【摘要】 为改善旋转行波型超声电机(TRUM)在极端温度下的输出性能,分析了高低温环境对超声电机及其驱动控制部分的影响,搭建了基于M SP 430单片机的伺服控制系统,通过RS232实现PC与控制器以及控制器与UM D-3型驱动器之间的通讯,该系统采用比例和步进逼近的控制方法实现精确的速度和位置控制。以整个系统为研究对象,完成了-40~70°C温度环境下的试验。结果表明:随着温度升高,在电机空载时,系统所能达到的最大速度先升后降,峰值出现在±10°C之间,与测得的最大值相比,70°C和-40°C时的最大速度分别下降了43.2%和12.6%。系统的定位精度达到0.1,°速度控制精度在可调范围内达到1 r/m in,两者受温度影响均较小,说明极端温度下可以通过伺服控制使超声电机达到一定的位置和速度精度。更多还原

【Abstract】 To improve the output performance of the traveling wave type rotary ultrasonic motor(TRUM) under extreme temperature environments,this paper analyzes the impact of high and low temperature environments to TRUM and its driving and controlling section.The TRUM servo control system based on MSP430 MCU is established and realized in communication between PC and the controller via RS232 asynchronous serial port,as well as the controller and the UMD-3 type driver.The precise speed and the position control of TRUM are realized in the system through the proportional-plus-step approximation control method.The experiment at-40～ 70℃ is finished.Results show that when the motor is no-load,the maximum speed increases and then decreaseds as the temperature increases,and the peaking value is between ±10℃.Compared with the measured maximum value,it decreases by 43.2% and 12.6% at 70℃ and-40℃.This system positioning accuracy is 0.1°,and the speed control accuracy is 1 r/min in the adjustable range.Results show that the certain position and the speed accuracy of TRUM can be achieved by servo control method.更多还原