes operation of the ultrasonic motor. According to the invention, the
amplitude modulation precision is below 4mv, and the stability is higher through a closed-
loop control algorithm.