CN102904482A - Ultralow rotation speed control method of ultrasonic motor - Google Patents
Ultralow rotation speed control method of ultrasonic motor Download PDFInfo
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- CN102904482A CN102904482A CN2012103781600A CN201210378160A CN102904482A CN 102904482 A CN102904482 A CN 102904482A CN 2012103781600 A CN2012103781600 A CN 2012103781600A CN 201210378160 A CN201210378160 A CN 201210378160A CN 102904482 A CN102904482 A CN 102904482A
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Abstract
The invention discloses an ultralow rotation speed control method of an ultrasonic motor, which comprises the following steps of: establishing interval excitation signals as ultrasonic motor excitation signals for controlling the rotation speed of the ultrasonic motor, and taking excitation signal frequency, the number of the excitation signals and excitation time interval as control parameters; recording the conversion relationship among the rotation speed of the ultrasonic motor and the three control parameters, and forming a parameter conversion mapping table; receiving the rotation speed instructions, and acquiring the three control parameters corresponding to the rotation speed instructions through the conversion mapping table for correcting the previous parameters; and calculating through the ultrasonic motor rotation speed signals and the rotation speed instructions which are monitored in real time so as to obtain excitation signal frequency correction, adding with the excitation signal frequency in the previous corrected parameters as the novel excitation signal frequency, taking the number of the excitation signals and the excitation time interval in the previous corrected parameters as the corrected ultrasonic motor control parameters, and controlling the rotation speed of the ultrasonic motor. The interrupted-type excitation adopted by the method can control the ultrasonic motor to run under the ultralow rotation speed, and the ultralow rotation speed control method of the ultrasonic motor has favorable rotation speed control performance.
Description
Technical field
The present invention relates to a kind of control method of ultrasound electric machine, have good rotating speed control performance and precision.
Background technology
Ultrasound electric machine (USM) is since coming out the beginning of the eighties in last century, and just with the operation principle of novelty, exclusive performance characteristics has attracted many people to its attention.The characteristics such as ultrasound electric machine relies on its volume compact, and is lightweight, and output torque density is large are widely used in the low speed direct drive mechanism, such as device for driving optical lens, and the products such as NMR.
Present existing method mainly is the purpose that reaches control ultrasound electric machine rotating speed by controlling sinusoidal wave frequency, and concrete grammar is to regulate the ultrasound electric machine rotating speed by the sinusoidal wave frequency of high voltagehigh frequency that adjusting passes into piezoelectric ceramic piece.According to the operation principle of ultrasound electric machine, sine wave freuqency is in a certain band limits, and the higher ultrasound electric machine rotating speed of frequency is lower.Outside this frequency range, sine wave freuqency is too high and excessively low, the vibrational energy of ultrasound electric machine stator all can not pass to rotor, cause the ultrasound electric machine rotor can not normal rotation, thus ultrasound electric machine rotary speed working scope corresponding to sine wave freuqency adjustable extent only have 10 rev/mins～150 rev/mins (60 degree/second～900 degree/second).Because control method has limited the ultrasound electric machine speed adjustable range at present, make it substantially can not run on the following or non-constant of rotating speed control effect of 60 degree/second rotating speed, seriously restricted application and the scope of ultrasound electric machine.
In addition, traditional ultrasonic motor control method all adopts the continuous sine wave inspiring methods, the ultrasound electric machine stator is in the continuous high frequency vibrational state and for a long time by phase mutual friction between friction material and the rotor, cause the ultrasound electric machine heating serious, therefore adopt the ultrasound electric machine of traditional control method to be unsuitable for long time continuous working.
Summary of the invention
The problem that the present invention solves is: overcome the deficiencies in the prior art, provide a kind of ultrasound electric machine ultralow method for controlling number of revolution, can control ultrasound electric machine and run on ultralow rotating speed, and have good rotating speed control performance and precision, solved the little problem of existing control method restriction ultrasound electric machine speed adjustable range.
Technical solution of the present invention is: the ultralow method for controlling number of revolution of a kind of ultrasound electric machine is characterized in that step is as follows:
(1) set up the interval pumping signal, and as the ultrasound electric machine pumping signal of controlling the ultrasound electric machine rotating speed, described interval pumping signal is periodic signal, front segment signal is sine wave exciting signal in each cycle, and rear segment signal is zero pumping signal; Sine wave exciting signal adopts exciting signal frequency and pumping signal number as the control parameter, and zero pumping signal adopts the actuation duration interval as the control parameter, and the described actuation duration is spaced apart the duration of zero pumping signal;
(2) adopt the rotation of interval pumping signal control ultrasound electric machine, the transformational relation between three control parameters in record ultrasound electric machine rotating speed and the interval pumping signal forms parameter conversion mapping table;
(3) receive rotary speed instruction, and by consulting parameter conversion mapping table, obtain three control parameters in the interval pumping signal corresponding with this rotary speed instruction, as parameter before revising;
(4) ask for the ultrasound electric machine tach signal of Real-Time Monitoring and the speed discrepancy between the rotary speed instruction, obtain the exciting signal frequency correction after speed discrepancy be multiply by corrected parameter;
(5) the exciting signal frequency correction that step (4) is obtained with revise before exciting signal frequency in the parameter do and, as new exciting signal frequency; New exciting signal frequency is controlled parameter together with the pumping signal number in the parameter before revising and actuation duration interval as revised ultrasound electric machine, the rotating speed of ultrasound electric machine is controlled.
The method for building up of described parameter conversion mapping table is: carry out the rotating speed segmentation according to the ultrasound electric machine range of speeds, the corresponding exciting signal frequency of each speed stage lower limit rotating speed, pumping signal number and actuation duration interval are as the optimal control parameter of ultrasound electric machine at this speed stage, and all speed stages and corresponding optimal control parameter consist of parameter conversion mapping table.
The computational methods of corrected parameter are in the described step (4): difference that will adjacent each self-corresponding exciting signal frequency of two speed stages is poor divided by the rotating speed of correspondence, and with result's unit by degree/second be converted to hertz.
Described rotating speed segmentation method is: a speed stage is spent/be divided into second to 1 degree/second above rotating speed according to per 1, and a speed stage is spent/be divided into second to 1 degree/second following rotating speed according to per 0.005.
The present invention's advantage compared with prior art is:
1. the present invention is by setting up the interval pumping signal, exciting signal frequency, pumping signal number, three control in actuation duration interval parameter have been proposed, by the actuation duration spacing parameter is set, ultrasound electric machine is constantly loitered, can effectively reduce the ultrasound electric machine minimum operating speed on the macroscopic view, overcome traditional control method to the restriction of ultrasound electric machine minimum operating speed, realize the ultralow rotating speed control of ultrasound electric machine.
2. the present invention is according to speed error, and the Correction and Control parameter makes ultrasound electric machine have good rotating speed control performance and precision in real time, has improved the antijamming capability of ultrasound electric machine control system.
3. the present invention adopts the interruption control strategy, has reduced the ultrasound electric machine power consumption, Effective Raise the operating efficiency of ultrasound electric machine, and then reduced the ultrasound electric machine caloric value, solved the heating problem that ultrasound electric machine works long hours and causes.
Description of drawings
Fig. 1 is the theory diagram of the inventive method.
Fig. 2 is ultrasound electric machine pumping signal schematic diagram of the present invention.
Fig. 3 for adopt ultrasound electric machine of the present invention run on 5 degree/second the time the rotary speed measure curve.
Embodiment
The present invention adopts the discontinuous energisation mode, introduced interval pumping signal concept, this signal comprises exciting signal frequency, three control of pumping signal number and actuation duration interval parameter, it is sinusoidal wave that each pumping signal comprises the high-frequency and high-voltage in several cycles, the piezoelectric ceramic piece that passes into the ultrasound electric machine stator makes electric machine rotation, motor stalling when excitation stops, therefore a pumping signal can be controlled ultrasound electric machine and rotate a low-angle, is referred to as step angle.According to the operation principle of ultrasound electric machine, in the pumping signal, sine wave freuqency is lower, the sine wave period number is more, and the stepping angle is just larger.Pumping signal can be controlled step angle of electric machine rotation each time, and the control ultrasound electric machine rotates in a stepwise manner on the microcosmic, on the macroscopic view, can realize the ultralow rotating speed control of ultrasound electric machine by adjusting step angle size and actuation duration interval.To sum up, the ultralow method for controlling number of revolution of ultrasound electric machine proposed by the invention, its core thinking loiters in a stepwise manner for the control ultrasound electric machine, realize the ultralow rotating speed control of ultrasound electric machine, by adjusting three parameters: the regulating electric machine rotating speed is come at exciting signal frequency, pumping signal number and actuation duration interval, wherein exciting signal frequency is lower, the pumping signal number is more, the actuation duration interval is less, and then motor speed is just higher.
Ultrasound electric machine is when rotating, and impact so that the fluctuation of speed that may be subject to load disturbance are larger, and in order to improve the ultralow rotating speed control performance of ultrasound electric machine, the present invention has introduced the parameter correction chart.The parameter correction chart is revised this control parameter of exciting signal frequency in real time according to speed error, consist of closed loop feedback control, when the motor speed detection signal that receives and rotary speed instruction have error, by the parameter correction chart pumping signal is carried out correction-compensation, the control motor speed reaches the desired rotating speed of rotary speed instruction.
As shown in Figure 1 and Figure 2, set up the interval pumping signal, and as the final ultrasound electric machine pumping signal of controlling the ultrasound electric machine rotating speed, described interval pumping signal comprises working signal and stop signal two parts; Sine wave signal when working signal is the ultrasound electric machine normal operation, comprising exciting signal frequency and two control of pumping signal number parameter, stop signal is the signal of ultrasound electric machine when quitting work, wherein the lasting time of stop signal is defined as the actuation duration interval, as the control parameter of stop signal; Set up afterwards parameter conversion mapping table, be used for the information that rotary speed instruction is inputted into is converted to three control parameters of above-mentioned interval pumping signal; Receive rotary speed instruction, and by consulting parameter conversion mapping table, obtain three control parameters in the interval pumping signal corresponding with this rotary speed instruction, as parameter before revising; Subsequently with the error of rotary speed detecting signal and rotary speed instruction, it is speed error, obtain the exciting signal frequency correction after multiply by again corrected parameter, the exciting signal frequency correction that obtains with revise before exciting signal frequency parameter in the parameter do and, as new exciting signal frequency; New exciting signal frequency is controlled parameter together with the pumping signal number in the parameter before revising and actuation duration interval as revised ultrasound electric machine, the rotating speed of ultrasound electric machine is controlled.
The concrete method of setting up the conversion mapping table is: the scope according to the ultrasound electric machine rotary speed instruction is carried out the rotating speed segmentation, three control parameters of the corresponding one group of described ultrasound electric machine of each speed stage, and the parameter that all speed stages are corresponding consists of parameter conversion mapping table.
The segmentation method of parameter conversion mapping table is: a speed stage is spent/be divided into second to 1 degree/second above rotating speed according to per 1, and a speed stage is spent/be divided into second to 1 degree/second following rotating speed according to per 0.005.Each speed stage sets in advance one group of ultrasound electric machine control parameter, its method to set up is: according to actual place and the operating mode of ultrasound electric machine application, arrange and adjust one group to control parameter that should speed stage, and ultrasound electric machine rotating speed control performance optimum under this rotating speed is satisfied as the optimal control parameter of ultrasound electric machine at this speed stage in the corresponding exciting signal frequency of this speed stage lower limit rotating speed, pumping signal number and actuation duration interval.
The computational methods of corrected parameter are: with poor divided by the rotating speed of correspondence of the difference of adjacent each self-corresponding exciting signal frequency of two speed stages, and with the result by being converted to hertz unit degree/second.
Embodiment
The below illustrates the application process of this method with an object lesson.As shown in Figure 1, when rotary speed instruction be input as 5 the degree/second the time, the Parameter Mapping table judges that the residing rotating speed piecewise interval of rotary speed instruction is the speed stage of 5～6 degree/second, then corresponding three controls of this speed stage this moment parameters be 5 degree/second the time parameter, be respectively: exciting signal frequency is 41.2KHz, the pumping signal number is 9, and the actuation duration is spaced apart 9.7ms.These three parameters are the optimized parameters for this speed stage that draw by the real system debugging.When the ultrasound electric machine actual motion, since the disturbing factor such as external loading, rotating speed be not stable 5 degree/second, by the parameter correction chart receive rotary speed detecting signal and rotary speed instruction signal do poor, obtain speed error, revise in real time exciting signal frequency according to this error.When external loading increases suddenly, motor speed is corresponding be reduced to 4.95 degree/second, speed error be 0.05 degree/second.6～7 a degree/second exciting signal frequency corresponding to speed stage is 40.35KHz, so the time conversion coefficient corresponding to parameter correction chart be (40.35-41.2)/(6-5)=-0.85, speed error is multiplied by conversion coefficient, obtains-0.0425KHz, is corrected parameter.Corrected parameter with revise before the parameter addition, obtain final control parameter and be: exciting signal frequency is 41.157KHz, and the pumping signal number is 9, and the actuation duration is spaced apart 9.7ms, and the ultrasound electric machine pumping signal is as shown in Figure 2.This example adopts Nanjing Wan Ma company ultrasound electric machine, model is 60SES3, the actual measurement rotary speed instruction be 5 the degree/second the time speed curves as shown in Figure 3, as can be seen from the figure, adopt the ultralow method for controlling number of revolution of a kind of ultrasound electric machine of the present invention, when the control ultrasound electric machine in 5 degree/second when operation, its actual measurement fluctuation of speed amount is controlled at 2%, shows that using ultrasound electric machine Ultra-Low Speed control method of the present invention can realize good rotating speed control effect.
Claims (4)
1. ultralow method for controlling number of revolution of ultrasound electric machine is characterized in that step is as follows:
(1) set up the interval pumping signal, and as the ultrasound electric machine pumping signal of controlling the ultrasound electric machine rotating speed, described interval pumping signal is periodic signal, front segment signal is sine wave exciting signal in each cycle, and rear segment signal is zero pumping signal; Sine wave exciting signal adopts exciting signal frequency and pumping signal number as the control parameter, and zero pumping signal adopts the actuation duration interval as the control parameter, and the described actuation duration is spaced apart the duration of zero pumping signal;
(2) adopt the rotation of interval pumping signal control ultrasound electric machine, the transformational relation between three control parameters in record ultrasound electric machine rotating speed and the interval pumping signal forms parameter conversion mapping table;
(3) receive rotary speed instruction, and by consulting parameter conversion mapping table, obtain three control parameters in the interval pumping signal corresponding with this rotary speed instruction, as parameter before revising;
(4) ask for the ultrasound electric machine tach signal of Real-Time Monitoring and the speed discrepancy between the rotary speed instruction, obtain the exciting signal frequency correction after speed discrepancy be multiply by corrected parameter;
(5) the exciting signal frequency correction that step (4) is obtained with revise before exciting signal frequency in the parameter do and, as new exciting signal frequency; New exciting signal frequency is controlled parameter together with the pumping signal number in the parameter before revising and actuation duration interval as revised ultrasound electric machine, the rotating speed of ultrasound electric machine is controlled.
2. the ultralow method for controlling number of revolution of a kind of ultrasound electric machine according to claim 1, it is characterized in that: the method for building up of described parameter conversion mapping table is: carry out the rotating speed segmentation according to the ultrasound electric machine range of speeds, the corresponding exciting signal frequency of each speed stage lower limit rotating speed, pumping signal number and actuation duration interval are as the optimal control parameter of ultrasound electric machine at this speed stage, and all speed stages and corresponding optimal control parameter consist of parameter conversion mapping table.
3. the ultralow method for controlling number of revolution of a kind of ultrasound electric machine according to claim 2, it is characterized in that: the computational methods of corrected parameter are in the described step (4): difference that will adjacent each self-corresponding exciting signal frequency of two speed stages is poor divided by the rotating speed of correspondence, and with result's unit by degree/second be converted to hertz.
4. the ultralow method for controlling number of revolution of a kind of ultrasound electric machine according to claim 2, it is characterized in that: described rotating speed segmentation method is: a speed stage is spent/be divided into second to 1 degree/second above rotating speed according to per 1, and a speed stage is spent/be divided into second to 1 degree/second following rotating speed according to per 0.005.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103792936A (en) * | 2014-01-13 | 2014-05-14 | 上海交通大学 | Feature analysis method for linear servo system based on saturation drive signals |
| CN105610346A (en) * | 2016-03-09 | 2016-05-25 | 西安创联超声技术有限责任公司 | Rotational speed calibration control method of ultrasonic motor |
| CN104539190B (en) * | 2014-10-27 | 2017-04-05 | 北京航天控制仪器研究所 | Control method for rotating speed linearization of ultrasonic motor |
| CN106655882B (en) * | 2017-03-16 | 2018-07-17 | 闽江学院 | A kind of supersonic motor servo-control system hysteresis control method |
| CN110096902A (en) * | 2019-03-15 | 2019-08-06 | 杭州钱袋金融信息服务有限公司 | A kind of vocal print encryption device and method |
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| EP1895150B1 (en) * | 2006-01-20 | 2009-04-08 | Delphi Technologies, Inc. | Improvements in piezoelectric actuators |
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| EP1895150B1 (en) * | 2006-01-20 | 2009-04-08 | Delphi Technologies, Inc. | Improvements in piezoelectric actuators |
| CN102694483A (en) * | 2012-01-12 | 2012-09-26 | 河南科技大学 | LC (inductance/capacitance) resonance drive circuit for ultrasonic motor and control method of LC resonance drive circuit |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103792936A (en) * | 2014-01-13 | 2014-05-14 | 上海交通大学 | Feature analysis method for linear servo system based on saturation drive signals |
| CN103792936B (en) * | 2014-01-13 | 2016-02-10 | 上海交通大学 | Based on the linear servo system characteristic analysis method of saturation activation signal |
| CN104539190B (en) * | 2014-10-27 | 2017-04-05 | 北京航天控制仪器研究所 | Control method for rotating speed linearization of ultrasonic motor |
| CN105610346A (en) * | 2016-03-09 | 2016-05-25 | 西安创联超声技术有限责任公司 | Rotational speed calibration control method of ultrasonic motor |
| CN106655882B (en) * | 2017-03-16 | 2018-07-17 | 闽江学院 | A kind of supersonic motor servo-control system hysteresis control method |
| CN110096902A (en) * | 2019-03-15 | 2019-08-06 | 杭州钱袋金融信息服务有限公司 | A kind of vocal print encryption device and method |
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