CN105141176A - Ultrasonic motor control system - Google Patents
Ultrasonic motor control system Download PDFInfo
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- CN105141176A CN105141176A CN201510518768.2A CN201510518768A CN105141176A CN 105141176 A CN105141176 A CN 105141176A CN 201510518768 A CN201510518768 A CN 201510518768A CN 105141176 A CN105141176 A CN 105141176A
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Abstract
The invention discloses an ultrasonic motor control system which comprises an upper computer, an ultrasonic motor and an ultrasonic motor controller, wherein the ultrasonic motor controller comprises a microprogrammed unit (MCU), a communication module, a clock module, a pulse width modulation (PWM) generation module, an operational amplification module, a power control module and a signal acquisition module, the clock module is used for providing a standard clock for the PWM generation module, the power control module is used for matching a signal output from the PWM generation module, the operational amplification module is used for amplifying the signal and driving the ultrasonic motor to work, the signal acquisition module is used for feeding the acquired speed signal of the ultrasonic motor back to the MCU and adjusting the output clock of the PWM generation module, and the communication module is used for data interaction with the upper computer. In the ultrasonic motor control system, the upper computer can be used for controlling the ultrasonic motor to work, the working condition of the motor can be intuitively observed by a display module, moreover, data interaction is fulfilled through a wireless communication mode, wiring is reduced, and operation is facilitated.
Description
Technical field
The present invention relates to a kind of ultrasound electric machine control system, belong to Driven by Ultrasonic Motors control field.
Background technology
Ultrasound electric machine is the periodicity row ripple that a kind of piezoelectric ceramic does that command of execution elastomer produces submicron order distortion, then by the motor of friction working.Compared with conventional motors, ultrasound electric machine has that the slow-speed of revolution, moment/mass ratio are large, fast response time, Powercut self locking power, nanometer resolution, without features such as electromagnetic interference.
Ultrasound electric machine needs to provide the supersonic frequency of two-way quadrature phase to drive work by ultrasonic motor driver.At present, the ultrasonic motor driver of existing full discrete component, can realize start/stop and the speed governing of motor, but can not realize the communication with host computer, adopts discrete component to make the volume ratio of driver larger.Ultrasound electric machine at work, increases close to power consumption increase, electric current during resonance point, can damage motor or driver if do not protected.
State Intellectual Property Office, the patent No. is 200710134453.3, patent name is the patent document of " based on embedded system level chip ultrasound motor drive controller ", disclose a kind of ultrasonic motor driver, comprise the hand-coding device regulating circuit connected successively, PSoC chip, push-pull inverter circuit, booster circuit, inductance match circuit, also comprise respectively with PSoC chip, the lonely pole current rectifying and wave filtering circuit that ultrasound electric machine connects, this patent solves the bulky problem of above-mentioned driver, adopt the tracking of lonely pole feedback transmitter realization to drive motors frequency, to reach the object of stable motor speed.
Driver disclosed in this patent is simple using embedded microprocessor as the driving governor of core, belong to digital driver, although efficiently solve analog driver cannot realize communicating with host computer, the shortcoming such as digital control, but because digital drive operation frequency can not unrestrictedly increase, so when the resonance point close to machine operation, there is frequency resolution deficiency, the shortcomings such as dispersion, therefore control frequency cannot be accomplished very meticulous, cause this quasi-controller control precision low, the variation that frequency dividing ratio is small simultaneously can make the fluctuation of speed of motor very large, have impact on the stability of motor speed.
Application number is 201310294004.0, the applying date a kind of ultrasonic motor driver that has been the disclosure of the invention of on 07 15th, 2013, comprises processing module, two-phase power amplification and matching module, controlled clock module, feedback signal acquisition module, current detection module; The clock signal that wherein said controlled clock module exports exports two-phase power amplification to after described processing module process and matching module carries out matching treatment, clock signal after coupling drives ultrasound electric machine work, the ultrasound electric machine rate signal collected is fed back to processing module by described feedback signal acquisition module, described processing module is by after the rate signal process of feedback, output control signals to described controlled clock module, regulate the output clock of controlled clock module, achieve the control objectives of motor speed high-performance, high stability.
Above-mentioned patent is only improved ultrasound electric machine peripheral control, does not relate to distance control mode, therefore, in ultrasound electric machine control, still there is limitation.
Summary of the invention
Technical problem to be solved by this invention is: provide a kind of ultrasound electric machine control system, solve the problem of ultrasound electric machine Long-distance Control.
The present invention, for solving the problems of the technologies described above, adopts following technical scheme:
A kind of ultrasound electric machine control system, comprise host computer, ultrasound electric machine, ultrasound electric machine controller, described host computer comprises display module, communication module, input through keyboard module, wherein, display module is for the control data of the operating state and setting that show ultrasound electric machine, input through keyboard module is used for arranging control data, and communication module is used for interaction data between ultrasound electric machine controller;
Described ultrasound electric machine controller comprises MCU, communication module, clock module, there is module in PWM, amplifier comparison module, power control module, signal acquisition module, wherein, described clock module provides standard time clock for module occurs PWM, the signal that described power control module is used for occurring PWM module output carries out matching treatment, signal after matching treatment exports amplifier comparison module to, signal is amplified the work of rear drive ultrasound electric machine by described amplifier comparison module, the ultrasound electric machine rate signal collected is fed back to MCU by described signal acquisition module, described MCU is by after the rate signal process of feedback, export the control end that module occurs PWM to, regulate PWM that the output clock of module occurs, described communication module is used for carrying out data interaction with host computer.
Also comprise current detection module, the output current of the real-time detection power control module of described current detection module, and export the current signal detected to described MCU process.
Also comprise rotating compensating module and reference voltage adjustment module, the rate signal of feedback is converted into forward and backward control signal and exports described MCU to by described rotating compensating module, described Voltage Regulator Module comprises two inputs, one of them input is connected with the output of described feedback signal acquisition module, and another input is connected with the output of reference voltage adjustment module.
Wirelessly data communication is carried out between described host computer and ultrasound electric machine controller.
Described MCU is the one in FARM chip or 51 singlechip chips.
Described MCU is the AT89S52 in 51 single-chip microcomputers.
Compared with prior art, the present invention has following beneficial effect:
1, the present invention can be worked by PC control ultrasound electric machine, can be observed the operating state of motor intuitively, and carry out interaction data by communication, decrease wiring, facilitate operation by display module.
2, feedback signal acquisition module is added, the output frequency that PWM is occurred to for module processes the work of rear control ultrasound electric machine, feedback signal acquisition module gathers ultrasound electric machine rate signal FEEDBACK CONTROL output frequency simultaneously, form closed-loop control, the driving clock signal of real-time adjustment ultrasound electric machine, reaches the control objectives of motor speed high-performance, high stability.
3, add rotating compensating circuit, solve the problem that the ultrasound electric machine fluctuation of speed is large, rotating rotating speed is inconsistent.
4, add voltage regulator circuit, real-time adjusting reference voltage can be needed according to user, facilitate external hand to regulate.
Embodiment
Below the technical scheme of invention is described in detail:
A kind of ultrasound electric machine control system, comprise host computer, ultrasound electric machine, ultrasound electric machine controller, described host computer comprises display module, communication module, input through keyboard module, wherein, display module is for the control data of the operating state and setting that show ultrasound electric machine, input through keyboard module is used for arranging control data, and communication module is used for interaction data between ultrasound electric machine controller;
Described ultrasound electric machine controller comprises MCU, communication module, clock module, there is module in PWM, amplifier comparison module, power control module, signal acquisition module, wherein, described clock module provides standard time clock for module occurs PWM, the signal that described power control module is used for occurring PWM module output carries out matching treatment, signal after matching treatment exports amplifier comparison module to, signal is amplified the work of rear drive ultrasound electric machine by described amplifier comparison module, the ultrasound electric machine rate signal collected is fed back to MCU by described signal acquisition module, described MCU is by after the rate signal process of feedback, export the control end that module occurs PWM to, regulate PWM that the output clock of module occurs, described communication module is used for carrying out data interaction with host computer.
Also comprise current detection module, the output current of the real-time detection power control module of described current detection module, and export the current signal detected to described MCU process.
Also comprise rotating compensating module and reference voltage adjustment module, the rate signal of feedback is converted into forward and backward control signal and exports described MCU to by described rotating compensating module, described Voltage Regulator Module comprises two inputs, one of them input is connected with the output of described feedback signal acquisition module, and another input is connected with the output of reference voltage adjustment module.
Wirelessly data communication is carried out between described host computer and ultrasound electric machine controller.
Described MCU is the one in FARM chip or 51 singlechip chips.
Described MCU is the AT89S52 in 51 single-chip microcomputers.
The MCU of controller adopts ARM9 series monolithic, and ARM framework, be one 32 reduced instruction set computer (RISC) processor architectures, it is widely used in many Embedded System Design.Due to energy-conservation, arm processor is highly suitable for moving communicating field, meets the characteristic that its main design goal is low cost, high-performance, low power consumption.
The MCU of the present embodiment adopts the AT89S52 of 51 single-chip microcomputer series, and AT89S52 possesses following features:
AT89S52 is a kind of low-power consumption, high-performance CMOS 8 8-digit microcontroller, has 8K in-system programmable components flash storage.Use the manufacture of Atmel company high-density nonvolatile memory technology, with the instruction of industrial 80C51 product and pin completely compatible.On sheet, Flash allows program storage in-system programmable components, is also suitable for conventional programming device.On a single chip, have 8 dexterous bit CPUs and in-system programmable components Flash, height is flexible, the solution of super efficient for numerous embedded Control application system provides to make AT89S52.AT89S52 has following standard feature: 8k bytes Flash, 256 byte RAM, 32 I/O mouth lines, WatchDog Timer, 2 data pointers, three 16 bit timing device/counters, one 6 vector, 2 grades of interrupt structures, full duplex serial port, crystal oscillator and clock circuit in sheet.In addition, AT89S52 can be down to the operation of 0Hz static logic, supports that 2 kinds of software-selectable select energy-saving mode.Under idle pulley, CPU quits work, and permission RAM, timer/counter, serial ports, interruption work on.Under power down protection mode, RAM content is saved, and oscillator is frozen, and all work of single-chip microcomputer stop, and interrupt or hardware reset until next.
MCS-51 device has independent program storage and data storage.External program memory and data storage can 64K addressing.
Finally illustrate: above examples of implementation are only unrestricted for illustration of the present invention, although to invention has been detailed description, one of skill in the art is to be understood that, to amendment of the present invention and equivalent replacement, and not departing from the spirit and scope of the present invention, it all should be encompassed within right of the present invention.
Claims (6)
1. a ultrasound electric machine control system, it is characterized in that: comprise host computer, ultrasound electric machine, ultrasound electric machine controller, described host computer comprises display module, communication module, input through keyboard module, wherein, display module is for the control data of the operating state and setting that show ultrasound electric machine, input through keyboard module is used for arranging control data, and communication module is used for interaction data between ultrasound electric machine controller;
Described ultrasound electric machine controller comprises MCU, communication module, clock module, there is module in PWM, amplifier comparison module, power control module, signal acquisition module, wherein, described clock module provides standard time clock for module occurs PWM, the signal that described power control module is used for occurring PWM module output carries out matching treatment, signal after matching treatment exports amplifier comparison module to, signal is amplified the work of rear drive ultrasound electric machine by described amplifier comparison module, the ultrasound electric machine rate signal collected is fed back to MCU by described signal acquisition module, described MCU is by after the rate signal process of feedback, export the control end that module occurs PWM to, regulate PWM that the output clock of module occurs, described communication module is used for carrying out data interaction with host computer.
2. ultrasound electric machine control system according to claim 1, is characterized in that: also comprise current detection module, the output current of the real-time detection power control module of described current detection module, and exports the current signal detected to described MCU process.
3. ultrasound electric machine control system according to claim 1, it is characterized in that: also comprise rotating compensating module and reference voltage adjustment module, the rate signal of feedback is converted into forward and backward control signal and exports described MCU to by described rotating compensating module, described Voltage Regulator Module comprises two inputs, one of them input is connected with the output of described feedback signal acquisition module, and another input is connected with the output of reference voltage adjustment module.
4. ultrasound electric machine control system according to claim 1, is characterized in that: wirelessly carry out data communication between described host computer and ultrasound electric machine controller.
5. ultrasound electric machine control system according to claim 1, is characterized in that: described MCU is the one in FARM chip or 51 singlechip chips.
6. ultrasound electric machine control system according to claim 5, is characterized in that: described MCU is the AT89S52 in 51 single-chip microcomputers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510518768.2A CN105141176A (en) | 2015-08-24 | 2015-08-24 | Ultrasonic motor control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510518768.2A CN105141176A (en) | 2015-08-24 | 2015-08-24 | Ultrasonic motor control system |
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| CN105141176A true CN105141176A (en) | 2015-12-09 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05304791A (en) * | 1992-02-26 | 1993-11-16 | Olympus Optical Co Ltd | Driving circuit and driving control method of ultrasonic motor |
| CN101383566A (en) * | 2008-06-30 | 2009-03-11 | 扬州大学 | Embedded drive controller based on ARM of ultrasonic motor |
| CN102158122A (en) * | 2010-12-30 | 2011-08-17 | 天津大学 | Generating method of four-channel piezoelectric ceramic drive voltage and drive power supply |
| CN103427707A (en) * | 2013-07-15 | 2013-12-04 | 南京航空航天大学 | Ultrasonic motor driver |
-
2015
- 2015-08-24 CN CN201510518768.2A patent/CN105141176A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05304791A (en) * | 1992-02-26 | 1993-11-16 | Olympus Optical Co Ltd | Driving circuit and driving control method of ultrasonic motor |
| CN101383566A (en) * | 2008-06-30 | 2009-03-11 | 扬州大学 | Embedded drive controller based on ARM of ultrasonic motor |
| CN102158122A (en) * | 2010-12-30 | 2011-08-17 | 天津大学 | Generating method of four-channel piezoelectric ceramic drive voltage and drive power supply |
| CN103427707A (en) * | 2013-07-15 | 2013-12-04 | 南京航空航天大学 | Ultrasonic motor driver |
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Application publication date: 20151209 |