CN101478262A - Speed-position dual close-loop control scheme for ultrasonic motor - Google Patents
Speed-position dual close-loop control scheme for ultrasonic motor Download PDFInfo
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- CN101478262A CN101478262A CNA2008101561703A CN200810156170A CN101478262A CN 101478262 A CN101478262 A CN 101478262A CN A2008101561703 A CNA2008101561703 A CN A2008101561703A CN 200810156170 A CN200810156170 A CN 200810156170A CN 101478262 A CN101478262 A CN 101478262A
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- 230000004044 response Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 4
- 210000000323 shoulder joint Anatomy 0.000 description 4
- 210000003857 wrist joint Anatomy 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
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- 238000006243 chemical reaction Methods 0.000 description 1
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- 238000002474 experimental method Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention relates to a control method for increasing the operation performance of a plurality of ultrasonic motors running in equipment. The method belongs to the automatic control field. When a plurality of ultrasonic motors are needed to drive and control at the same time in a set of equipment, the position feedback control can obtain better position accuracy, and the speed of the ultrasonic motors changes more tempestuously because the response speed of the ultrasonic motors is very fast, so the running stability of the whole equipment cannot be ensured; and the speed feedback control can obtain well moving stability, but the position accuracy is worse. In order to resolve the contradiction, a novel speed-position double close loop control mode is designed, the speed close loop control voltage increment and the position close loop control voltage increment are added up, and the sum is taken as the total control voltage increment and acts on drivers of the ultrasonic motors so as to increase the integral operation performance of the ultrasonic motors and driving equipment thereof. The control method is applied to the equipment driven by the ultrasonic motors, and is especially suitable for occasions requiring a plurality of the ultrasonic motors to drive and control at the same time.
Description
Technical field:
Speed-position dual close-loop control scheme for ultrasonic motor belongs to automation field.
Background technology:
Along with the continuous development of ultrasound electric machine technology and the continuous expansion of application, occurred needing many ultrasound electric machines situation of drive controlling simultaneously in the cover tool equipment, as the characteristics of utilizing not raying of ultrasound electric machine and high low temperature great change to influence are used it for the driving in each joint of space mechanical arm.
At present, control also rests on the situation at single ultrasound electric machine about Driven by Ultrasonic Motors, and these control strategies may not necessarily directly apply to the drive controlling of many ultrasound electric machines effectively.
Speed-the position of conventional motors jointly controls generally two kinds of forms, and a kind of is that position closed loop comprises speed closed loop, shown in Fig. 1 (a); Another kind is that speed closed loop comprises position closed loop, shown in Fig. 1 (b).But these two kinds of control modes all can't be used on the ultrasound electric machine.Actual speed and ideal velocity by ultrasound electric machine after the position feedback can differ bigger, allow them compare that to obtain velocity error meaningless again; In like manner, physical location and ideal position by ultrasound electric machine after the speed feedback differ also bigger, allow them compare again and obtain site error and also do not have practical significance.Experiment is proof also, adopts the control method of this inner and outer ring, the positional precision that obtains can not be better than the precision of position closed loop control, also can the not be better than situation of speed closed loop control of the stability of speed.
With the Driven by Ultrasonic Motors articulated robot is example, and a joint is by a Driven by Ultrasonic Motors.Position feedback control can obtain joint position precision preferably, but because the The performance of ultrasonic motor response is very fast, makes that the velocity variations of joint of robot is comparatively violent, thereby the robot traveling comfort can not be guaranteed; Speed feedback control can obtain good robust motion, but the joint position precision is relatively poor.
Summary of the invention:
The control model that the objective of the invention is to propose a kind ofly to operate steadily, positional precision is good.This control model is specially adapted to need many ultrasound electric machines to drive simultaneously and accurately controls in a set of equipment situation.
A kind of two closed loop control modes in The performance of ultrasonic motor-position that are applicable to are added in the driver direct voltage of voltage controlled oscillator by change and regulate the frequency of driver output signal, and then change The performance of ultrasonic motor, and wherein initially controlling voltage is u
0, it is characterized in that:
Comprise formal parallel connection, speed closed loop of connecting on the operating sequence and position closed loop;
At first carry out speed closed loop control,, also just obtained the control voltage increment Δ u of this Driven by Ultrasonic Motors device when speed feedback control obtains that ultrasound electric machine operates steadily and positional precision when having reached the limit that speed closed loop control can control
2
At u
0+ Δ u
2On the basis as control voltage, the point of addition closed-loop control, when position feedback control obtains that ultrasound electric machine operates steadily and positional precision when having reached the limit that position closed loop control can control, also just obtained the control voltage increment Δ u of this Driven by Ultrasonic Motors device
1
With u
0+ Δ u
2+ Δ u
1As final ultrasound electric machine control voltage.
In the equipment of many Driven by Ultrasonic Motors, the separate unit ultrasound electric machine tends to the sum of errors of its motion is moved the flutter that does not steadily bring, and by the parts that itself and other ultrasound electric machine links, passes to other ultrasound electric machine.These parts play the effect that the sum of errors flutter is amplified toward the contact meeting, and this can cause the flutter of complete equipment and the reduction of precision.For the equipment that has only a ultrasound electric machine, the equipment of many Driven by Ultrasonic Motors is had higher requirement to the control effect of ultrasound electric machine.
Description of drawings:
Fig. 1: two closed loop control modes of existing electromagnetic machine.Wherein Fig. 1 (a) comprises speed closed loop for position closed loop.Fig. 1 (b) comprises position closed loop for speed closed loop.
Fig. 2: the two closed loop control mode figure in speed-position.
Fig. 3: three-joint robot structure chart.Wherein Fig. 3 (a) is an end view.Wherein Fig. 3 (b) is a front view.
Fig. 4: three-joint robot control structure figure
Number in the figure title: 1. wrist joint ultrasound electric machine, 2. shoulder joint ultrasound electric machine, 3. waist joint ultrasound electric machine, 4. clamping hand, 5. wrist joint rotary encoder, 6. shoulder joint rotary encoder, 7. waist joint rotary encoder.
Embodiment:
Two closed loop control modes of existing electromagnetic machine as shown in Figure 1, Fig. 2 is the two closed loop control modes at the ultrasound electric machine operation characteristic that the present invention proposes.
Two closed-loop controls among Fig. 1 are to comprise and involved relation in form.Fig. 1 (a) is that position closed loop has comprised speed closed loop, and Fig. 1 (b) is that speed closed loop has comprised position closed loop.In the control of ultrasound electric machine, if adopt the pattern of Fig. 1 (a), at first carry out position feedback relatively, then positional precision can be guaranteed, but this moment, the actual instantaneous velocity of ultrasound electric machine and ideal velocity had very mistake and flutter easily takes place motor, carried out speed feedback again and had more just lost meaning; If adopt the pattern of Fig. 1 (b), at first carry out speed feedback relatively, can guarantee operating steadily of ultrasound electric machine, but the actual instantaneous position and the ideal position of ultrasound electric machine have significant errors at this moment, carry out position feedback again and more also can become meaningless.Cause these two kinds of patterns can not be applicable to that all the main cause of ultrasound electric machine is that the The performance of ultrasonic motor response is very fast, it is comparatively violent to make that The performance of ultrasonic motor changes.
Among Fig. 1 (a), obtaining of ideal velocity is to be based upon on the basis of Position Control, and it has dependence to Position Control; In like manner, among Fig. 1 (b), obtaining of ideal position is to be based upon on the basis of speed control, and it has dependence to speed control.Among Fig. 2, speed feedback compares and position feedback compares in practical operation, though the branch of the front and back on the order is arranged, is in parallel in form, has independence separately, shows that mainly obtaining mutually of ideal velocity and ideal position do not rely on.
Control model as shown in Figure 2.Two closed-loop controls are arranged in the control model shown in Figure 2, are respectively speed closed loop and position closed loop.The basic mode of ultrasound electric machine speed governing is the frequency of regulating driver output signal by the direct voltage that change is added in voltage controlled oscillator in the Driven by Ultrasonic Motors device, and then changes The performance of ultrasonic motor.The initial control voltage of ultrasound electric machine is u
0, consider that speed feedback control can guarantee that ultrasound electric machine has good robust motion, at first carry out speed closed loop control.Choose a kind of Position Control performance index commonly used as standards of measurement, the closed-loop control parameter of constantly regulating the speed, when the numerical value of these performance index can not further get a promotion again, show that the positional precision that speed feedback control obtains has reached the limit that it can be controlled, at this moment also just obtained the control voltage increment Δ u of this Driven by Ultrasonic Motors device
2With u
0+ Δ u
2Basis as control voltage, preferred site control performance index and speed control performance index are simultaneously as the foundation of weighing, constantly adjust the position closed loop Control Parameter, when position feedback control obtains the ultrasound electric machine speed of service steadily and positional precision when having reached the limit that position closed loop control can control, also just obtained the control voltage increment Δ u of this Driven by Ultrasonic Motors device
1With u
0+ Δ u
2+ Δ u
1As final ultrasound electric machine control voltage.
The data contrast
The mechanism structure figure of three-joint robot as shown in Figure 3, it can or write at any one plane inside-paint figure of working space.Driven by Ultrasonic Motors is all adopted in three joints, and what waist joint and shoulder joint were used is the accurate TRUM-60 type ultrasound electric machine that drives institute system of Nanjing Aero-Space University, and what wrist joint used is the TRUM-45 type.Each joint is equipped with a rotary encoder, and the structure of rotary encoder is selected hollow type for use, thereby has saved the shaft coupling between motor and the encoder, and the umber of pulse of encoder revolution is 2000.The scope of activities of robot wrist joint and shoulder joint all is ± 90 °, and the scope of activities of waist joint is ± 360 °.Table 1 is each joint rod member length and qualitative data of robot.
Table 1 robot architecture parameter
| Connecting rod | Length/millimeter | Quality/gram |
| 1 | 0 | 539 |
| 2 | 82 | 345 |
| 3 | 68.5 | 35 |
Based on the three-joint robot control structure figure of the Driven by Ultrasonic Motors of PC computer control system, as shown in Figure 4.Adopted the universal GT-400-SV motion control card of solid high company, utilized its analog quantity voltage to export on the one hand and regulate motor speed, the function of utilizing this card to provide is on the other hand read the pulse value of rotary encoder.This type control card has digital filtering and pulse 4 frequency multiplier circuits, thereby the position feedback precision can be brought up to 8000 pulses of revolution.
The course of work of robot control system is: the target travel data in each joint that the PC controller will be drafted send motion control card to, control card converts these digital signals to analog signal, and send to the driver of ultrasound electric machine, thereby the motion of control motor by terminal board.Encoder feeds back to motion control card with the instantaneous position information in each joint by interface circuit, control card is the digital signal of position with the conversion of signals of encoder, and this positional information is sent in the PC controller, controller is a foundation with the feedback signal of encoder, obtain instantaneous error signal e (t), and, utilize control algolithm to calculate the controlled quentity controlled variable size of the next control cycle of motor, thereby realize close-loop feedback control according to the size of error signal.
Table 2 is that the control effect data of position feedback, speed feedback, position ring speed packet ring, speed ring package location ring and position-speed double closed loop feedback compares.Controlling object is the three-joint robot of Driven by Ultrasonic Motors.From table, can find out obviously that the control precision of position-speed double closed loop feedback is than other four kinds of control mode height.It can also be seen that from table the control effect that double circle controling mode that general motor adopts is used on the ultrasound electric machine is also poorer than the effect of single closed-loop control (position feedback or speed feedback).
The data of five kinds of control modes of table 2 relatively
Claims (1)
1, a kind of two closed loop control modes in The performance of ultrasonic motor-position that are applicable to are added in the driver direct voltage of voltage controlled oscillator by change and regulate the frequency of driver output signal, and then change The performance of ultrasonic motor, and wherein initially controlling voltage is u
0, it is characterized in that:
Comprise formal parallel connection, speed closed loop of connecting on the operating sequence and position closed loop;
At first carry out speed closed loop control,, also just obtained the control voltage increment Δ u of this Driven by Ultrasonic Motors device when speed feedback control obtains that ultrasound electric machine operates steadily and positional precision when having reached the limit that speed closed loop control can control
2
At u
0+ Δ u
2On the basis as control voltage, the point of addition closed-loop control, when position feedback control obtains that ultrasound electric machine operates steadily and positional precision when having reached the limit that position closed loop control can control, also just obtained the control voltage increment Δ u of this Driven by Ultrasonic Motors device
1
With u
0+ Δ u
2+ Δ u
1As final ultrasound electric machine control voltage.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008101561703A CN101478262A (en) | 2008-09-24 | 2008-09-24 | Speed-position dual close-loop control scheme for ultrasonic motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008101561703A CN101478262A (en) | 2008-09-24 | 2008-09-24 | Speed-position dual close-loop control scheme for ultrasonic motor |
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|---|---|
| CN101478262A true CN101478262A (en) | 2009-07-08 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105958898A (en) * | 2016-06-01 | 2016-09-21 | 深圳德康威尔科技有限公司 | Voice coil motor driver and control method thereof |
| CN110103214A (en) * | 2019-06-17 | 2019-08-09 | 青岛理工大学 | A kind of direct-drive type cooperation mechanical arm based on ultrasound electric machine |
| CN110716504A (en) * | 2019-10-21 | 2020-01-21 | 同济大学 | Rolling ball system motion control method based on multi-closed-loop cascade control |
| CN110031757B (en) * | 2019-03-22 | 2020-08-07 | 中国地质大学（武汉） | Method for rapidly detecting locked rotor of motor closed-loop system |
| CN113541529A (en) * | 2021-05-24 | 2021-10-22 | 北京控制工程研究所 | Position control method of laser terminal based on ultrasonic motor |
| CN114527638A (en) * | 2021-11-29 | 2022-05-24 | 哈尔滨工业大学 | Piezoelectric driving three-closed-loop control system and control method thereof |
| CN115556104A (en) * | 2022-10-20 | 2023-01-03 | 北京精准医械科技有限公司 | Control method and system for single joint position of robot and related equipment |
-
2008
- 2008-09-24 CN CNA2008101561703A patent/CN101478262A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105958898A (en) * | 2016-06-01 | 2016-09-21 | 深圳德康威尔科技有限公司 | Voice coil motor driver and control method thereof |
| CN105958898B (en) * | 2016-06-01 | 2018-09-11 | 深圳德康威尔科技有限公司 | Voice coil motor driver and its control method |
| CN110031757B (en) * | 2019-03-22 | 2020-08-07 | 中国地质大学（武汉） | Method for rapidly detecting locked rotor of motor closed-loop system |
| CN110103214A (en) * | 2019-06-17 | 2019-08-09 | 青岛理工大学 | A kind of direct-drive type cooperation mechanical arm based on ultrasound electric machine |
| CN110716504A (en) * | 2019-10-21 | 2020-01-21 | 同济大学 | Rolling ball system motion control method based on multi-closed-loop cascade control |
| CN110716504B (en) * | 2019-10-21 | 2022-06-14 | 同济大学 | Rolling ball system motion control method based on multi-closed-loop cascade control |
| CN113541529A (en) * | 2021-05-24 | 2021-10-22 | 北京控制工程研究所 | Position control method of laser terminal based on ultrasonic motor |
| CN114527638A (en) * | 2021-11-29 | 2022-05-24 | 哈尔滨工业大学 | Piezoelectric driving three-closed-loop control system and control method thereof |
| CN114527638B (en) * | 2021-11-29 | 2022-12-09 | 哈尔滨工业大学 | Piezoelectric driving three-closed-loop control system and control method thereof |
| CN115556104A (en) * | 2022-10-20 | 2023-01-03 | 北京精准医械科技有限公司 | Control method and system for single joint position of robot and related equipment |
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Open date: 20090708 |