CN101106339A - Ultrasonic motor closed loop control circuit - Google Patents
Ultrasonic motor closed loop control circuit Download PDFInfo
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- CN101106339A CN101106339A CNA2007100545751A CN200710054575A CN101106339A CN 101106339 A CN101106339 A CN 101106339A CN A2007100545751 A CNA2007100545751 A CN A2007100545751A CN 200710054575 A CN200710054575 A CN 200710054575A CN 101106339 A CN101106339 A CN 101106339A
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Abstract
The invention relates to a closed loop control circuit for ultrasonic motor. A positive inversion unbalanced compensation circuit for ultrasonic motor is equipped between the output terminal of the isolated electrode voltage and the frequency controller. According to that the control error of the frequency controller is equal to the given value minus isolated electrode voltage feedback value, adjusting the feedback value or the given signal value to make the control error of the frequency controller close when the motor is in positive inversion can change output frequency of the frequency controller, making the ultrasonic motor have close rotational speed in positive inversion under control of subsequent circuit. The compensation circuit comprises a rheostat with the two ends respectively connected with a gating branch. The adjustable terminal of the rheostat is connected with the output terminal of the rectifier filter processing circuit. A power supply is series-connected with the adjustable terminal of the rheostat via a DC bias resistor, and then connected with the positive input terminal of the operational amplifier, controlling the corresponding gating branch and conducting voltage dividing by positive inversion control signal. The operational amplifier in frequency controller can figure out different signal value, making frequency controller output close control signal.
Description
Technical field
The present invention relates to supersonic motor, relate in particular to the Drive Control Technique field of supersonic motor.
Background technology
Supersonic motor is a kind of novel small and special electric machine, have the operation principle and the structure that are different from conventional motors, compare with conventional motors, supersonic motor has simple in structure, do not need coil, in light weight, shape is flexible, noiseless, no magnetic field radiation disturbs, power-mass ratio is big, and micrometric displacement such as directly drives at plurality of advantages, and these advantages make supersonic motor all have a wide range of applications in ordinary movement control fields such as Aero-Space, precise machining equipment, Medical Instruments, bioengineering equipment contour end motion control field and household electrical appliance, automotive electronics.
Fig. 1 is the structured flowchart of ultrasonic motor closed loop control circuit of the prior art, figure medium frequency controller (PI controller) carries out computing according to set-point and lonely pole tension value of feedback, thereby to voltage controlled oscillator (VCO) module output control signal corresponding, what the VCO module was exported is that duty ratio is 50% square wave, and frequency is with the linear substantially variation of control signal magnitude of voltage of input VCO module; The two-phase supersonic motor needs the square wave control signal of 90 ° of two-phase four road mutual deviations to drive, input control signal as push-pull driver circuit, what above-mentioned VCO module was exported is the square-wave signal of one tunnel Frequency Adjustable, need generate the square-wave signal (phase relation of two-phase four road signals changes the rotating corresponding to motor) of 90 ° of two-phase four road mutual deviations by divide by four circuit, this four road square-wave signal is through corresponding to the adjustable same frequency square-wave signal of the duty cycle adjustment circuit output duty cycle of PWM (pulse width modulation) method, amplify to drive the switching device action in the push-pull circuit through the signal amplifying element again, export suitable driven supersonic motor rotation at last.
In the supersonic motor running, its stator resonances frequency (comprising the influence of rotor) can be drifted about among a small circle with the variation (mainly being the variation of motor temperature) of environmental parameter, if driving voltage fixed-frequency, the variation of stator resonances frequency can directly cause the change of stator surface particle ultrasonic vibration state, and then cause the variation of motor operating state, in order to overcome this non-linear effects, be necessary to adopt frequency-tracking control.
The supersonic motor stator surface is except that A, B two-phase piezoelectric ceramic piece, usually also be stained with independently piezoelectric ceramic piece of a slice, be referred to as " the lonely utmost point ", in the motor operation course, add driving voltage and put on A, B two-phase piezoelectric ceramic piece, because inverse piezoelectric effect, the stator surface particle produces ultrasonic vibration; The lonely utmost point potsherd that is pasted on stator surface equally also can carry out constant amplitude with forced vibration frequently, and like this, because piezoelectric effect, the lonely utmost point will produce voltage output; Lonely pole tension has reflected the vibrational state of stator surface particle, and its amplitude has reflected the amplitude of stator surface particle.
Utilize lonely pole tension as feedback quantity, can realize the closed-loop control of supersonic motor amplitude; The drift of stator resonances frequency can cause the change of supersonic motor amplitude, so if amplitude closed-loop control variable is elected frequency as, also just realized frequency-tracking control indirectly.
Fig. 2 is the connecting circuit figure of lonely pole tension feedback signal processing circuit and frequency controller, operational amplifier U1A and peripheral Resistor-Capacitor Unit thereof constitute frequency (PI) controller among the figure, the feedback signal (RAFB) of lonely pole tension is resistance R 1 and the potentiometer R2 the first half dividing potential drop through connecting earlier, obtain low-voltage dc signal through diode D1 halfwave rectifier then, deliver to capacitor C 1 and resistance R 4 charge-discharge circuit filtering radio-frequency components in parallel again, send into the positive input terminal of operational amplifier U1A at last, the negative input end of U1A connects given signal, and given signal is set by regulator potentiometer R14; Given signal also can be provided by the outer shroud control system, to constitute speed control system.The variation of capacitor C 1 terminal voltage thought that can be similar to has here reflected the variation of lonely utmost point feedback voltage amplitude.
Circuit shown in Figure 2 can be realized the closed-loop control of supersonic motor amplitude, but experiment shows, there is the rotating asymmetry problem in the closed-loop system of Gou Chenging like this, promptly corresponding to identical set-point (setting potentiometer R14 among Fig. 2), rotating speed difference when motor rotates and reverse, motor speed as shown in Figure 3 and set-point relation curve, the positive rotary speed of motor is different with speed reversal under same given magnitude of voltage, therefore the just commentaries on classics curve (CW) of motor does not overlap with reverse curve (CCW), and this phenomenon is to be caused by the non-linear of supersonic motor.
If on the foregoing circuit basis, increase speed closed loop control circuit and speed detector, can overcome ring nonlinear problem in this, but system complexity and cost must increase, and, this problem also will increase the rotational speed governor design difficulty, reduce dynamic performance, impracticable in actual applications.
Summary of the invention
The ultrasonic motor closed loop control circuit that the purpose of this invention is to provide supersonic motor rotating asymmetry problem in a kind of simple and practical solution prior art.
A kind of ultrasonic motor closed loop control circuit, be to export a control signal according to the voltage feedback signal of given signal and the lonely utmost point output of motor by frequency (PI) controller, voltage controlled oscillator receives the square-wave signal that this control signal is exported a frequency adjustable, through frequency dividing circuit frequency division, corresponding each the road duty ratio of duty cycle adjustment circuit adjustment, send into corresponding A after amplifying by signal amplification circuit again, B phase push-pull circuit drives the resonant circuit that is made of supersonic motor and series connection coupling inductance, drive motors rotating; Described frequency controller comprises an operational amplifier, its negative input end is imported given signal, lonely pole tension feedback signal is imported its positive input terminal after the rectifying and wave-filtering processing circuit processes, wherein: also be provided with a supersonic motor rotating asymmetry compensation circuit between described rectifying and wave-filtering treatment circuit and the frequency controller, described compensating circuit comprises a rheostat, rheostatic adjustable terminal connects the output of rectifying and wave-filtering treatment circuit, one power supply is connected in series the positive input terminal that inserts operational amplifier in the frequency controller behind the rheostatic adjustable terminal by direct current biasing resistance, rheostatic two ends respectively connect a gating branch road, by motor just, reverse control signal is controlled the conducting of corresponding gating branch road respectively.
Described ultrasonic motor closed loop control circuit, wherein: described gating branch road is the collector electrode that divider resistance is connected in series a switch triode, transistor emitter ground connection; Motor forward and backward control signal connects the base stage of switch triode in the corresponding gating branch road respectively.
A kind of ultrasonic motor closed loop control circuit, be to export a control signal according to the voltage feedback signal of given signal and the lonely utmost point output of motor by frequency (PI) controller, voltage controlled oscillator receives the square-wave signal that this control signal is exported a frequency adjustable, through frequency dividing circuit frequency division, corresponding each the road duty ratio of duty cycle adjustment circuit adjustment, send into corresponding A after amplifying by signal amplification circuit again, B phase push-pull circuit drives the resonant circuit that is made of supersonic motor and series connection coupling inductance, drive motors rotating; Described frequency controller comprises an operational amplifier, the lonely pole tension feedback signal of its positive input terminal input after the rectifying and wave-filtering processing circuit processes, and negative input end receives given signal; Wherein: described given signal is the negative input end that inserts operational amplifier in the frequency controller after a supersonic motor rotating asymmetry compensation processing of circuit; Described compensating circuit comprises a rheostat, and given signal transmission line and divider resistance serial connection back is connected rheostatic adjustable terminal, and inserts the negative input end of operational amplifier together, and rheostatic adjustable terminal also passes through direct current biasing resistor access power supply; Rheostatic two ends respectively connect a gating branch road, control the conducting of corresponding gating branch road by motor forward and backward control signal.
Described ultrasonic motor closed loop control circuit, wherein: described gating branch road is the collector electrode that divider resistance is connected in series a switch triode, transistor emitter ground connection; Motor forward and backward control signal connects the base stage of switch triode in the corresponding gating branch road respectively.
The present invention will reach following technique effect after adopting technique scheme:
Ultrasonic motor closed loop control circuit of the present invention, be that a supersonic motor rotating asymmetry compensation circuit is being set between the operational amplifier positive input terminal of lonely pole tension output and frequency controller or between given signal and the operational amplifier negative input end, departure=set-point-lonely pole tension value of feedback according to frequency controller, suitably adjust value of feedback or given signal value, the departure of frequency controller is approaching as far as possible when making motor positive and inverse, thereby change the output frequency of frequency controller, have approaching rotating speed when under subsequent conditioning circuit control, making the supersonic motor rotating.Described compensating circuit is respectively to connect a gating branch road at rheostatic two ends, rheostatic adjustable terminal connects the output of rectifying and wave-filtering treatment circuit, and a power supply is connected in series the positive input terminal that rheostatic adjustable terminal inserts operational amplifier again by direct current biasing resistance; The conducting of gating branch road is by the corresponding control of motor forward and backward control signal; The collector series connection of divider resistance and switch triode in the gating branch road, transistor emitter ground connection, base stage is corresponding respectively just to connect motor, reverse control signal, the adjustable terminal of standardsizing rheostat, supply voltage is through corresponding connection section with rheostat of direct current biasing resistance and corresponding gating branch road dividing potential drop, can make the voltage respective change that is input to operational amplifier plus or minus input in the frequency controller, the variation of lonely pole tension value of feedback of operational amplifier positive input terminal or the given magnitude of voltage of negative input end will cause the controlled quentity controlled variable VCOIN frequency change of frequency controller output, again through the effect of voltage controlled oscillator subsequent conditioning circuits such as (VCO), cause motor-driven frequency generation respective change, the rotating speed when therefore influencing motor positive and inverse.So by above simple mode, state basically identical when just having realized motor positive and inverse, asymmetry problem obviously improves.
Description of drawings
Fig. 1 is the structure chart of ultrasonic motor closed loop control circuit in the prior art;
Fig. 2 is the concrete connecting circuit figure of lonely pole tension feedback signal processing circuit shown in Figure 1 and frequency controller;
Fig. 3 is the relation curve of motor speed shown in Figure 1 and set-point;
Fig. 4 is a kind of circuit diagram of supersonic motor rotating asymmetry compensation circuit;
Fig. 5 is the ultrasonic motor closed loop control circuit structure chart with rotating asymmetry compensation circuit;
Fig. 6 is the relation curve of following supersonic motor rotating speed of circuit control shown in Figure 4 and set-point;
Fig. 7 is the circuit diagram of another kind of supersonic motor rotating asymmetry compensation circuit.
Embodiment
A kind of ultrasonic motor closed loop control circuit, as shown in Figure 5, by the feedback signal output corresponding control signal of frequency (PI) controller according to given signal and lonely pole tension, voltage controlled oscillator receives the square-wave signal that this control signal is exported a frequency adjustable, generate the square-wave signal of 90 ° of two-phase four road mutual deviations through frequency dividing circuit, this four road signal is realized amplitude modulation through the corresponding duty ratio of corresponding duty cycle adjustment circuit adjustment based on PWM (pulse width modulation) method again, send into corresponding A after amplifying by signal amplification circuit again, B phase push-pull circuit drives the resonant circuit that is made of supersonic motor and series connection coupling inductance, and motor is turned round forward or backwards.
Embodiment 1:
The lonely extreme pressure electroceramics sheet that is provided with on the supersonic motor stator is handled through a rotating compensating circuit more earlier through the feedback signal processing circuit rectifying and wave-filtering, sends in the frequency controller at last; The circuit connection diagram of supersonic motor rotating asymmetry compensation circuit as shown in Figure 4, the negative input end of operational amplifier U1A is by the adjustable terminal of divider resistance R15 serial connection potentiometer R14 in the frequency controller, the two ends of potentiometer R14 are inserted respectively between power supply VCC and the ground, by adjusting the given signal value that potentiometer R14 sets the negative input end of operational amplifier U1A; Lonely pole tension feedback signal RAFB is after the resistance R 1 and potentiometer R2 the first half dividing potential drop of series connection, send into diode D1 halfwave rectifier and obtain low-voltage dc signal, this signal is sent into compensating circuit again behind the charging and discharging circuit filtering radio-frequency component of capacitor C 1 and resistance R 4 parallel connections.Here can be similar to and think, the variation of capacitor C 1 terminal voltage (Vc) has reflected the variation of lonely utmost point feedback voltage amplitude.
Compensating circuit comprises a potentiometer R7, its two ends connect a gating branch road respectively, adjustable terminal inserts the positive input terminal (3 pin) of operational amplifier U1A in the frequency controller by the output of the above-mentioned feedback signal rectifying and wave-filtering treatment circuit of a resistance R 5 serial connections behind the adjustable terminal of power supply VCC by direct current biasing resistor R6 serial connection potentiometer R7; Described gating branch road is connected to the collector electrode of serial connection one divider resistance R8 and a switch triode Q1 in the branch road of potentiometer R7 upper end, the grounded emitter of switch triode Q1, and base stage connects motor is just changeing control signal SO; Be connected to the collector electrode of serial connection one divider resistance R9 and a switch triode Q2 in the branch road of potentiometer R7 lower end, the grounded emitter of switch triode Q2, base stage connects motor is just changeing control signal S1; When motor was just changeing, control signal S0 was a high level, and S1 is a low level, and Q1 is conducting over the ground, the work of R8 branch road, and Q2 is in cut-off state simultaneously, and the R9 branch road is not worked; During the motor counter-rotating, the work of R9 branch road, and the R8 branch road is not worked; The adjustable terminal of regulator potentiometer R7, in the time of can making motor positive and inverse, the input voltage value difference of operational amplifier U1A positive input terminal; Departure=set-point-lonely pole tension value of feedback according to frequency controller, the departure of frequency controller was approaching as far as possible when suitably the positive input terminal input voltage value of adjustment operational amplifier U1A made motor positive and inverse, thereby change the output frequency of frequency controller, have approaching rotating speed when under subsequent conditioning circuit control, making the supersonic motor rotating.
In the present embodiment, triode Q1, Q2 all adopt 2N2222A, and the concrete parameter of each resistance is:
R5=20k Ω, R6=510k Ω, R7=10k Ω potentiometer, after the adjusting, this potentiometer the first half resistance is 6.4k Ω, the latter half resistance is 3.6k Ω, R8=R9=10k Ω, by the value of feedback of above-mentioned adjustment, the relation curve of rotating speed and set-point is as shown in Figure 6 during motor positive and inverse, rotating curve C W, CCW basically identical, asymmetry problem significantly improves.
Embodiment 2:
The supersonic motor rotating asymmetry compensation circuit of present embodiment as shown in Figure 7, the lonely extreme pressure electroceramics sheet output voltage RAFB that is provided with on the supersonic motor stator sends into the positive input terminal of operational amplifier U1A in the frequency controller then earlier through the feedback signal processing circuit rectifying and wave-filtering; Identical among feedback signal rectifying and wave-filtering treatment circuit and the embodiment 1, repeat no more here.
Operational amplifier negative input end and be provided with between the adjustable terminal of potentiometer R14 of given signal the rotating compensating circuit is set, the compensating circuit circuit is provided with identical with embodiment 1, wherein, different is: the adjustable terminal of resistance R 5 with the potentiometer R14 that given signal is set is connected in series, the adjustable terminal of potentiometer R7 is connected in series with the resistance R 15 of operational amplifier U1A negative input end polyphone, the compensating circuit operation principle of present embodiment is identical with embodiment 1, also be to equal the poor of set-point and value of feedback according to the FREQUENCY CONTROL error, it is identical for error is changed that different is, need with the adjustable terminal of potentiometer R7 to the rightabout adjustment described in the embodiment 1.Through test, circuit that present embodiment affords redress also reaches the purpose of control motor positive and inverse state basically identical.
Claims (4)
1. ultrasonic motor closed loop control circuit, be to export a control signal according to the voltage feedback signal of given signal and the lonely utmost point output of motor by frequency (PI) controller, voltage controlled oscillator receives the square-wave signal that this control signal is exported a frequency adjustable, through frequency dividing circuit frequency division, corresponding each the road duty ratio of duty cycle adjustment circuit adjustment, send into corresponding A after amplifying by signal amplification circuit again, B phase push-pull circuit drives the resonant circuit that is made of supersonic motor and series connection coupling inductance, drive motors rotating; Described frequency controller comprises an operational amplifier, its negative input end is imported given signal, lonely pole tension feedback signal is imported its positive input terminal after the rectifying and wave-filtering processing circuit processes, it is characterized in that: also be provided with a supersonic motor rotating asymmetry compensation circuit between described rectifying and wave-filtering treatment circuit and the frequency controller, described compensating circuit comprises a rheostat, rheostatic adjustable terminal connects the output of rectifying and wave-filtering treatment circuit, one power supply is connected in series the positive input terminal that inserts operational amplifier in the frequency controller behind the rheostatic adjustable terminal by direct current biasing resistance, rheostatic two ends respectively connect a gating branch road, by motor just, reverse control signal is controlled the conducting of corresponding gating branch road respectively.
2. ultrasonic motor closed loop control circuit as claimed in claim 1 is characterized in that: described gating branch road is the collector electrode that divider resistance is connected in series a switch triode, transistor emitter ground connection; Motor forward and backward control signal connects the base stage of switch triode in the corresponding gating branch road respectively.
3. ultrasonic motor closed loop control circuit, be to export a control signal according to the voltage feedback signal of given signal and the lonely utmost point output of motor by frequency (PI) controller, voltage controlled oscillator receives the square-wave signal that this control signal is exported a frequency adjustable, through frequency dividing circuit frequency division, corresponding each the road duty ratio of duty cycle adjustment circuit adjustment, send into corresponding A after amplifying by signal amplification circuit again, B phase push-pull circuit drives the resonant circuit that is made of supersonic motor and series connection coupling inductance, drive motors rotating; Described frequency controller comprises an operational amplifier, the lonely pole tension feedback signal of its positive input terminal input after the rectifying and wave-filtering processing circuit processes, and negative input end receives given signal; It is characterized in that: described given signal is the negative input end that inserts operational amplifier in the frequency controller after a supersonic motor rotating asymmetry compensation processing of circuit; Described compensating circuit comprises a rheostat, and given signal transmission line and divider resistance serial connection back is connected rheostatic adjustable terminal, and inserts the negative input end of operational amplifier together, and rheostatic adjustable terminal also passes through direct current biasing resistor access power supply; Rheostatic two ends respectively connect a gating branch road, control the conducting of corresponding gating branch road by motor forward and backward control signal.
4. ultrasonic motor closed loop control circuit as claimed in claim 3 is characterized in that: described gating branch road is the collector electrode that divider resistance is connected in series a switch triode, transistor emitter ground connection; Motor forward and backward control signal connects the base stage of switch triode in the corresponding gating branch road respectively.
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| CN200710054575A CN101106339B (en) | 2007-06-18 | 2007-06-18 | Ultrasonic motor closed loop control circuit |
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| CN200710054575A CN101106339B (en) | 2007-06-18 | 2007-06-18 | Ultrasonic motor closed loop control circuit |
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