【摘要】 行波接触型超声波电机与传统电磁型电机截然不同 ,其驱动力矩并非由电磁感应产生 ,而是由压电陶瓷超声频域的振动转化而来。参数的时变性、系统内在的非线性、系统的强耦合性等原因导致其动态和稳态数学模型难以获得。在未知控制对象精确参数及数学模型的情况下 ,提出了超声波电机的模糊 -PI双模速度控制策略 ,系统根据工作状况随时调整控制模式。实验表明 ,系统较好地实现了设定的速度参考模型的自适应跟踪 ,具有控制灵活、适应性强的优点 ,又具有较高的控制精度。更多还原

【Abstract】 Being a motor totally based on unique working principle,the ultrasonic motor(USM)is quite different from the traditional electromagnetic motors,and its driving torque is acquired by the reverse piezoelectric effect of piezoelectric ceramics instead of electromagnetic effect.Up to present,no accurate mathematical model capable of expressing both the transient and the steady characteristics of a USM has been derived,because of the complicated coupling among the variables,inherent high ono-linearity and uncertainty of the parameters and so on.On above mentioned condition,a fuzzy-PI dual-mode adaptive speed control scheme is proposed,in which the control mode is selected momentarily according to the working condition.High precision and good robustness are obtained by the proposed strategy.The effectiveness of the proposed control scheme is demonstrated by experiments.更多还原