CN103138624B - Control method of three power supplies space travelling wave ultrasonic motor positive-negative transferring phase - Google Patents

Abstract

The invention discloses a control method of three-power supply space travelling wave ultrasonic motor positive-negative transferring phase, wherein a piezoelectric ceramic of the three-power supply traveling wave ultrasonic electric machine includes an A zone and a B zone, the space of the piezoelectric ceramic of the A zone differs by a quarter of travelling wavelength from the space of the piezoelectric ceramic of the B zone, all of the piezoelectric ceramic of each zone adopts piezoelectric plate polarization partition zones with a quarter travelling wavelength, and the polarization partition zones are successively arranged along a clockwise direction according to ''++--''. The voltage amplitudes of the double power supply zones are respectively a and b, the power supply amplitude b is taken as controlled quantity, and another power supply amplitude a is taken as relevant controlled quantity. By changing the positive and negative of c, the positive and negative going motion switchover of the electric machine is controlled. The positive-negative transferring phase control of the three-power supply annulus travelling wave ultrasonic electric machine is simplified by simplifying the relation among the controlled quantity, the relavent controlled quantity and the space transferring phase angle.

Description

Three power source space phase modulation Traveling Ultrasonic Motor rotating phase-shifting control methods

Technical field

The present invention relates to a kind of three power source space phase modulation Traveling Ultrasonic Motor rotating phase-shifting control methods, belong to supersonic motor control field.

Background technology

Annular traveling wave supersonic motor uses many a kind of supersonic motors at present, and the essence of its speeds 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 phase difference.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, utilize phase place to realize servo and export control, therefore phase-difference control is one of important core.

During time phase shifting control, conventional ultrasonic wave motor adopts two power supplys

csinωt

csin(ωt+π/2+α)＝ccos(ωt+α)

Independently standing wave is encouraged in the stator respectively in AB district:

w _A＝crsinnx·sinωt

w _B＝crcosnx·cos(ωt+α)

In stator, synthetic waveform is:

w＝w _A+w _B

＝cr[sin nx·sinωt+cosnx·cos(ωt+α)]

Wherein cr is standing wave transverse vibration amplitude, is per unit value, and r is the coefficient of standing wave amplitude relative to voltage magnitude, and x is locus angle, ω is angle of throw frequency, and n=l/ λ is the wave number along stator circumference, and l is stator girth, λ is elasticity wavelength, and t is the time, and α+pi/2 is time phase shifting angle.In specification, same-sign represents identical implication.

When the power supply actuation duration, phase place mutual deviation value departed from pi/2 gradually, comprise traveling and standing wave inside synthetic waveform in stator, and bias is larger, standing wave is larger, thus changes motor speed.

Spatially the sinusoidal waveform of two same time phase place phase co-wavelengths remains sinusoidal waveform after superposing, and amplitude size and the ratio relation of two initial sinusoids waveforms are depended in the amplitude of synthesis sine shape and locus.The each self-energizing standing wave of each power supply of conventional ultrasonic wave motor is spatially fixing, be formed by stacking by two standing waves with same time phase place and phase co-wavelength if changed by this standing wave, then the change of two standing wave magnitude relationship can cause synthesis standing wave to be subjected to displacement in space.

Utilize said method, the standing wave in independent mobile A district, and two district's excitation power supplies keep original pi/2 constant, then can implementation space phase shift (independent mobile B district standing wave also has effect same).I.e. three power supply Traveling Ultrasonic Motor.

As shown in Figure 1, the piezoelectric ceramic of three power supply Traveling Ultrasonic Motor comprises A district and B district.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 each district piezoelectric ceramic all adopts four/a line wave-wave long, polarization subregion polarised direction is along clockwise direction pressed " ++--" be arranged in order; Described piezoelectric ceramic adopts power supply 1, power supply 2 11, power supply 3 12 to encourage, and power supply 1 and power supply 2 11 in the direction of the clock interval action respectively to polarize subregion in A district piezoelectric ceramic, and power supply 3 12 acts on B district piezoelectric ceramic, and three power supplys can be expressed as:

A district power supply one and power supply two are:

u ₁＝acosωt u ₂＝bcosωt

B district power supply three is:

$u_3=\frac{\sqrt{2}}{2}c\sin \mathrm{\ωt}$

Wherein, a, b, be the voltage magnitude of power supply one, two, three respectively, be per unit value, and meet a ²+ b ²=c ².

Two, the A district each self-exited standing wave of power supply is:

w ₁＝arsin(nx+π/4)cosωt w ₂＝brsin(nx-π/4)cosωt

The synthesis standing wave of these two standing waves is:

w _A＝w ₁+w ₂＝rc sin(nx+θ)cosωt

The standing wave that B district power supply three excites is:

w _B＝rc cos nx sinωt

Wherein in specification, same-sign represents identical implication.

Two districts produce standing wave w _aand w _bat space phase angle mutual deviation it is spatial Phase-shifting Method angle, and corresponding spatial Phase-shifting Method pilot angle is during change, the spatial Phase-shifting Method angle of its correspondence also change.

When three power source space phase modulation supersonic motors carry out spatial Phase-shifting Method control, in order to the convenience controlled, often using power supply amplitude b as controlled quentity controlled variable, c is 1, another power supply amplitude as association controlled quentity controlled variable.When controlling by this principle, when controlled quentity controlled variable b changes in [-1 ,+1], the spatial Phase-shifting Method scope of motor is but do not comprise completely this runs for region-wide rotating phase shift is inadequate.Can determine by look-up table the value associating controlled quentity controlled variable a in theory, meet while, the spatial Phase-shifting Method scope of motor also can cover but there is negative value in association controlled quentity controlled variable a, and the corresponding different a value of same controlled quentity controlled variable b possibility and different spatial Phase-shifting Method angles, its control law is comparatively complicated, application has larger difficulty.

Summary of the invention

Goal of the invention: the present invention proposes a kind of three power source space phase modulation Traveling Ultrasonic Motor rotating phase-shifting control methods, makes controlled quentity controlled variable and the both sides relation unification of spatial Phase-shifting Method angle.

Technical scheme: the technical solution used in the present invention is a kind of three power source space phase modulation Traveling Ultrasonic Motor rotating phase-shifting control methods, and duplicate supply district voltage magnitude is respectively a, b, and single supply district voltage magnitude is and meet a ²+ b ²=c ²; By changing the positive and negative rotating phase shifting control realizing motor of single supply district voltage.

Especially, when c only gets 1 or-1, single supply district voltage magnitude is got with two values control the rotating switching of motor.

Beneficial effect: the present invention, by making controlled quentity controlled variable, association controlled quentity controlled variable and the triadic relation's unification of spatial Phase-shifting Method angle, simplifies the rotating phase shifting control of three power supply annular Traveling Ultrasonic Motor.

Accompanying drawing explanation

Fig. 1 is three power supply Traveling Ultrasonic Motor piezoceramic structures schematic diagrames.

Embodiment

Below in conjunction with the drawings and specific embodiments, illustrate the present invention further, these embodiments should be understood only be not used in for illustration of the present invention and limit the scope of the invention, after having read the present invention, the amendment of those skilled in the art to the various equivalent form of value of the present invention has all fallen within the application's claims limited range.

When c gets 1 or-1, time, the spatial Phase-shifting Method scope of motor cover namely during motor reverse rotation, phase shift angle is enough, and it is when rotating forward, and phase shift angle is inadequate.The control of motor positive and inverse can be realized by the positive and negative of single supply district power supply accordingly, when B district power supply amplitude by become time,

Now, the standing wave produced by A district power supply and the excitation of B district power supply is:

w _A＝w ₁+w ₂＝1×r sin(nx+θ)cosωt

w _B＝-1×r cos nx sinωt＝1×rcos(nx-π)sinωt

Its spatial Phase-shifting Method angle is:

$\mathrm{\θ}+\mathrm{\π}-\frac{\mathrm{\π}}{2}=-\arctan \frac{b}{a}+\frac{\mathrm{\π}}{4}$

Now, along with the change of controlled quentity controlled variable b, the excursion at spatial Phase-shifting Method angle is arrive it covers and be rotated counterclockwise needed for time space phase shifting control this minimum standard.

Positive and negative can the help changing the power supply in single supply B district realizes all standing, and when independent rotating forward or independent reversion, controlled quentity controlled variable b, association controlled quentity controlled variable a, spatial Phase-shifting Method angle triadic relation are single.

Further, for avoiding the overlap of control area, ensure the monotonicity of control effects, the excursion of restriction controlled quentity controlled variable b is $[-\frac{\sqrt{2}}{2},\frac{\sqrt{2}}{2}].$

Further, during rotating forward, single supply B district power supply amplitude is along with the increase of controlled quentity controlled variable b, spatial Phase-shifting Method angle is reduced, and is just always, and rotating speed declines, and rotating speed absolute value declines.

Further, during reversion, single supply B district power supply amplitude is along with the increase of controlled quentity controlled variable b, spatial Phase-shifting Method angle is reduced, and is always negative, and rotating speed declines, and rotating speed absolute value rises.

Claims (2)

1. three power source space phase modulation Traveling Ultrasonic Motor rotating phase-shifting control methods, wherein the piezoelectric ceramic of three power supply Traveling Ultrasonic Motor comprises A district and B district, 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 each district piezoelectric ceramic all adopts four/a line wave-wave long, polarization subregion polarised direction is along clockwise direction pressed " ++--" be arranged in order; Described piezoelectric ceramic adopts power supply one (10), power supply two (11), power supply three (12) to encourage, power supply one (10) and power supply two (11) in the direction of the clock interval action respectively to polarize subregion in A district piezoelectric ceramic, power supply three (12) acts on B district piezoelectric ceramic, it is characterized in that, duplicate supply district voltage magnitude is respectively a, b, using power supply amplitude b as controlled quentity controlled variable, another power supply amplitude a is as association controlled quentity controlled variable, and single supply district voltage magnitude is and meet a ²+ b ²=c ²; By changing the positive and negative of c, the rotating controlling motor switches.

2. three power source space phase modulation Traveling Ultrasonic Motor rotating phase-shifting control methods according to claim 1, is characterized in that, a described c value 1 or-1.