【作者】 王敏才；

【导师】 胡敏强； 金龙；

【作者基本信息】 东南大学 ， 电机与电器， 2006， 硕士

【摘要】 为适应灵活性、快速性、简便性控制的要求,多年来国内外科技界和工业界就一直致力于研究各种新型微电机。其中,超声波电机利用压电陶瓷的逆压电效应,将材料的微观变形通过共振放大和摩擦耦合转换成转子或滑块的宏观运动。它作为一种直接驱动电机从20世纪80年代以来备受各国科研工作者的青睐,已成为当前机电控制领域的一个研究热点。本文主要研究环形行波超声波电机(RTWUSM)的速度、位置控制特性。通过对直径为60mm的环形行波超声波电机(本课题组研制)进行空载实验,分析了行波超声波电机常用的三种驱动控制方法――调频调速、调压调速和调相调速。针对电机特性和本课题的研究内容,本文采用调频调速和调相调速相结合的控制方法。为了实现高精度的行波超声波电机速度、位置控制,本文设计了基于DSP的超声波电机控制系统,整个控制系统由上位机、超声波电机驱动控制器、超声波电机测试平台三部分组成。其中,超声波电机驱动控制器以TI公司的新型DSP芯片TMS320C2812为核心,大大提高了控制系统的性能。在上述超声波电机控制系统实验平台上研究行波超声波电机的速度、位置控制特性。采用比例控制、PID控制、模糊比例控制算法研究行波超声波电机对梯形波、三角波、正弦波曲线的速度轨迹控制;采用比例控制算法研究行波超声波电机对三角波、正弦波曲线的快速位置轨迹控制。上述研究内容的实验结果表明,在本文设计的超声波电机控制系统上结合上述控制算法对行波超声波电机进行速度、位置控制能够获得良好的控制效果。此外,本文还研究了行波超声波电机的步进特性,尽管实验结果并不理想,但是它为行波超声波电机步进特性的研究提供了一定的借鉴意义。更多还原

【Abstract】 The ultrasonic motor (USM) is a new kind of motor that utilizes the converse piezoelectric effect and the friction coupling operation between the stator and the rotor to perform the energy conversion from the electric energy to the mechanical energy. It has been paid more and more attention to by many researchers all over the world.Speed and position control of the traveling wave type ultrasonic motor are mainly concentrated on in this dissertation. By the experiments to the traveling wave type ultrasonic motor of 60 mm diameter under no load, three methods for driving and controlling USM are analyzed including frequency modulation, voltage modulation and phase difference modulation, as a result of which both the frequency modulation and the phase difference modulation are adopted for USM control.For better control effect to USM, the USM control system based on DSP is designed, which is composed of the upper machine, the driver and the controller of USM and the USM testing platform. A new kind of DSP chip TMS320C2812 of TI Company is used in the driver and the controller of USM, which improves the performance of the USM control system a lot.On the platform mentioned above, the speed tracking control of USM for trapezoid, triangle and sinusoid is studied by means of P-control, PID-control and fuzzy-p control. Besides, the position tracking control of USM for triangle and sinusoid is studied by means of P-control. Experimental results indicate that the proposed methods can be implemented conveniently and offer good performance.Furthermore, the performance of USM used as step motor is studied in this dissertation. Although the experimental result is not good, it offers a reference for the study on the characteristic of USM used as step motor.更多还原