CN103107735B - Amplitude-and-phase control method of space phase-adjusting traveling-wave ultrasonic motor - Google Patents
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Abstract
本发明公开了空间调相环形行波超声波电机的幅相控制方法，采用的电机压电陶瓷分为A区和B区压电陶瓷，压电陶瓷每个极化分区的宽度为四分之一行波波长，极化方向顺时针依次按“++－－”排列，A区和B区压电陶瓷空间相差四分之一行波波长。A区和B区压电陶瓷各施加两个电源，共四个电源。同一区的两个电源具有相同的时间相位，不同的电压幅值，不同区的电源时间相位相差π/2，同一区彼此相距二分之一行波波长的压电陶瓷极化分区上的电压幅值相同。利用电压幅值，同时影响空间调相环形行波超声波电机的空间移相角和行波幅值两个基础控制量，按一定规律将这两个基础控制量的控制特性按一定的形式组合起来，可以形成各种新的控制特性。
The invention discloses a method for controlling amplitude and phase of a space phase-modulated annular traveling-wave ultrasonic motor. The piezoelectric ceramics used in the motor are divided into A-zone piezoelectric ceramics and B-zone piezoelectric ceramics, and the width of each polarization partition of the piezoelectric ceramics is 1/4. Traveling wave wavelength, the polarization direction is arranged clockwise according to "++--", the space difference between the piezoelectric ceramics in the A area and the B area is a quarter of the traveling wave wavelength. Two power supplies are applied to the piezoelectric ceramics in the A region and the B region respectively, a total of four power supplies. The two power supplies in the same area have the same time phase, different voltage amplitudes, the time phase difference of the power supplies in different areas is π/2, and the voltage on the piezoelectric ceramic polarization partition of the same area is 1/2 traveling wave wavelength same magnitude. Use the voltage amplitude to simultaneously affect the two basic control quantities of the spatial phase shift angle and the traveling wave amplitude of the space phase-modulated annular traveling wave ultrasonic motor, and combine the control characteristics of these two basic control quantities in a certain form according to certain rules , can form various new control characteristics.
Description
技术领域technical field
本发明涉及超声波电机控制领域，特别是一种空间调相环形行波超声波电机的幅相控制方法。The invention relates to the field of ultrasonic motor control, in particular to a method for controlling the amplitude and phase of a space phase-modulated annular traveling wave ultrasonic motor.
背景技术Background technique
环形行波超声波电机是目前使用比较多的一种超声波电机，其控制的实质在于改变行波的波幅、速度和质点的椭圆轨迹，对应的三个基础控制量是电压幅值、频率和时间相位差。三个基础控制量对应的控制特性各不相同，各有优缺点，常用的控制方案是将电压、频率、相位三种控制方式结合起来，合适的做法是，在利用电压和频率实现电机本体控制的基础上，利用相位实现伺服输出控制。但是由于其对应不同量纲的控制量，因此在同一时间点同时施加三种控制手段是困难的，故三种或多种控制特性组合很难实现。The ring traveling wave ultrasonic motor is a kind of ultrasonic motor that is widely used at present. The essence of its control is to change the amplitude, speed and particle ellipse trajectory of the traveling wave. The corresponding three basic control quantities are voltage amplitude, frequency and time phase. Difference. The control characteristics corresponding to the three basic control quantities are different, and each has its own advantages and disadvantages. The commonly used control scheme is to combine the three control methods of voltage, frequency and phase. On the basis of , the phase is used to realize the servo output control. However, because it corresponds to control quantities of different dimensions, it is difficult to apply three control methods at the same time point, so it is difficult to realize the combination of three or more control characteristics.
发明内容Contents of the invention
本发明的目的在于解决上述问题，提供可以实现空间幅相控制的环形行波超声波电机控制方案。The purpose of the present invention is to solve the above problems, and provide a control scheme for an annular traveling wave ultrasonic motor that can realize spatial amplitude and phase control.
本发明采用以下技术方案：The present invention adopts following technical scheme:
一种空间调相环形行波超声波电机的幅相控制方法，超声波电机压电陶瓷包括A区压电陶瓷和B区压电陶瓷，A区压电陶瓷和B区压电陶瓷空间相差四分之一行波波长，A区压电陶瓷和B区压电陶瓷采用四分之一行波波长的压电片极化分区，并且沿顺时针方向，各区的压电陶瓷极化分区的极化方向均按“++－－”依次排列；所述压电陶瓷采用电源一、电源二、电源三、电源四激励，电源一和电源二按顺时针方向间隔作用于A区压电陶瓷的各极化分区，电源三和电源四按顺时针方向间隔作用于B区压电陶瓷的各极化分区，电源一和电源二具有相同时间相位，电源三和电源四具有相同时间相位，电源三和电源四的时间相位与电源一和电源二相差π/2,电源一和电源四具有相同的电压幅值a，电源二和电源三具有相同的电压幅值b，电压幅值b为控制量，调节范围为[-1,1]，电压幅值a为关联控制量按函数关系跟随电压幅值b变化。A method for controlling the amplitude and phase of a space phase-modulated annular traveling-wave ultrasonic motor. The piezoelectric ceramics of the ultrasonic motor include piezoelectric ceramics in area A and piezoelectric ceramics in area B, and the space difference between the piezoelectric ceramics in area A and the piezoelectric ceramics in area B is 1/4 One-line wave wavelength, piezoelectric ceramics in zone A and piezoelectric ceramics in zone B adopt the piezoelectric sheet polarization division of a quarter of the traveling wave wavelength, and along the clockwise direction, the polarization direction of the piezoelectric ceramic polarization division in each zone They are all arranged in sequence according to "++--"; the piezoelectric ceramics are excited by power supply 1, power supply 2, power supply 3, and power supply 4, and power supply 1 and power supply 2 act on each pole of piezoelectric ceramics in area A in a clockwise direction. Power supply 3 and power supply 4 act on the polarization partitions of piezoelectric ceramics in area B at intervals clockwise, power supply 1 and power supply 2 have the same time phase, power supply 3 and power supply 4 have the same time phase, power supply 3 and power supply The time phase of four is π/2 different from power supply 1 and power supply 2, power supply 1 and power supply 4 have the same voltage amplitude a, power supply 2 and power supply 3 have the same voltage amplitude b, and voltage amplitude b is the control value, adjust The range is [-1,1], the voltage amplitude a is the associated control quantity and changes with the voltage amplitude b according to the functional relationship.
进一步地，电压幅值a和电压幅值b满足am+|b|m＝1(m＞0,m≠2)，实现am+|b|m＝1(m＞0,m≠2)的幅相控制。Further, the voltage amplitude a and the voltage amplitude b satisfy a m +|b| m =1 (m>0, m≠2), realizing a m +|b| m =1 (m>0, m≠2 ) amplitude and phase control.
进一步地，电压幅值a满足a＝1，实现a＝1幅相控制。在控制量电压幅值b的调节范围内，随着|b|的增加，电机转速速率是单调上升的。Further, the voltage amplitude a satisfies a=1, realizing a=1 amplitude and phase control. Within the adjustment range of the control voltage amplitude b, as |b| increases, the motor speed increases monotonously.
进一步地，当电压幅值a保持正值，通过电压幅值b在正负间的切换改变电机的转向。Further, when the voltage amplitude a maintains a positive value, the rotation direction of the motor is changed by switching the voltage amplitude b between positive and negative.
本发明的原理：空间调相环形行波超声波电机以电压幅值b为控制量，电压幅值a为关联控制量，其行波幅值为空间移相角为当满足的关系时，调节b/a时可以实现空间移相控制，当满足a＝b时可以实现幅值控制。其控制量和关联控制量具有相同量纲，因此可以方便的设计控制量和关联控制量的关系，同时改变和b/a，以同时改变行波幅值和空间移相角，从而产生新型的控制特性。The principle of the present invention: the spatial phase modulation annular traveling wave ultrasonic motor takes the voltage amplitude b as the control quantity, the voltage amplitude a as the associated control quantity, and its traveling wave amplitude is The spatial phase shift angle is when satisfied When the relationship between the b/a is adjusted, the space phase shift control can be realized, and the amplitude control can be realized when a=b is satisfied. The control quantity and the associated control quantity have the same dimension, so the relationship between the control quantity and the associated control quantity can be conveniently designed, and at the same time change And b/a, to change the traveling wave amplitude and space phase shift angle at the same time, so as to produce a new type of control characteristics.
本发明的有益效果：Beneficial effects of the present invention:
1．利用电压幅值，同时影响空间调相环形行波超声波电机的空间移相角和行波1. Simultaneously affect the spatial phase shift angle and the traveling wave of the spatial phase-modulated annular traveling wave ultrasonic motor by using the voltage amplitude
幅值两个基础控制量。如果按一定规律将这两个基础控制量的控制特性按一定的形Amplitude is two basic control quantities. If the control characteristics of these two basic control quantities are combined in a certain form according to a certain law,
式组合起来，可以形成各种新的控制特性；A variety of new control features can be formed by combining them together;
2．控制量电压幅值b和关联控制量电压幅值a按am+|b|m＝1(m＞0,m≠2)规律进行匹配时，可以形成一系列的幅相控制方案，在最小转速到最大转速间，转速相对于控制量电压幅值b的线性度随着m的增加而增加；2. When the voltage amplitude b of the control variable and the voltage amplitude a of the associated control variable are matched according to the law of a m +|b| From the speed to the maximum speed, the linearity of the speed relative to the voltage amplitude b of the control variable increases with the increase of m;
3．关联控制量电压幅值a始终为1是am+|b|m＝1(m＞0,m≠2)幅相控制方案的一种极限方案，此时转速相对于控制量电压幅值b的线性度最佳，且计算工作量最小。3. The voltage amplitude a of the associated control variable is always 1, which is a limit scheme of the amplitude-phase control scheme of a m + |b| m = 1 (m>0, m≠2). The linearity of is the best, and the calculation workload is the least.
附图说明Description of drawings
附图1是本发明的电机结构示意图。Accompanying drawing 1 is the motor structure schematic diagram of the present invention.
附图2是本发明的压电陶瓷极化分区方案和电源连接方案示意图。Accompanying drawing 2 is the schematic diagram of the polarization partition scheme and the power supply connection scheme of the piezoelectric ceramics of the present invention.
具体实施方式Detailed ways
下面结合附图对本发明做进一步地说明。The present invention will be further described below in conjunction with the accompanying drawings.
如图1所示，该电机包括端盖1，轴承一2，轴承二3，转轴4，转子5，定子6，底座7，压电陶瓷。除压电陶瓷的极化分区方式外，电机的其它结构，材料以及装配方案与传统超声波电机完全一致。电机的压电陶瓷分为A区压电陶瓷8和B区压电陶瓷9。如图2所示，电机工作时，在定子圆周上分布有九个波长的空间行波，如每个行波波长计为空间相位2π，整个圆周可计为空间相位18π。按顺时针方向，定义A区压电陶瓷8的起始位置为起始位置，则8π处为A区压电陶瓷8的结束位置，9.5π处为B区压电陶瓷9的起始位置，17.5π处为B区压电陶瓷9的结束位置。A区压电陶瓷8和B区压电陶瓷9内部分别采用了细分的极化分区方案，每个极化分区的空间相位长度均是π/2，也即四分之一行波波长，是传统行波超声波电机的一半。A区压电陶瓷8和B区压电陶瓷9内部的极化分区沿顺时针方向均是按“++－－”方向进行极化的。“+”表示正向极化，“－”表示反向极化。As shown in FIG. 1 , the motor includes an end cover 1 , a bearing 1 2 , a bearing 2 3 , a rotating shaft 4 , a rotor 5 , a stator 6 , a base 7 , and piezoelectric ceramics. Except for the polarization division of piezoelectric ceramics, other structures, materials and assembly schemes of the motor are completely consistent with traditional ultrasonic motors. The piezoelectric ceramics of the motor are divided into A-zone piezoelectric ceramics 8 and B-zone piezoelectric ceramics 9 . As shown in Figure 2, when the motor is working, there are nine wavelengths of spatial traveling waves distributed on the circumference of the stator. If each traveling wave wavelength is counted as a spatial phase of 2π, the entire circumference can be counted as a spatial phase of 18π. According to the clockwise direction, define the starting position of the piezoelectric ceramic 8 in the A zone as the starting position, then 8π is the end position of the piezoelectric ceramic 8 in the A zone, and 9.5π is the starting position of the piezoelectric ceramic 9 in the B zone, 17.5π is the end position of the piezoelectric ceramic 9 in the B area. The piezoelectric ceramics 8 in the area A and the piezoelectric ceramics 9 in the B area respectively adopt a subdivided polarization partition scheme, and the spatial phase length of each polarization partition is π/2, which is a quarter of the traveling wave wavelength. It is half of the traditional traveling wave ultrasonic motor. The polarization divisions inside the piezoelectric ceramics 8 in the A region and the piezoelectric ceramics 9 in the B region are all polarized in the direction of "++--" along the clockwise direction. "+" indicates forward polarization, and "-" indicates reverse polarization.
空间调相环形行波超声波电机必须配合新的电源方案才能实现空间移相控制。新的电源方案采用了四个电源：电源一10，电源二11，电源三12，电源四13。A区压电陶瓷8按顺时针方向，共分为十六个压电陶瓷极化分区，其中A区内第一，三，五，七，九，十一，十三，十五共计八个压电陶瓷极化分区与电源一10相连，第二，四，六，八，十，十二，十四，十六共计八个压电陶瓷极化分区与电源二11相连；B区压电陶瓷9按顺时针方向，共分为十六个压电陶瓷极化分区，其中B区内第一，三，五，七，九，十一，十三，十五共计八个压电陶瓷极化分区与电源三12相连，第二，四，六，八，十，十二，十四，十六共计八个压电陶瓷极化分区与电源四13相连。电源一10和电源二11具有相同的时间相位；电源三12和电源四13具有相同的时间相位，且与电源一10和电源二11在时间相位上相差π/2。电源一10和电源四13具有相同的电压幅值a，电源二11和电源三12具有相同的电压幅值b，且两个电压幅值可调。The space-phase-modulated annular traveling-wave ultrasonic motor must cooperate with a new power supply scheme to realize space phase-shift control. The new power supply scheme uses four power supplies: power supply one 10, power supply two 11, power supply three 12, and power supply four 13. The piezoelectric ceramics 8 in area A are divided into sixteen piezoelectric ceramic polarization zones in a clockwise direction, of which the first, third, fifth, seventh, ninth, eleventh, thirteenth, and fifteenth in area A are eight in total Piezoelectric ceramic polarization partitions are connected to power supply 110, and the second, fourth, sixth, eighth, ten, twelve, fourteen, sixteen, a total of eight piezoelectric ceramic polarization partitions are connected to power supply two 11; Ceramic 9 is divided into sixteen piezoelectric ceramic polarization zones in a clockwise direction, of which the first, third, fifth, seventh, ninth, eleventh, thirteenth and fifteenth in zone B have a total of eight piezoelectric ceramic poles The polarization divisions are connected to the power supply three 12, and the second, fourth, sixth, eighth, ten, twelve, fourteen, and sixteen piezoelectric ceramic polarization divisions are connected to the power supply four 13 in total. The first power source 10 and the second power source 11 have the same time phase; the third power source 12 and the fourth power source 13 have the same time phase, and differ from the first power source 10 and the second power source 11 in time phase by π/2. The first power supply 10 and the fourth power supply 13 have the same voltage amplitude a, the second power supply 11 and the third power supply 12 have the same voltage amplitude b, and the two voltage amplitudes are adjustable.
空间调相环形行波超声波电机具有两个调节量，这两个调节量为电源一10和电源四13的电压幅值a，电源二11和电源三12的电压幅值b，它们都是电压量，具有相同量纲，当它们大小关系发生非同比例变化时，它们的比值关系也发生改变，此时电机的行波幅值和空间移相角均相应发生变化，这使幅值控制和空间移相控制同时进行成为可能。The space-phase-modulated annular traveling-wave ultrasonic motor has two adjustment quantities, the two adjustment quantities are the voltage amplitude a of power supply 10 and power supply 4 13, and the voltage amplitude b of power supply 2 11 and power supply 3 12, which are voltage Quantities, with the same dimension, when their size relationship changes in non-proportion, their ratio relationship also changes, and at this time the traveling wave amplitude and spatial phase shift angle of the motor change accordingly, which makes the amplitude control and Simultaneous spatial phase shift control becomes possible.
为了控制的方便，将两个调节量中的一个电压幅值b设定为控制量，另一个电压幅值a设定为与控制量构成一定函数关系的关联控制量，不同的函数关系可以形成不同的幅相控制特性，设计合理和简单的函数关系，可以方便地实现有别于传统幅值控制和传统移相控制的新型幅相控制特性。For the convenience of control, one voltage amplitude b of the two adjustment quantities is set as the control quantity, and the other voltage amplitude a is set as the associated control quantity that forms a certain functional relationship with the control quantity. Different functional relationships can be formed Different amplitude and phase control characteristics, reasonable design and simple functional relationship can easily realize new amplitude and phase control characteristics different from traditional amplitude control and traditional phase shift control.
理论上来说，无穷多个a，b组合关系可以形成无穷多个幅相控制特性，但是注意到幅值是超声波电机的本体控制量，其过大过小对电机控制都是不利的，因此在幅相控制中需对空间调相环形行波超声波电机的等效电压幅值进行限定，同时空间移相角必须至少覆盖这一区间以充分发挥相位调节在幅相控制中的作用。Theoretically speaking, infinitely many combinations of a and b can form infinitely many amplitude-phase control characteristics, but note that the amplitude is the body control quantity of the ultrasonic motor, and its too large or too small is not good for motor control, so in In amplitude and phase control, it is necessary to limit the equivalent voltage amplitude of the spatial phase-modulated annular traveling wave ultrasonic motor, and the spatial phase shift angle must at least cover This interval is to give full play to the role of phase adjustment in amplitude and phase control.
实施方案一Implementation plan one
为了控制电机定子中的波幅，设计控制量电压幅值b和关联控制量电压幅值a如下：In order to control the amplitude in the stator of the motor, the voltage amplitude b of the control variable and the associated voltage amplitude a of the control variable are designed as follows:
am+|b|m＝1a m +|b| m ＝1
其中a≥0，b的调节范围为[-1,1]，两者均是标么值，m＞0,m≠2。如果m＝2，上述方案就是一个纯空间移相控制方案。Among them, a≥0, the adjustment range of b is [-1,1], both are per unit values, m>0, m≠2. If m=2, the above scheme is a pure spatial phase shift control scheme.
理论分析和试验证明，在有效空间移相角范围内，由于控制量电压幅值b是通过空间移相角和等效电压幅值去控制转速的。因此，随着m的增加，在反向最大转速和正向最大转速间，由于空间移相角和等效电压幅值的共同作用，电机转速相对于控制量的变化更为线性。但随着m得增加，在线性度更加优异的同时，控制量和关联控制量之间的函数关系亦更为复杂，计算量更大。Theoretical analysis and experiments prove that in the effective space phase shift angle In the range, since the voltage amplitude b of the control variable is obtained through the space phase shift angle and the equivalent voltage amplitude to control the speed. Therefore, with the increase of m, between the reverse maximum speed and the forward maximum speed, due to the combined effect of the space phase shift angle and the equivalent voltage amplitude, the change of the motor speed relative to the control variable is more linear. However, with the increase of m, while the linearity is more excellent, the functional relationship between the control quantity and the associated control quantity is also more complicated, and the calculation amount is larger.
实施方案二Implementation plan two
在前述幅相控制方案中，m越大，控制的线性特性的线性度越好，当m＝∞时，其线性效果最佳。观察到当m＝∞时，控制量电压幅值b在(-1,1)内，关联控制量电压幅值a始终为1，因此设计a＝1幅相控制方案，即关联控制量电压幅值a维持为恒值1，控制量电压幅值b在[-1,1]内调节。在此方案中空间移相角变化范围为幅值变化范围为满足前述幅相控制的基本原则，且无额外计算工作量。In the aforementioned amplitude and phase control scheme, the larger m is, the better the linearity of the control linear characteristic is, and when m=∞, the linear effect is the best. It is observed that when m=∞, the voltage amplitude b of the control variable is within (-1,1), and the voltage amplitude a of the associated control variable is always 1, so a=1 amplitude-phase control scheme is designed, that is, the voltage amplitude of the associated control variable The value a maintains a constant value of 1, and the control voltage amplitude b is adjusted within [-1,1]. In this scheme, the variation range of the spatial phase shift angle is The range of amplitude variation is Satisfy the basic principles of the aforementioned amplitude and phase control, and there is no additional calculation workload.
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| CN1848654A (en) * | 2006-05-17 | 2006-10-18 | 合肥工业大学 | Wavelet differential control method for piezoelectric ceramic ultrasonic motor driven by dual vibration modes |
| 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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| CN1848654A (en) * | 2006-05-17 | 2006-10-18 | 合肥工业大学 | Wavelet differential control method for piezoelectric ceramic ultrasonic motor driven by dual vibration modes |
| 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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