CN103107735B - Amplitude-and-phase control method of space phase-adjusting traveling-wave ultrasonic motor - Google Patents
Amplitude-and-phase control method of space phase-adjusting traveling-wave ultrasonic motor Download PDFInfo
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- CN103107735B CN103107735B CN201310036895.XA CN201310036895A CN103107735B CN 103107735 B CN103107735 B CN 103107735B CN 201310036895 A CN201310036895 A CN 201310036895A CN 103107735 B CN103107735 B CN 103107735B
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Abstract
The invention discloses an amplitude-and-phase control method of a space phase-adjusting traveling-wave ultrasonic motor. Motor piezoelectric ceramics comprise an A region piezoelectric ceramic and a B region piezoelectric ceramic, wherein the width of each polarization region of the piezoelectric ceramics is one quarter of the wavelength of a traveling wave, polarization directions are sequentially and clockwise distributed in a positive electrode-positive electrode-negative electrode-negative electrode mode. A region piezoelectric ceramic space and B region piezoelectric ceramic space differ one quarter of the wavelength of the traveling wave, and are respectively applied with two power sources. Four power sources are totally provided. Two power sources at the same region have the same time phase and different voltage amplitudes. The time phase difference of different power sources are phi/2. Every piezoelectric ceramic polarization regions with the mutual distance equaling to one half of the wavelength of the traveling wave have the same voltage amplitude. By utilizing voltage amplitudes, and meanwhile influencing two basis controlled variables, namely space phase-shifting angle and traveling wave amplitude of the space phase-adjusting traveling-wave ultrasonic motor, and combining control characteristics of the two basis controlled variables in a certain form according to a certain rule, all kinds of new control characteristics can be formed.
Description
Technical field
The present invention relates to supersonic motor control field, particularly a kind of width phase control method of space phase modulation annular Traveling Ultrasonic Motor.
Background technology
Annular traveling wave supersonic motor uses many a kind of supersonic motors at present, and essence of its control is the elliptical orbit of the wave amplitude of change row ripple, speed and particle, and three corresponding base control amounts are voltage magnitude, frequency and time phase difference.Control characteristic corresponding to three base control amounts is different, respectively there are pluses and minuses, conventional control program is combined voltage, frequency, phase place three kinds of control modes, suitable way is, utilizing voltage and frequency to realize on the basis of motor body control, utilizing phase place to realize servo and export control.But due to the controlled quentity controlled variable of its corresponding different dimension, it is difficult for therefore putting at one time and applying three kinds of control devices simultaneously, therefore three kinds or the very difficult realization of various control property combination.
Summary of the invention
The object of the invention is to solve the problem, providing can an implementation space facies-controlled annular traveling wave supersonic motor control program.
The present invention is by the following technical solutions:
A kind of width phase control method of space phase modulation annular Traveling Ultrasonic Motor, supersonic motor piezoelectric ceramic comprises A district piezoelectric ceramic and B district piezoelectric ceramic, it is long that A district piezoelectric ceramic and piezoelectric ceramic space, B district differ four/a line wave-wave, the piezoelectric patches polarization subregion that A district piezoelectric ceramic and B district piezoelectric ceramic adopt four/a line wave-wave long, and along clockwise direction, the polarised direction of the piezoelectric ceramic polarization subregion in each district is all arranged in order by " ++--", described piezoelectric ceramic adopts power supply one, power supply two, power supply three, power supply four encourages, power supply one and power supply two in the direction of the clock interval action in each polarization subregion of A district piezoelectric ceramic, power supply three and power supply four in the direction of the clock interval action in each polarization subregion of B district piezoelectric ceramic, power supply one and power supply two have same time phase place, power supply three and power supply four have same time phase place, the time phase of power supply three and power supply four differs pi/2 with power supply one and power supply two, power supply one and power supply four have identical voltage magnitude a, power supply two and power supply three have identical voltage magnitude b, voltage magnitude b is controlled quentity controlled variable, adjustable range is [-1, 1], voltage magnitude a follows voltage magnitude b for association controlled quentity controlled variable by functional relation and changes.
Further, voltage magnitude a and voltage magnitude b meets a
m+ | b|
m=1 (m > 0, m ≠ 2), realizes a
m+ | b|
mthe width phase control of=1 (m > 0, m ≠ 2).
Further, voltage magnitude a meets a=1, realizes a=1 width phase control.In the adjustable range of controlled quentity controlled variable voltage magnitude b, along with | the increase of b|, motor speed speed is monotone increasing.
Further, when voltage magnitude a keep on the occasion of, change the turning to of motor by voltage magnitude b the switching of positive and negative.
Principle of the present invention: space phase modulation annular Traveling Ultrasonic Motor is with voltage magnitude b for controlled quentity controlled variable, and voltage magnitude a is association controlled quentity controlled variable, and its row wave amplitude is
spatial Phase-shifting Method angle is
when meeting
relation time, can implementation space phase shifting control when regulating b/a, amplitude can be realized when meeting a=b and control.Its controlled quentity controlled variable with associate controlled quentity controlled variable there is identical dimension, therefore can design con-trol amount and the relation associating controlled quentity controlled variable easily, change simultaneously
and b/a, to change row wave amplitude and spatial Phase-shifting Method angle simultaneously, thus produce novel control characteristic.
Beneficial effect of the present invention:
1. utilize voltage magnitude, affect spatial Phase-shifting Method angle and the row ripple of space phase modulation annular Traveling Ultrasonic Motor simultaneously
Amplitude two base control amounts.If according to certain rules the control characteristic of these two base control amounts is pressed certain shape
Formula combines, and can form various new control characteristic;
2. controlled quentity controlled variable voltage magnitude b with associate controlled quentity controlled variable voltage magnitude a by a
m+ | b|
mwhen=1 (m > 0, m ≠ 2) rule is mated, can form a series of width phase control scheme, between minimum speed to maximum (top) speed, rotating speed increases along with the increase of m relative to the linearity of controlled quentity controlled variable voltage magnitude b;
3. association controlled quentity controlled variable voltage magnitude a is always 1 is a
m+ | b|
ma kind of limit scheme of=1 (m > 0, m ≠ 2) width phase control scheme, now rotating speed is best relative to the linearity of controlled quentity controlled variable voltage magnitude b, and amount of calculation is minimum.
Accompanying drawing explanation
Accompanying drawing 1 is electric machine structure schematic diagram of the present invention.
Accompanying drawing 2 is piezoelectric ceramic of the present invention polarization partition scheme and power supply connection scheme schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described further.
As shown in Figure 1, this motor comprises end cap 1, bearing 1, bearing 23, rotating shaft 4, rotor 5, stator 6, base 7, piezoelectric ceramic.Except the polarization partitioned mode of piezoelectric ceramic, other structure of motor, material and assembling scheme and conventional ultrasonic wave motor completely the same.The piezoelectric ceramic of motor is divided into A district piezoelectric ceramic 8 and B district piezoelectric ceramic 9.As shown in Figure 2, during machine operation, stator circumference is distributed with the spatial row ripple of nine wavelength, count space phase 2 π as each row wave-wave is long, whole circumference can count space phase 18 π.In the direction of the clock, the original position of definition A district piezoelectric ceramic 8 is original position, then 8 π places are the end position of A district piezoelectric ceramic 8, and 9.5 π places are the original position of B district piezoelectric ceramic 9, and 17.5 π places are the end position of B district piezoelectric ceramic 9.A district piezoelectric ceramic 8 and piezoelectric ceramic 9 inside, B district have employed the polarization partition scheme of segmentation respectively, and the space phase length of each polarization subregion is all pi/2s, and also namely four/a line wave-wave is long, is the half of traditional Traveling Ultrasonic Motor.The polarization subregion of A district piezoelectric ceramic 8 and piezoelectric ceramic 9 inside, B district all polarizes by " ++--" direction along clockwise direction."+" represents forward polarization, and "-" represents reverse polarization.
Space phase modulation annular Traveling Ultrasonic Motor must coordinate new power source design ability implementation space phase shifting control.New power source design have employed four power supplys: power supply 1, power supply 2 11, power supply 3 12, power supply 4 13.A district piezoelectric ceramic 8 in the direction of the clock, is divided into 16 piezoelectric ceramic polarization subregions, wherein in A district first, three, five, seven, nine, 11,13,15 amount to eight piezoelectric ceramic polarization subregions is connected with power supply 1, and second, four, six, eight, ten, 12,14,16 amount to eight piezoelectric ceramic polarization subregions is connected with power supply 2 11; B district piezoelectric ceramic 9 in the direction of the clock, is divided into 16 piezoelectric ceramic polarization subregions, wherein in B district first, three, five, seven, nine, 11,13,15 amount to eight piezoelectric ceramic polarization subregions is connected with power supply 3 12, and second, four, six, eight, ten, 12,14,16 amount to eight piezoelectric ceramic polarization subregions is connected with power supply 4 13.Power supply 1 and power supply 2 11 have identical time phase; Power supply 3 12 and power supply 4 13 have identical time phase, and on time phase, differ pi/2 with power supply 1 and power supply 2 11.Power supply 1 and power supply 4 13 have identical voltage magnitude a, and power supply 2 11 and power supply 3 12 have identical voltage magnitude b, and two voltage magnitudes are adjustable.
Space phase modulation annular Traveling Ultrasonic Motor has two regulated quantitys, these two regulated quantitys are the voltage magnitude a of power supply 1 and power supply 4 13, the voltage magnitude b of power supply 2 11 and power supply 3 12, they are all voltages, there is identical dimension, when their magnitude relationship occur non-change in proportion time, their ratio relation also changes, now the row wave amplitude of motor is all corresponding with spatial Phase-shifting Method angle changes, and this makes amplitude control and spatial Phase-shifting Method controls to carry out becoming possibility simultaneously.
In order to the convenience controlled, a voltage magnitude b in two regulated quantitys is set as controlled quentity controlled variable, what another voltage magnitude a was set as forming with controlled quentity controlled variable certain functional relation associates controlled quentity controlled variable, different functional relations can form different width phase control characteristics, reasonable in design and simple functional relation, can realize being different from the novel width phase control characteristic that traditional amplitude controls and tradition phase-shifting controls easily.
In theory, infinite multiple a, b syntagmatic can form infinite multiple width phase control characteristic, but notice that amplitude is the body controlled quentity controlled variable of supersonic motor, its excessive too small be all disadvantageous to Electric Machine Control, therefore need to limit the equivalent voltage amplitude of space phase modulation annular Traveling Ultrasonic Motor in width phase control, spatial Phase-shifting Method angle must at least cover simultaneously
this interval is to give full play to the effect of phase adjusted in width phase control.
Embodiment one
In order to control the wave amplitude in motor stator, design con-trol amount voltage magnitude b is with to associate controlled quentity controlled variable voltage magnitude a as follows:
a
m+|b|
m＝1
Wherein a >=0, the adjustable range of b is [-1,1], and both are all per unit values, m > 0, m ≠ 2.If m=2, such scheme is exactly a pure spatial Phase-shifting Method control program.
Theory analysis and test prove, at useful space phase shifting angle
in scope, because controlled quentity controlled variable voltage magnitude b is by spatial Phase-shifting Method angle and equivalent voltage amplitude
go to control rotating speed.Therefore, along with the increase of m, between reverse maximum (top) speed and forward maximum (top) speed, due to the acting in conjunction of spatial Phase-shifting Method angle and equivalent voltage amplitude, motor speed is more linear relative to the change of controlled quentity controlled variable.But along with m must increase, while the linearity is more excellent, the functional relation between controlled quentity controlled variable and association controlled quentity controlled variable is also more complicated, and amount of calculation is larger.
Embodiment two
In aforementioned width phase control scheme, m is larger, and the linearity of the linear characteristic of control is better, and as m=∞, its linear effects is best.Observe as m=∞, controlled quentity controlled variable voltage magnitude b is in (-1,1), association controlled quentity controlled variable voltage magnitude a is always 1, therefore designs a=1 width phase control scheme, namely associates controlled quentity controlled variable voltage magnitude a and is maintained constant 1, controlled quentity controlled variable voltage magnitude b regulates in [-1,1].In this scheme, phase shifting angle excursion in space is
amplitude excursion is
meet aforementioned facies-controlled basic principle, and without extra computation workload.
Claims (3)
1. the width phase control method of a space phase modulation annular Traveling Ultrasonic Motor, supersonic motor piezoelectric ceramic comprises A district piezoelectric ceramic and B district piezoelectric ceramic, it is long that A district piezoelectric ceramic and piezoelectric ceramic space, B district differ four/a line wave-wave, the piezoelectric patches polarization subregion that A district piezoelectric ceramic and B district piezoelectric ceramic adopt four/a line wave-wave long, and along clockwise direction, the polarised direction of the piezoelectric ceramic polarization subregion in each district is all arranged in order by " ++--", described piezoelectric ceramic adopts power supply one, power supply two, power supply three, power supply four encourages, power supply one and power supply two in the direction of the clock interval action in each polarization subregion of A district piezoelectric ceramic, power supply three and power supply four in the direction of the clock interval action in each polarization subregion of B district piezoelectric ceramic, power supply one and power supply two have same time phase place, power supply three and power supply four have same time phase place, the time phase of power supply three and power supply four differs pi/2 with power supply one and power supply two, power supply one and power supply four have identical voltage magnitude a, power supply two and power supply three have identical voltage magnitude b, it is characterized in that, voltage magnitude b is controlled quentity controlled variable, adjustable range is [-1, 1], voltage magnitude a follows voltage magnitude b for association controlled quentity controlled variable by functional relation and changes,
Voltage magnitude a and voltage magnitude b meets a
m+ | b|
m=1, m > 0, m ≠ 2, a and b is all per unit values, realizes a
m+ | b|
mthe width phase control of=1.
2. the width phase control method of space phase modulation annular Traveling Ultrasonic Motor according to claim 1, it is characterized in that, voltage magnitude a meets a=1, realizes the width phase control of a=1.
3. the width phase control method of space phase modulation according to claim 1 annular Traveling Ultrasonic Motor, is characterized in that, voltage magnitude a keep on the occasion of, change turning to of motor by voltage magnitude b the switching of positive and negative.
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| CN106533255B (en) * | 2016-10-28 | 2018-06-19 | 南京工程学院 | The space phase modulation annular Traveling Ultrasonic Motor and its control method of symmetrical ceramics subregion |
| CN106452172B (en) * | 2016-10-28 | 2019-05-07 | 南京工程学院 | The space phase modulation annular Traveling Ultrasonic Motor and its control method of symmetrical ceramics subregion |
| CN107070301B (en) * | 2016-10-28 | 2019-02-15 | 南京工程学院 | The space phase modulation annular Traveling Ultrasonic Motor and its control method of asymmetric ceramics subregion |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1848654A (en) * | 2006-05-17 | 2006-10-18 | 合肥工业大学 | Double-vibrating mode driving piezoelectric ceramic ultrasound wave electric machine small wave differential controlling method |
| CN101420190A (en) * | 2007-10-26 | 2009-04-29 | 博立码杰通讯(深圳)有限公司 | Ultrasonic motor driving method |
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| AU3548689A (en) * | 1988-05-11 | 1989-11-29 | Debiopharm S.A. | Device for generating an elastic wave which advances along a closed trajectory |
| JP2011030414A (en) * | 2009-07-01 | 2011-02-10 | Hoya Corp | Ultrasonic motor and method of controlling the same |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1848654A (en) * | 2006-05-17 | 2006-10-18 | 合肥工业大学 | Double-vibrating mode driving piezoelectric ceramic ultrasound wave electric machine small wave differential controlling method |
| CN101420190A (en) * | 2007-10-26 | 2009-04-29 | 博立码杰通讯(深圳)有限公司 | Ultrasonic motor driving method |
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