【作者】 褚国伟；

【导师】 胡敏强； 金龙；

【作者基本信息】 东南大学 ， 电力电子及电力传动， 2005， 硕士

【摘要】 超声波电机是一种全新原理的直接驱动电机,它利用压电陶瓷逆压电效应激发的超声振动作为驱动力,通过定转子间的摩擦力来驱动转子运动。与传统的电磁电机相比,它具有低速大转矩、无电磁干扰、动作相应快、运行无噪声、无输入自锁等卓越特性,在非连续运动领域、精密控制领域要比传统的电磁电机性能优越得多。超声波电机在工业控制系统、汽车专用电器、精密仪器仪表、办公自动化设备、智能机器人等领域有广阔的应用前景,近年来倍受科技界和工业界的重视,成为当前机电控制领域的一个研究热点。本文主要研究行波型超声波电机及其控制原理,并对基于DSP的超声波电机测控系统和超声波电机的速度与定位控制做了深入的研究。本文主要研究内容及成果如下:总结了超声波电机研究的现状和发展,特别是驱动控制技术的特点和发展,展示了超声波电机的卓越特性及广阔的应用前景。在此基础上,提出了超声波电机控制技术研究的发展方向,明确了本文的研究内容。在对环形行波型超声波电机运行机理进行分析的基础上,对超声波电机数学模型和电学等效模型进行了分析,总结了环形行波型超声波电机驱动控制策略和控制系统的原理。根据超声波电机的原理和控制特性,在基于DSP的超声波电机控制系统的平台上对超声波电机的控制系统进行研究,并介绍了一种超声波电机的测试系统。根据超声波电机的控制原理,分别介绍了三种控制策略:P调节速度与定位控制、PID调节速度与定位控制、模糊自适应PID调节速度与定位控制。利用三种控制策略分别对超声波电机进行控制,针对三种策略下超声波电机的特性分别作了测试,并对测试结果作了详细分析,提出了针对不同的控制要求、不同的控制对象所适用的控制方法。更多还原

【Abstract】 Ultrasonic motor (abbr. USM) is a relatively new type of direct-drive motor. Its operating principle is quite different from the traditional electromagnetic motors. USM utilizes the mechanical vibration in the ultrasonic frequency scale that was generated by the converse piezoelectric effect of piezoelectric ceramics. It has the stator in direct contact with the rotor driven by a friction contact. USM has many excellent performances and features such as high torque at a low speed, compactness in size, high holding torque when power is off, insensitive to magnetic fields, fast response, and no noise and so on. It has more excellent performance than the electromagnetic motor in the field needing compact, efficient, intermittent motion and fine controls. USM has seen commercial application and the attractive prospects in areas such as automobile, office automation, robots, precise positioning device, miniaturized machines, etc. In recent years, USM has attracted considerable attention as a new type of actuator in servo-system and much more researches were carried out.The thesis object is mainly concentrated on the Ring-type Ultrasonic Motors (abbr. RTWUM) and its control principle, a DSP-based control-test system for USM and a speed and position control system of USM are also researched. The contents are summarized as follows:First chapter summarizes the actuality and development of ultrasonic motor, the characteristics and development of the drive and control techniques of USM, especially sets out the virtues and the wide applications of USM. On the basis of above mentioned, the develop direction of control techniques and the content of this thesis are pointed out.On the basis of the analysis of the driving mechanics of USM, second chapter researches the mathematic model and electricity model of USM and presents the driving and control methods and the principle of control system of USM.Base on the principle and driving characteristics of ultrasonic motor, third chapter researches the DSP-based control system of ultrasonic motor, and simply presents the testing system of ultrasonic motor.In the research of driving principle of USM, three control methods are mainly presented which are P-adjusting speed and position control, PID-adjusting speed and position control and fuzzy adaptive PID adjusting speed and position control. Using these three methods to control USM, the control characteristics of USM under these three methods were tested and the results were analyzes. It also presented that different methods are fit for different control objects.更多还原