CN102904482B - Ultralow rotation speed control method of ultrasonic motor - Google Patents
Ultralow rotation speed control method of ultrasonic motor Download PDFInfo
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- CN102904482B CN102904482B CN201210378160.0A CN201210378160A CN102904482B CN 102904482 B CN102904482 B CN 102904482B CN 201210378160 A CN201210378160 A CN 201210378160A CN 102904482 B CN102904482 B CN 102904482B
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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, there is good rotating speed control performance and precision.
Background technology
Ultrasound electric machine (USM) is since the beginning of the eighties in last century comes out, and just with the operation principle of novelty, exclusive performance characteristics has attracted the attention of many people to it.Ultrasound electric machine relies on its compact compact, lightweight, and the features such as output torque density is large, are widely used in low speed direct drive mechanism, such as device for driving optical lens, the products such as NMR.
Current existing method is mainly by controlling sinusoidal wave frequency to reach the object controlling ultrasound electric machine rotating speed, and concrete grammar is by regulating the sinusoidal wave frequency of the high voltagehigh frequency passing into piezoelectric ceramic piece to regulate ultrasound electric machine rotating speed.According to the operation principle of ultrasound electric machine, sine wave freuqency is in a certain band limits, and frequency higher ultrasound electric machine rotating speed is lower.Outside this frequency range, sine wave freuqency is too high and too low, the vibrational energy of ultrasonic motor stator all can not pass to rotor, cause ultrasound electric machine rotor can not normal rotation, the ultrasound electric machine rotary speed working scope that therefore sine wave freuqency adjustable extent is corresponding only has 10 revs/min ~ 150 revs/min (60 degree/second ~ 900 degree/second).Because current control method limits ultrasound electric machine speed adjustable range, make it substantially can not run on below rotating speed 60 degree/second or the non-constant of rotating speed control effects, seriously constrain application and the scope of ultrasound electric machine.
In addition, the method that traditional ultrasonic motor control method all adopts continuous sine wave to encourage, ultrasonic motor stator is in continuous high frequency vibrational state and for a long time by phase mutual friction between friction material with rotor, cause ultrasound electric machine to generate heat 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, there is provided a kind of ultrasound electric machine ultralow method for controlling number of revolution, ultrasound electric machine can be controlled and run on ultralow rotating speed, and there is good rotating speed control performance and precision, solve the problem that existing control method restriction ultrasound electric machine speed adjustable range is little.
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 interval pumping signal, and as controlling the ultrasound electric machine pumping signal of ultrasound electric machine rotating speed, described interval pumping signal is periodic signal, and in each cycle, front signal is sine wave exciting signal, and rear segment signal is zero pumping signal; Sine wave exciting signal adopts exciting signal frequency and pumping signal number as controling parameters, and zero pumping signal adopts actuation duration interval as controling parameters, and the described actuation duration is spaced apart duration of zero pumping signal;
(2) adopt interval pumping signal to control ultrasound electric machine to rotate, record the transformational relation between three controling parameters in ultrasound electric machine rotating speed and interval pumping signal, form Parameter Switch mapping table;
(3) receiving rotary speed instruction, and by consulting Parameter Switch mapping table, obtaining three controling parameters in the interval pumping signal corresponding with this rotary speed instruction, as the front parameter of correction;
(4) ask for the speed discrepancy between the ultrasound electric machine tach signal of Real-Time Monitoring and rotary speed instruction, after speed discrepancy being multiplied by corrected parameter, obtain exciting signal frequency correction;
(5) exciting signal frequency correction step (4) obtained with revise before exciting signal frequency in parameter do and, as new exciting signal frequency; Using new exciting signal frequency together with the pumping signal number before revising in parameter and actuation duration interval as revised ultrasound electric machine controling parameters, the rotating speed of ultrasound electric machine is controlled.
The method for building up of described Parameter Switch mapping table is: carry out rotating speed segmentation according to the ultrasound electric machine range of speeds, each exciting signal frequency corresponding to 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 the optimal control parameter of all speed stages and correspondence forms Parameter Switch mapping table.
The computational methods of corrected parameter are in described step (4): by the difference of the difference of each self-corresponding exciting signal frequency of adjacent two speed stage divided by the rotating speed of correspondence, and by the unit of result by spending/second is converted to hertz.
Described rotating speed segmentation method is: rotating speed more than 1 degree/second is divided into a speed stage according to every 1 degree/second, and the rotating speed below 1 degree/second is divided into a speed stage according to every 0.005 degree/second.
The present invention's advantage is compared with prior art:
1. the present invention is by setting up interval pumping signal, propose exciting signal frequency, pumping signal number, three, actuation duration interval controling parameters, by arranging actuation duration spacing parameter, microcosmic make ultrasound electric machine constantly loiter, macroscopically can effectively reduce ultrasound electric machine minimum operating speed, overcome the restriction of traditional control method to ultrasound electric machine minimum operating speed, realize the ultralow rotating speed of ultrasound electric machine and control.
2. the present invention is according to speed error, can Correction and Control parameter in real time, makes ultrasound electric machine have good rotating speed control performance and precision, improves the antijamming capability of ultrasound electric machine control system.
3. the present invention adopts interruption control strategy, reduces ultrasound electric machine power consumption, effectively improves the operating efficiency of ultrasound electric machine, and then reduces ultrasound electric machine caloric value, solves ultrasound electric machine and to work long hours the heating problem caused.
Accompanying drawing explanation
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 is rotary speed measure curve when adopting ultrasound electric machine of the present invention to run on 5 degree/second.
Embodiment
The present invention adopts discontinuous energisation mode, introduce interval pumping signal concept, this signal comprises exciting signal frequency, pumping signal number and three, actuation duration interval controling parameters, the high-frequency and high-voltage that each pumping signal comprises several cycles is sinusoidal wave, the piezoelectric ceramic piece passing into ultrasonic motor stator makes electric machine rotation, the motor stalling when encouraging stopping, therefore a pumping signal can control ultrasound electric machine and rotate a low-angle, is referred to as step angle.According to the operation principle of ultrasound electric machine, in pumping signal, sine wave freuqency is lower, sine wave period number is more, and step angle is larger.Pumping signal can control electric machine rotation step angle each time, microcosmic controls ultrasound electric machine and rotates in a stepwise manner, macroscopically, can realize the ultralow rotating speed of ultrasound electric machine control by adjustment 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 controlling ultrasound electric machine, realize the ultralow rotating speed of ultrasound electric machine to control, by adjusting three parameters: exciting signal frequency, pumping signal number and actuation duration interval regulate motor speed, wherein exciting signal frequency is lower, pumping signal number is more, actuation duration interval is less, then motor speed is higher.
Ultrasound electric machine is when rotating, and impact so that the fluctuation of speed that may be subject to load disturbance are comparatively large, in order to improve the ultralow rotating speed control performance of ultrasound electric machine, invention introduces parameters revision table.Parameters revision table revises this controling parameters of exciting signal frequency in real time according to speed error, form closed loop feedback to control, when the motor speed detection signal received and rotary speed instruction have error, carry out correction-compensation by parameters revision table to pumping signal, control motor speed reaches the rotating speed required by rotary speed instruction.
As shown in Figure 1 and Figure 2, set up interval pumping signal, and as the final ultrasound electric machine pumping signal controlling ultrasound electric machine rotating speed, described interval pumping signal comprises working signal and stop signal two parts; Working signal is the sine wave signal of ultrasound electric machine when normally working, comprising exciting signal frequency and pumping signal number two controling parameters, stop signal is the signal of ultrasound electric machine when quitting work, the time that wherein stop signal continues is defined as actuation duration interval, as the controling parameters of stop signal; Set up Parameter Switch mapping table afterwards, the information for rotary speed instruction input being come in is converted to three controling parameters of above-mentioned interval pumping signal; Receiving rotary speed instruction, and by consulting Parameter Switch mapping table, obtaining three controling parameters in the interval pumping signal corresponding with this rotary speed instruction, as the front parameter of correction; Subsequently by the error of rotary speed detecting signal and rotary speed instruction, i.e. speed error, obtain exciting signal frequency correction after being multiplied by corrected parameter again, the exciting signal frequency correction obtained with revise before exciting signal frequency parameter in parameter do and, as new exciting signal frequency; Using new exciting signal frequency together with the pumping signal number before revising in parameter and actuation duration interval as revised ultrasound electric machine controling parameters, the rotating speed of ultrasound electric machine is controlled.
The method specifically setting up conversion mapping table is: the scope according to ultrasound electric machine rotary speed instruction carries out rotating speed segmentation, and three controling parameters of the corresponding ultrasound electric machine described in a group of each speed stage, the parameter that all speed stages are corresponding forms Parameter Switch mapping table.
The segmentation method of Parameter Switch mapping table is: rotating speed more than 1 degree/second is divided into a speed stage according to every 1 degree/second, and the rotating speed below 1 degree/second is divided into a speed stage according to every 0.005 degree/second.Each speed stage pre-sets one group of ultrasound electric machine controling parameters, 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 should the controling parameters of speed stage, and this exciting signal frequency corresponding to 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, meet ultrasound electric machine rotating speed control performance under this rotating speed optimum.
The computational methods of corrected parameter are: by the difference of the difference of each self-corresponding exciting signal frequency of adjacent two speed stage divided by the rotating speed of correspondence, and result is converted to hertz by unit degree/second.
Embodiment
The application process of this method is described with an object lesson below.As shown in Figure 1, when rotary speed instruction is input as 5 degree/second, the rotating speed piecewise interval that Parameter Mapping table judges residing for rotary speed instruction is the speed stage of 5 ~ 6 degree/second, parameter when three controling parameters that then now this speed stage is corresponding are 5 degree/second, be respectively: exciting signal frequency is 41.2KHz, pumping signal number is 9, and the actuation duration is spaced apart 9.7ms.These three parameters debug by real system the optimized parameter for this speed stage drawn.When ultrasound electric machine actual motion, due to disturbing factors such as external loadings, rotating speed is not 5 degree stable/second, does difference by parameters revision table reception rotary speed detecting signal and rotary speed instruction signal, obtain speed error, revise exciting signal frequency in real time according to this error.When external loading increases suddenly, motor speed is corresponding is reduced to 4.95 degree/second, and speed error is 0.05 degree/second.Exciting signal frequency corresponding to speed stage 6 ~ 7 degree/second is 40.35KHz, so time conversion coefficient corresponding to parameters revision table be (40.35-41.2)/(6-5)=-0.85, speed error is multiplied by conversion coefficient, obtains-0.0425KHz, is corrected parameter.Corrected parameter is added with parameter before correction, and obtaining final controling parameters is: exciting signal frequency is 41.157KHz, and pumping signal number is 9, and the actuation duration is spaced apart 9.7ms, and ultrasound electric machine pumping signal as shown in Figure 2.This example adopts Nanjing Wan Ma company ultrasound electric machine, model is 60SES3, the speed curves when rotary speed instruction of actual measurement is 5 degree/second 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 controlling ultrasound electric machine 5 degree/second when running, its actual measurement fluctuation of speed amount controls 2%, shows that applying ultrasound electric machine Ultra-Low Speed control method of the present invention can realize good rotating speed control effects.
Claims (3)
1. the ultralow method for controlling number of revolution of ultrasound electric machine, is characterized in that step is as follows:
(1) set up interval pumping signal, and as controlling the ultrasound electric machine pumping signal of ultrasound electric machine rotating speed, described interval pumping signal is periodic signal, and in each cycle, front signal is sine wave exciting signal, and rear segment signal is zero pumping signal; Sine wave exciting signal adopts exciting signal frequency and pumping signal number as controling parameters, and zero pumping signal adopts actuation duration interval as controling parameters, and the described actuation duration is spaced apart duration of zero pumping signal; Described ultrasound electric machine rotating speed is below rotating speed 60 degree/second;
(2) adopt interval pumping signal to control ultrasound electric machine to rotate, record the transformational relation between three controling parameters in ultrasound electric machine rotating speed and interval pumping signal, form Parameter Switch mapping table; The method for building up of described Parameter Switch mapping table is: carry out rotating speed segmentation according to the ultrasound electric machine range of speeds, each exciting signal frequency corresponding to 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 the optimal control parameter of all speed stages and correspondence forms Parameter Switch mapping table;
(3) receiving rotary speed instruction, and by consulting Parameter Switch mapping table, obtaining three controling parameters in the interval pumping signal corresponding with this rotary speed instruction, as the front parameter of correction;
(4) ask for the speed discrepancy between the ultrasound electric machine tach signal of Real-Time Monitoring and rotary speed instruction, after speed discrepancy being multiplied by corrected parameter, obtain exciting signal frequency correction;
(5) exciting signal frequency correction step (4) obtained with revise before exciting signal frequency in parameter do and, as new exciting signal frequency; Using new exciting signal frequency together with the pumping signal number before revising in parameter and actuation duration interval as revised ultrasound electric machine controling parameters, 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 computational methods of corrected parameter are in described step (4): by the difference of the difference of each self-corresponding exciting signal frequency of adjacent two speed stage divided by the rotating speed of correspondence, and by the unit of result by spending/second is converted to hertz.
3. the ultralow method for controlling number of revolution of a kind of ultrasound electric machine according to claim 1, it is characterized in that: described rotating speed segmentation method is: rotating speed more than 1 degree/second is divided into a speed stage according to every 1 degree/second, the rotating speed below 1 degree/second is divided into a speed stage according to every 0.005 degree/second.
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| 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 |
| CN105610346B (en) * | 2016-03-09 | 2018-02-13 | 西安创联超声技术有限责任公司 | Supersonic motor rotating speed demarcates control method |
| CN106655882B (en) * | 2017-03-16 | 2018-07-17 | 闽江学院 | A kind of supersonic motor servo-control system hysteresis control method |
| CN110096902B (en) * | 2019-03-15 | 2021-04-06 | 杭州钱袋数字科技有限公司 | Voiceprint encryption device and method |
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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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| 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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