CN106842957B - Ultrasonic motor servo control method based on output feedback controller - Google Patents
Ultrasonic motor servo control method based on output feedback controller Download PDFInfo
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Abstract
The invention relates to an ultrasonic motor servo control method based on an output feedback controller, which comprises the following steps: step S1: providing a base and an ultrasonic motor arranged on the base, wherein an output shaft at one side of the ultrasonic motor is connected with a photoelectric encoder, an output shaft at the other side of the ultrasonic motor is connected with a flywheel inertial load, an output shaft of the flywheel inertial load is connected with a torque sensor through a coupler, and a signal output end of the photoelectric encoder and a signal output end of the torque sensor are respectively connected to a control system; step S2: the control system is established on the basis of output feedback control, and a Lyapunov function is used as an adjusting function of the control system on a controller so as to obtain better control efficiency. The control system consists of a feedback controller and a motor, and the system of the whole controller is established on the basis of feedback calculation, so that better control efficiency can be obtained. The device and the control method thereof not only have high control accuracy, but also have simple and compact structure and good use effect.
Description
Technical Field
The invention relates to the field of motor controllers, in particular to an ultrasonic motor servo control method based on an output feedback controller.
Background
The existing ultrasonic motor servo control system has detection errors of output signals in design, which may cause estimation errors of control variables. To avoid this, we now propose a feedback adaptive control scheme. The control system can effectively improve the control efficiency of the system and further reduce the influence degree of the system on the uncertainty. Therefore, the position and speed control of the motor can obtain better dynamic characteristics.
Disclosure of Invention
In view of the above, the present invention provides an ultrasonic motor servo control method based on an output feedback controller, which not only has high control accuracy, but also has a simple and compact sampling device structure and a good use effect.
The invention is realized by adopting the following scheme: an ultrasonic motor servo control method based on an output feedback controller is characterized in that: the method comprises the following steps:
step S1: providing a base and an ultrasonic motor arranged on the base, wherein an output shaft at one side of the ultrasonic motor is connected with a photoelectric encoder, an output shaft at the other side of the ultrasonic motor is connected with a flywheel inertial load, an output shaft of the flywheel inertial load is connected with a torque sensor through a coupler, and a signal output end of the photoelectric encoder and a signal output end of the torque sensor are respectively connected to a control system;
step S2: the control system is established on the basis of output feedback control, and a Lyapunov function is used as an adjusting function of the control system on the controller so as to obtain better control efficiency; the dynamic equation of the control system is as follows:
wherein A is
p＝-B/J,B
P＝J/K
t＞0,C
P-1/J; b is damping coefficient, J is moment of inertia, K
tIs a current factor, T
f(v) As frictional resistance torque, T
LFor the load moment, U (t) is the output moment of the motor, θ
rAnd (t) is a position signal measured by a photoelectric encoder.
Further, in step S1, the control system includes an ultrasonic motor driving control circuit, the ultrasonic motor driving control circuit includes a control chip circuit and a driving chip circuit, the signal output end of the photoelectric encoder is connected to the corresponding input end of the control chip circuit, the output end of the control chip circuit is connected to the corresponding input end of the driving chip circuit to drive the driving chip circuit, the driving frequency adjusting signal output end and the driving half-bridge circuit adjusting signal output end of the driving chip circuit are respectively connected to the corresponding input ends of the ultrasonic motor, and the controller is disposed in the control chip circuit.
Further, the coupling is an elastic coupling.
Furthermore, the ultrasonic motor, the photoelectric encoder and the torque sensor are fixed on the base through an ultrasonic motor fixing support, a photoelectric encoder fixing support and a torque sensor fixing support respectively.
Further, in step S2, if the parameters of the control system are known and no external force disturbance, cross coupling disturbance and friction exists, the standard model of the motor is represented by the following formula:
wherein A is
nIs A
pThe standard value of B
nIs B
PA standard value of the measured value;
if an uncertain item is generated, such as if the parameter value of the control system deviates from the standard value or the system has external force interference, cross coupling interference, friction torque and the like, the dynamic equation of the control system is modified to be as follows:
wherein, C
nIs C
PThe standard value of Δ A, Δ B, Δ C represents the small variation, D (t) is the uncertainty of the total set, and is defined as:
therefore, the boundary of the uncertainty items of the total set is assumed to be known, for example, | D (t) | ≦ ρ, ρ is a given normal number item, and in order to avoid the occurrence of unpredictable uncertainty items in the motor, the system is subjected to servo control by using feedback control;
the nonlinear system dynamics are re-expressed as:
above formula a
iFor unknown constants and control gain parameters, Y
iIs a known continuous or non-linear function, w is the control input, x
1(t)＝x(t)，x
n＝x
(n-1)，a＝[-a
1,a
2,…,-a
m]
T， Y＝[Y
1,Y
2,…,Y
m]
T；
Indicating a bounded external disturbance,
u
0、w
0is the initial value of u, w, u is the output of the hysteretic system, d (t) is due to bd
1(w (t)) external disturbances, referred to as perturbation terms;
and outputting y:
wherein,
the filter used is shown in the following equation:
wherein k is [ k ]
1,…,k
n]
TMake the matrix
All characteristic values of (a) are located at a given stable position; using filters, state estimation errors
Satisfies the following conditions:
wherein,
the control system is then represented as:
thus:
Θ＝[b
m,…,b
0,θ
T]
T
v
i,2,ε
2,ξ
2respectively represent v
iThe second term of ε, ξ, all of its states are used for feedback;
the controller is implemented by following the following design steps, where c
iI 1, …, ρ is a positive design parameter,
is an estimate of the value of theta and,
is that
And
is a normal number to be designed, and Θ
0Is a positive constant;
in the adaptive control design, the control target is realized by using output feedback, and coordinate transformation is firstly carried out:
z
1＝y-y
r(18)
where y is the actual output, y
rFor a given equation of the motion trajectory,
b
m＝a
mc, c is a constant, m is the order of equation (5), α
i-1Is the ith virtual control step;
the parameter updating rule is as follows:
the further parameter updating rule is as follows:
the adjustment function is:
according to the above formula, the control process is stable and satisfies z
i(i ═ 1,2, … n) → 0, then
Therefore, the system controls the rotation angle of the rotor of the motor by using an output feedback algorithm and then indirectly controls the speed of the motor by calculating the rotation angle of the rotor.
Compared with the prior art, the invention has the following beneficial effects: this may lead to chattering as a result of the discontinuous function involved in the control of a conventional backstepping controller. In order to reduce the occurrence of chatter, the invention uses an improved algorithm to effectively improve the control efficiency of the system, further reduce the influence degree of the system on uncertainty, improve the control accuracy and obtain better dynamic characteristics. In addition, the device has the advantages of reasonable design, simple and compact structure, low manufacturing cost, strong practicability and wide application prospect.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a schematic diagram of a control circuit of an embodiment of the invention.
In the figure, 1-photoelectric encoder, 2-photoelectric encoder fixing bracket, 3-ultrasonic motor output shaft, 4-ultrasonic motor, 5-ultrasonic motor fixing bracket, 6-ultrasonic motor output shaft, 7-flywheel inertial load, 8-flywheel inertial load output shaft, 9-elastic coupling, 10-torque sensor, 11-torque sensor fixing bracket, 12-base, 13-control chip circuit, 14-driving chip circuit, 15, 16, 17-A, B, Z phase signal output by photoelectric encoder, 18, 19, 20, 21-driving frequency adjusting signal generated by driving chip circuit, 22-driving half-bridge circuit adjusting signal generated by driving chip circuit, 23, 24, 25, 26, 27, 28-driving chip circuit signal generated by controlling chip circuit, 29-ultrasonic motor drive control circuit.
Detailed Description
The invention is further explained below with reference to the drawings and the embodiments.
The embodiment provides an ultrasonic motor servo control method based on an output feedback controller, which is characterized in that: the method comprises the following steps:
step S1: as shown in fig. 1, a base 12 and an ultrasonic motor 4 arranged on the base 12 are provided, an output shaft 3 at one side of the ultrasonic motor 4 is connected with a photoelectric encoder 1, an output shaft 6 at the other side is connected with a flywheel inertial load 7, an output shaft 8 of the flywheel inertial load 7 is connected with a torque sensor 10 through an elastic coupling 9, and a signal output end of the photoelectric encoder 1 and a signal output end of the torque sensor 10 are respectively connected to a control system;
step S2: the control system is established on the basis of output feedback control, and a Lyapunov function is used as an adjusting function of the control system on the controller so as to obtain better control efficiency; the dynamic equation of the control system is as follows:
wherein A is
p＝-B/J,B
P＝J/K
t＞0,C
P-1/J; b is damping coefficient, J is moment of inertia, K
tIs a current factor, T
f(v) As frictional resistance torque, T
LFor the load moment, U (t) is the output moment of the motor, θ
rAnd (t) is a position signal measured by a photoelectric encoder.
In this embodiment, in step S1, as shown in fig. 2, the control system includes an ultrasonic motor drive control circuit 29, the ultrasonic motor drive control circuit 29 includes a control chip circuit 13 and a driving chip circuit 14, the signal output end of the photoelectric encoder 1 is connected to a corresponding input end of the control chip circuit 13, the output end of the control chip circuit 13 is connected to a corresponding input end of the driving chip circuit 14 to drive the driving chip circuit 14, and the driving frequency adjusting signal output end and the driving half-bridge circuit adjusting signal output end of the driving chip circuit 14 are respectively connected to a corresponding input end of the ultrasonic motor 4. The driving chip circuit 14 generates a driving frequency adjusting signal and a driving half-bridge circuit adjusting signal to control the frequency, the phase and the on-off of A, B two-phase PWM output by the ultrasonic motor. Controlling the starting and stopping of the ultrasonic motor by switching on and off the output of the PWM wave; the optimal operation state of the motor is adjusted by adjusting the frequency of the output PWM wave and the phase difference of the two phases.
In this embodiment, the coupling is an elastic coupling.
In this embodiment, the ultrasonic motor 4, the photoelectric encoder 1, and the torque sensor 10 are fixed on the base 12 through the ultrasonic motor fixing bracket 5, the photoelectric encoder fixing bracket 2, and the torque sensor fixing bracket 11, respectively.
In the embodiment, the control system in the control method consists of a backstepping controller and a motor; in order to avoid unpredictable uncertainty items in the motor, a backstepping control method is used for controlling the system:
now, assuming that the parameters of the system are known and no external force disturbance, cross-coupling disturbance and friction exist, the standard model of the motor is shown as follows:
wherein A is
nIs A
pThe standard value of B
nIs B
PThe standard value of the measured value.
If an uncertain item is generated (such as the parameter value of the system deviates from the standard value or the system has external force interference, cross coupling interference, friction torque and the like), the dynamic equation of the control system is modified to be:
wherein, C
nIs C
PThe standard value of Δ A, Δ B, Δ C represents the small variation, D (t) is the uncertainty of the total set, and is defined as:
the boundaries of the aggregate uncertainty term are assumed to be known, e.g., | D (t) | ≦ ρ, ρ being a given normal number term. To avoid unpredictable uncertainties in the motor, the system is servo-controlled using feedback control.
The nonlinear system dynamics can be re-expressed as
Above formula a
iFor unknown constants and control gain parameters, Y
iIs a known continuous or non-linear function, w is the control input, x
1(t)＝x(t)，x
n＝x
(n-1)，a＝[-a
1,a
2,…,-a
m]
T， Y＝[Y
1,Y
2,…,Y
m]
T. These parameters may provide a degree of freedom in deciding on their suitability.
Indicating a bounded external disturbance,
u
0、w
0and u is the initial value of u and w, and u is the output of the hysteresis system. The influence of d (t) is due tobd
1(w (t)) is referred to as a perturbation term.
And outputting y:
wherein
The filter used is shown in the following equation:
wherein k is [ k ]
1,…,k
n]
TMake the matrix
Is located at a given stable position. State estimation error using designed filters
Satisfies the following conditions:
wherein,
then the system can be expressed as:
thus:
Θ＝[b
m,…,b
0,θ
T]
T
v
i,2,ε
2,ξ
2respectively represent v
iThe second term of ε, ξ all its states are available for feedback.
The controller design is achieved by following the following design steps, where c
iI 1, …, ρ is a positive design parameter,
is an estimate of the value of theta and,
is that
And
is a normal number to be designed, and Θ
0Is a positive constant.
In the adaptive control design, the control target is realized by using output feedback, and coordinate transformation is firstly carried out:
z
1＝y-y
r(18)
where y is the actual output, y
rFor a given equation of the motion trajectory,
b
m＝a
mc, c is a constant, m is the order of equation (5), α
i-1Is the ith virtual control step.
The parameter updating rule is as follows:
the further parameter updating rule is as follows:
the adjustment function is:
the above process can be proven to be stable, satisfying z
i(i ═ 1,2, … n) → 0, meaning that
Therefore, the control method controls the rotation angle of the rotor of the motor by using an output feedback algorithm, and then indirectly controls the speed of the motor by calculating the rotation angle of the rotor. The robust learning rule of the feedback control parameters is obtained by the Lyapunov stability theorem. When feedback adaptation is to be used to estimate the output term of the control system, the stability of the designed control system is ensured by the Lyapunov function.
The above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made in accordance with the claims of the present invention should be covered by the present invention.
Claims (4)
1. An ultrasonic motor servo control method based on an output feedback controller is characterized in that: the method comprises the following steps:
step S1: providing a base and an ultrasonic motor arranged on the base, wherein an output shaft at one side of the ultrasonic motor is connected with a photoelectric encoder, an output shaft at the other side of the ultrasonic motor is connected with a flywheel inertial load, an output shaft of the flywheel inertial load is connected with a torque sensor through a coupler, and a signal output end of the photoelectric encoder and a signal output end of the torque sensor are respectively connected to a control system;
step S2: the control system is established on the basis of output feedback control, and a Lyapunov function is used as an adjusting function of the control system on the controller so as to obtain better control efficiency; the dynamic equation of the control system is as follows:
wherein A is
p＝-B/J,B
P＝J/K
t>0,C
P-1/J; b is damping coefficient, J is moment of inertia, K
tIs a current factor, T
f(v) As frictional resistance torque, T
LFor the load moment, U (t) is the output moment of the motor, θ
r(t) is a position signal measured by a photoelectric encoder;
in step S2, if the parameters of the control system are known and no external force disturbance, cross-coupling disturbance, or friction exists, the standard model of the motor is represented by the following formula:
wherein A is
nIs A
pThe standard value of B
nIs B
PA standard value of the measured value;
if the parameter value of the control system deviates from the standard value or the system has external force interference, cross coupling interference and friction torque, the dynamic equation of the control system is modified into:
d (t) is an aggregate uncertainty term defined as:
wherein, C
nIs C
PThe standard values of the system, namely delta A, delta B and delta C represent small variation, so that the boundary of the uncertainty items of the total set is assumed to be | D (t) | less than or equal to rho, rho is a given normal number item, and in order to avoid the occurrence of unpredictable uncertainty items in the motor, the system is subjected to servo control by using feedback control;
the nonlinear system dynamics are re-expressed as:
above formula a
iFor unknown constants and control gain parameters, Y
iIs a known continuous or non-linear function, w is the control input, x
1(t)＝x(t)，x
n＝x
(n-1)，a＝[-a
1,a
2, … ,-a
m]
T，Y＝[Y
1,Y
2, … ,Y
m]
T；
Indicating a bounded external disturbance,
u
0、w
0is the initial value of u, w, u is the output of the hysteretic system, d (t) is due to bd
1(w (t)) external disturbances, referred to as perturbation terms;
and outputting y:
wherein,
the filter used is shown in the following equation:
wherein k is [ k ]
1,…,k
n]
TMake the matrix
All characteristic values of (a) are located at a given stable position; using filters, state estimation errors
Satisfies the following conditions:
wherein,
the control system is then represented as:
thus:
Θ＝[b
m,…,b
0,θ
T]
T
v
i,2,ε
2,ξ
2respectively represent v
iThe second term of ε, ξ, all of its states are used for feedback;
the controller is implemented by following the following design steps, where c
iI 1, …, ρ is a positive design parameter,
is an estimate of the value of theta and,
is that
And
is a normal number to be designed, and Θ
0Is a positive constant;
in the adaptive control design, the control target is realized by using output feedback, and coordinate transformation is firstly carried out:
z
1＝y-y
r(18)
where y is the actual output, y
rFor a given equation of the motion trajectory,
b
m＝a
mc, c is a constant, m is the order of equation (5), α
i-1Is the ith virtualA step of planning control;
the parameter updating rule is as follows:
the further parameter updating rule is as follows:
the adjustment function is:
according to the above formula, the control process is stable and satisfies z
i→ 0, i ═ 1,2, … n, then
Therefore, the system controls the rotation angle of the rotor of the motor by using an output feedback algorithm and then indirectly controls the speed of the motor by calculating the rotation angle of the rotor.
2. The ultrasonic motor servo control method based on the output feedback controller according to claim 1, characterized in that: in step S1, the control system includes an ultrasonic motor drive control circuit, the ultrasonic motor drive control circuit includes control chip circuit and driver chip circuit, photoelectric encoder 'S signal output part with the corresponding input of control chip circuit is connected, the output of control chip circuit with the corresponding input of driver chip circuit is connected, in order to drive the driver chip circuit, driver chip circuit' S drive frequency adjustment signal output part and drive half-bridge circuit adjustment signal output part respectively with the corresponding input of ultrasonic motor is connected, the controller is located in the control chip circuit.
3. The ultrasonic motor servo control method based on the output feedback controller according to claim 1, characterized in that: in step S1, the coupling is an elastic coupling.
4. The ultrasonic motor servo control method based on the output feedback controller according to claim 1, characterized in that: in step S1, the ultrasonic motor, the photoelectric encoder, and the torque sensor are fixed to the base through an ultrasonic motor fixing bracket, a photoelectric encoder fixing bracket, and a torque sensor fixing bracket, respectively.
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| CN104345640A (en) * | 2014-10-10 | 2015-02-11 | 南京理工大学 | Motor servo system progressive tracking control method and system during input limitation |
| CN105223806A (en) * | 2015-10-20 | 2016-01-06 | 闽江学院 | Based on the supersonic motor fuzzy Neural Network Control Method of basis function network |
| CN106329986A (en) * | 2016-08-09 | 2017-01-11 | 闽江学院 | Adaptive backstepping servo control method of ultrasonic motor |
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| JP2002140117A (en) * | 2000-10-31 | 2002-05-17 | Kyocera Corp | Controller, and guide apparatus using ultrasonic motor having the controller as driving source for moving body |
| CN101106339B (en) * | 2007-06-18 | 2010-05-19 | 河南科技大学 | Ultrasonic motor closed loop control circuit |
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| CN104345640A (en) * | 2014-10-10 | 2015-02-11 | 南京理工大学 | Motor servo system progressive tracking control method and system during input limitation |
| CN105223806A (en) * | 2015-10-20 | 2016-01-06 | 闽江学院 | Based on the supersonic motor fuzzy Neural Network Control Method of basis function network |
| CN106329986A (en) * | 2016-08-09 | 2017-01-11 | 闽江学院 | Adaptive backstepping servo control method of ultrasonic motor |
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