CN106533256B - The frequency tracing control method of annular traveling wave supersonic motor - Google Patents
The frequency tracing control method of annular traveling wave supersonic motor Download PDFInfo
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- CN106533256B CN106533256B CN201610971822.3A CN201610971822A CN106533256B CN 106533256 B CN106533256 B CN 106533256B CN 201610971822 A CN201610971822 A CN 201610971822A CN 106533256 B CN106533256 B CN 106533256B
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- 230000000694 effects Effects 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims abstract description 7
- 238000002604 ultrasonography Methods 0.000 abstract description 3
- 239000000919 ceramic Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/14—Drive circuits; Control arrangements or methods
- H02N2/142—Small signal circuits; Means for controlling position or derived quantities, e.g. speed, torque, starting, stopping, reversing
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Abstract
The present invention provides a kind of frequency tracing control method of annular traveling wave supersonic motor, utilize the piezoelectric effect of lonely pole, pass through the stator amplitude amplitude of the amplitude detection different spatial of lonely pole tension, compare ratio relation of the lonely pole signal amplitude difference of different stator circumference positions relative to lonely pole signal amplitude, qualitatively judges the numerical relation between supply frequency and stator resonance frequency.Frequency control and tracking of the numerical relation for motor.Further, in order to reduce influence of the electric machine structure error to frequency control and tracking effect, select two positions of difference half fundamental wavelength multiple proportion as lonely pole signal acquisition position.Such frequency control and tracking scheme have the advantages that simple and accurate compared with existing various annular traveling wave ultrasound wave electric machine frequency controls and tracking scheme.
Description
Technical field
The present invention relates to a kind of frequency tracing control methods of annular traveling wave supersonic motor.
Background technique
Annular traveling wave supersonic motor is to rely on the rotation of stator vibratory drive rotor, therefore, the direct shadow of stator amplitude
Ring the performance for arriving motor.Difference between the amplitude and supply frequency and resonance frequency of stator is closely related.Annular traveling wave ultrasound
Loss in wave motor operation course will lead to that the motor feels hot, make the operation mode frequency shifts of motor, and then lead to electricity
Machine stator amplitude changes, and reduces the performance of motor.Using technology of frequency tracking can make supply frequency and resonance frequency it
Between difference maintain it is relatively stable, and then guarantee motor performance stabilization.
Existing frequency-tracking scheme has a two major classes, one kind be by the detection to single lonely pole tension size and with setting
Value is compared, and judges the direction that working frequency is drifted about relative to resonance frequency, and adjusting supply frequency accordingly may be implemented frequency
The function of tracking, simple and easy is its advantage, but the amplitude signal of single lonely pole tension is nonlinear with the variation of frequency.It is another
Class is that the characteristics of following resonance frequency to change and change using stator electrical quantities, the frequency of motor is realized by detection electrical quantities
Control and tracking, also there is nonlinear problem in this method, and it controls the accuracy that precision depends on model, complex.
Supersonic motor is other than operation mode, and there are also remaining infinite multiple mode, works in the power supply of working frequency
Other than the waveform for inspiring operation mode, other mode waveforms can be also inspired, when working frequency and operation mode frequency
When the relativeness of rate changes, the corresponding stator waveform component of each mode will change in stator.
Summary of the invention
It is that one kind can the object of the present invention is to provide a kind of frequency tracing control method of annular traveling wave supersonic motor
The precision of frequency control and tracking, new departure of control range and realizability are improved, is solved on existing in the prior art
State problem.
The technical solution of the invention is as follows:
A kind of frequency tracing control method of annular traveling wave supersonic motor passes through lonely pole using the piezoelectric effect of lonely pole
The lonely pole signal amplitude of the stator amplitude amplitude of the amplitude detection different spatial of voltage, more different stator circumference positions is poor
Out-phase qualitatively judges the numerical relation between supply frequency and stator resonance frequency, institute for the ratio relation of lonely pole signal amplitude
Frequency control and tracking of the value relationship for motor.
Further, in two positions of difference half fundamental wavelength multiple proportion, stator amplitude difference in magnitude is detected
The different frequency control and tracking relative to stator quotient of amplitudes relationship for motor.
There are numerous Mode Shapes in stator when annular traveling wave motor works, and the waveform wave amplitude of each Mode Shape is by the mould
The modal frequency of the state vibration shape and the influence of supply frequency difference.When supply frequency is fixed, when temperature change leads to each modal frequency
It changes, the change of different trend can occur therewith for the waveform wave amplitude of each Mode Shape；Each Mode Shape has different waves
It is long；Main waveform, referred to as fundamental wave in stator when the waveform of the operation mode vibration shape is work；The traveling-wave component of fundamental wave is to stator
The influence of upper each point wave amplitude is identical, and the standing wave of fundamental wave influences the two o'clock wave amplitude of mutual deviation half fundamental wavelength on stator
It is identical.
When resonance frequency drift, the amplitude change of each Mode Shape waveform is inconsistent, leads to different location on stator
Amplitude difference changes, and the present invention detects the variation of this species diversity by being arranged in multiple lonely poles of different location, judges humorous
The variation of vibration frequency is to help the frequency of motor to control and track；The random structural failure of motor can generate in the stator fundamental wave and stay
Wave component is arranged lonely for the influence for avoiding the standing wave in two positions of difference half fundamental wavelength multiple proportion
Pole, the variation for detected amplitude difference.
The beneficial effects of the present invention are:
One, the frequency tracing control method of this kind of annular traveling wave supersonic motor carries out frequency-tracking using lonely pole signal
Help to reduce the dependence to annular traveling wave supersonic motor numerical model.
Two, ratio relation of the present invention using multiple lonely pole signal amplitude differences relative to lonely pole signal amplitude, can keep away
Exempt from the shortcomings that lonely pole output valve change rate varying with frequency sharply changes in single lonely pole frequency tracing control scheme.
Three, lonely pole is arranged in the two o'clock of the selected space mutual deviation half fundamental wavelength of the present invention, is used for detected amplitude difference
Variation, can be avoided the influence that the random structural failure of motor generates the standing wave of fundamental wave in the stator.
Detailed description of the invention
Fig. 1 is motor of embodiment of the present invention piezoelectric ceramics orphan pole polarization subregion schematic diagram.
Specific embodiment
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings.
Embodiment
The frequency of the annular traveling wave motor of embodiment controls and tracking scheme, using the piezoelectric effect of pole lonely on stator, leads to
Cross the stator amplitude of the amplitude detection orphan pole position of lonely pole tension signal.Compare the lonely pole tension difference in magnitude out-phase pair of different location
In the ratio relation of lonely pole signal amplitude, the numerical relation between supply frequency and stator resonance frequency, the numerical value are qualitatively judged
Relationship is used to help the frequency control and tracking of motor.In order to reduce electric machine structure error to the shadow of frequency control and tracking effect
It rings, is compared using the lonely pole tension amplitude signal of spatial position difference half fundamental wavelength.The control of such frequency and
Tracking scheme has the advantages that simple and accurate compared with existing various annular traveling wave ultrasound wave electric machine frequency controls and tracking scheme.
For the annular traveling wave supersonic motor of space traveling wave of nine fundamental wavelengths to be distributed in stator circumference into
Row explanation, the conclusion are applicable in various annular traveling wave supersonic motors.
As shown in Figure 1, tetra- orphan pole of orphan pole p1, lonely pole p2, lonely pole p3, lonely pole p4 are arranged on the piezoelectric ceramics of the motor
When motor works, the space traveling wave of nine fundamental wavelengths is distributed in stator circumference, such as each traveling wave wavelength is calculated as space phase
2 π of position, whole circumference can be calculated as 18 π of space phase.Counterclockwise, the initial position for defining orphan pole p1 is 0 position, then pi/2
For the end position of lonely pole p1, pi/2 is the initial position of orphan pole p2, and π is the end position of orphan pole p2, and π is the starting of orphan pole p3
Position, 3 pi/2s are the end position of orphan pole p3, and 19 pi/2s are the initial position of orphan pole p4, and 10 π are the end position of orphan pole p4.
In the stator of annular traveling wave motor contain the numerous vibration shape waveform, due to the supply frequency of motor be it is certain,
So each Mode Shape presses identical frequency vibration in stator.Each waveform expression is as follows in stator:
Fundamental wave traveling-wave component
wtr1=acos (ω t-n1x-γ1)
Fundamental wave standing wave
wst1=bcos ω tcos (n1x-γ2)
Ignore inoperative Mode Shape pitch circle factor, only considers outermost Vibration Condition, inoperative Mode Shape waveform
Component
wk=wtrk+wstk
=ck cos(ωt-nkx-γk1)+dkcosωtcos(nkx-γk2)
Wherein: wtr1For fundamental wave traveling-wave component, wst1For fundamental wave standing wave, wkFor k-th of inoperative Mode Shape waveform,
wtrkFor k-th of inoperative Mode Shape waveform traveling-wave component, wstkFor k-th of inoperative Mode Shape waveform standing wave, a is
Fundamental wave traveling-wave component wave amplitude, b are fundamental wave standing wave wave amplitude, ckFor k-th of inoperative Mode Shape waveform traveling-wave component wave amplitude,
dkK-th of inoperative Mode Shape waveform standing wave wave amplitude, x are spatial position angle, and ω is vibration angular frequency, n1=l/ λ1
It is the fundamental wave wave number 9, n along stator circumferencek=l/ λkIt is the wave number of k-th of inoperative Mode Shape waveform along stator circumference, l
It is stator perimeter, λ is fundamental wavelength, λkIt is the wavelength of k-th of inoperative Mode Shape waveform, γ1, γ2, γ1k, γ2kReaction
The initial phase of each waveform component, t are the time.The same symbol indicates identical meaning in specification.
The stator and piezoceramic structures of annular traveling wave motor make to be mainly fundamental waveform, w in motortr1Fundamental wave traveling wave point
The amplitude measured in four lonely pole position is identical, is a.Fundamental wave standing wave wst1In the vibration of lonely pole p1 and the lonely pole position p3
Width be it is identical, the amplitude of their position of center line isFundamental wave standing wave wst1In lonely pole p2 and lonely pole
The amplitude of the position p4 be it is identical, the amplitude of their position of center line isBut with lonely pole p1 and orphan pole p3
The amplitude of position is different.
The stator and piezoceramic structures of annular traveling wave motor keep the content of inoperative Mode Shape waveform in motor smaller.
The wavelength of inoperative Mode Shape waveform is different from fundamental wavelength, therefore they are in lonely pole p1, orphan pole p2, orphan pole p3 and orphan pole p4
The amplitude at place is different.
The influence of comprehensive fundamental wave and inoperative Mode Shape is it is found that the presence of inoperative Mode Shape waveform will lead to four
Lonely pole tension amplitude signal is unequal.Definition:
Wherein, Up1, Up2, Up3It is the voltage magnitude signal of lonely pole p1, orphan pole p2, orphan pole p3 respectively.Δp1-3Orphan is reacted
Ratio relation of the lonely pole tension difference in magnitude out-phase of pole p1 and orphan pole p3 for stator amplitude, Δ p2-1Lonely pole p1 and orphan are reacted
Ratio relation of the lonely pole tension difference in magnitude out-phase of pole p2 for stator amplitude.The same symbol expression is identical in specification contains
Justice.
With the drift of resonance frequency, the ratio relation of voltage magnitude difference can be more compared with voltage magnitude difference itself
Linearly change.Since the presence of inoperative Mode Shape waveform makes Δ p1-3≠ 0, due to inoperative Mode Shape waveform and base
The presence of wave standing wave makes Δ p2-1≠0。
When resonance frequency changes, the amplitude of each component of fundamental wave, the amplitude of each component of inoperative Mode Shape waveform
It can change, impact analysis is as follows:
1, in a certain range, when supply frequency is gradually widened with operation mode frequency, the amplitude of each component of fundamental wave is reduced,
The resultant effect of each component amplitude of inoperative Mode Shape waveform increases, and leads to Δ p1-3With Δ p2-1Size approximately linear increase
Add.
2, in a certain range, when supply frequency is gradually decreased with operation mode frequency, the amplitude of each component of fundamental wave increases,
The resultant effect of each component amplitude of inoperative Mode Shape waveform reduces, and leads to Δ p1-3With Δ p2-1Size approximately linear subtract
It is small.
3, when supply frequency constantly close to operation mode frequency when, in the smaller range near operation mode, Δ p1-3's
Size will be approximately linearly constantly close to 0.But due to the presence of fundamental wave standing wave, Δ p2-1But without this feature.
Therefore, ratio relation Δ p of the different lonely pole signal amplitude difference relative to lonely pole signal amplitude is detected1-3And Δ
p2-1Deng variation can approximate accurately reaction resonance frequency variation direction and size；In difference half fundamental wavelength
Ratio relation Δ p of the lonely pole signal amplitude difference relative to lonely pole signal amplitude is detected in two positions of multiple proportion1-3Deng
Size can relatively accurately react the difference between supply frequency and operation mode resonance frequency.
Claims (2)
1. a kind of frequency tracing control method of annular traveling wave supersonic motor, it is characterised in that: the piezoelectric effect of lonely pole is utilized,
By the stator amplitude amplitude of the amplitude detection different spatial of lonely pole tension, the lonely pole of more different stator circumference positions is believed
Number difference in magnitude out-phase qualitatively judges the numerical value between supply frequency and stator resonance frequency for the ratio relation of lonely pole signal amplitude
Relationship, frequency control and tracking of the gained numerical relation for motor.
2. the frequency tracing control method of annular traveling wave supersonic motor as described in claim 1, it is characterised in that: differing
Two positions of half fundamental wavelength multiple proportion pass through the stator amplitude width of two positions of amplitude detection of lonely pole tension
Value, ratio relation of the more lonely pole signal amplitude difference relative to lonely pole signal amplitude, frequency control and tracking for motor.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007195389A (en) * | 2006-01-20 | 2007-08-02 | Kyocera Kinseki Hertz Corp | Ultrasonic motor |
| CN204597818U (en) * | 2015-04-01 | 2015-08-26 | 江苏紫金东方超声电机有限公司 | A kind of ultrasound electric machine frequency changing driving system |
| CN105450084A (en) * | 2015-12-29 | 2016-03-30 | 哈尔滨工业大学 | Tracking control system and control method for optimal frequency of ultrasonic motor on premise of maintaining minimum input power |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9764357B2 (en) * | 2005-06-27 | 2017-09-19 | General Vibration Corporation | Synchronized array of vibration actuators in an integrated module |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007195389A (en) * | 2006-01-20 | 2007-08-02 | Kyocera Kinseki Hertz Corp | Ultrasonic motor |
| CN204597818U (en) * | 2015-04-01 | 2015-08-26 | 江苏紫金东方超声电机有限公司 | A kind of ultrasound electric machine frequency changing driving system |
| CN105450084A (en) * | 2015-12-29 | 2016-03-30 | 哈尔滨工业大学 | Tracking control system and control method for optimal frequency of ultrasonic motor on premise of maintaining minimum input power |
Non-Patent Citations (1)
| Title |
|---|
| 多孤极型空间调相环形行波超声波电机的研究;陆旦宏;《中国博士学位论文全文数据库》;20160531;正文第58-69页，图5-3、5-8，表5-3 * |
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