CN108377108B - Ultrasonic motor driving controller based on audio power amplifier - Google Patents
Ultrasonic motor driving controller based on audio power amplifier Download PDFInfo
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- CN108377108B CN108377108B CN201810487477.5A CN201810487477A CN108377108B CN 108377108 B CN108377108 B CN 108377108B CN 201810487477 A CN201810487477 A CN 201810487477A CN 108377108 B CN108377108 B CN 108377108B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
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Abstract
The invention discloses an ultrasonic motor driving controller based on an audio power amplifier, which comprises a crystal oscillator, an embedded microprocessor, a sinusoidal signal generator, a power amplifier matching circuit, a forward/reverse rotation switch, a speed regulating switch, a current feedback circuit, a voltage feedback circuit, an encoder and a power supply module, wherein clock signals sent by the crystal oscillator are respectively distributed to three ePWM modules through ePWM clock units in the embedded microprocessor. The control system realizes continuous real-time frequency signal adjustment through the internal module of the microprocessor, achieves the control target of high performance and high stability of the ultrasonic motor, and realizes the communication between the motor driving controller and the upper computer through the programming of the embedded microprocessor, thereby realizing the receiving of remote control instructions and the real-time monitoring of the running state of the motor. The motor driver has higher energy conversion efficiency, the control circuit has relatively simple structure and lower cost, and is more beneficial to the integration and miniaturization of the driving circuit.
Description
Technical Field
The invention relates to the field of ultrasonic motor drive control, in particular to an ultrasonic motor drive controller based on an audio power amplifier, which can realize hardware configuration with high performance and high precision rotation speed stability and a control method matched with the hardware configuration.
Background
The ultrasonic motor is a new type motor, which uses the inverse piezoelectric effect of piezoelectric material, applies alternating signal to piezoelectric material to generate alternating electric field, and further excites the piezoelectric material to vibrate in ultrasonic frequency band, amplifies the vibration, and converts the vibration into the motion of motor rotor through friction action, as power output and drives other loads. Compared with the traditional motor, the ultrasonic motor has the advantages of low rotating speed, large moment, high response speed, power failure self-locking, no electromagnetic interference and the like. Therefore, the ultrasonic motor is widely applied in the fields of aerospace, bionic machinery, medical appliances and the like.
The response speed of the ultrasonic motor is greatly improved compared with the response precision of the electromagnetic motor, the response time of the ultrasonic motor is greatly improved compared with the electromagnetic motor due to a special driving mechanism, the response speed can be improved to be within 0.01s, and the position precision of the ultrasonic motor is greatly improved compared with the electromagnetic motor due to the existence of friction force.
The ultrasonic motor needs to be driven to work by two paths of alternating current signals of ultrasonic frequency bands with orthogonal phases. The main ultrasonic motor driving scheme at the present stage is a PWM inversion driving scheme. The scheme generates orthogonal high-voltage square wave signals through a frequency division phase-splitting circuit and a power amplifier circuit, and generates two paths of orthogonal sine signals through filtering of a matching circuit. The PWM inverter driving scheme has the problems of large harmonic component, difficulty in voltage regulation and the like.
Disclosure of Invention
The invention aims to solve the technical problem of providing an ultrasonic motor driving controller based on an audio power amplifier aiming at the defects related to the background technology.
The invention adopts the following technical scheme for solving the technical problems:
the ultrasonic motor driving controller based on the audio power amplifier comprises a forward and reverse rotation switch, a speed regulating switch, a current feedback circuit, a voltage feedback circuit, an encoder, a crystal oscillator, an embedded microprocessor, a sinusoidal signal generator, a power amplifier matching circuit and a power module, wherein the embedded microprocessor is respectively and electrically connected with the input sides of the forward and reverse rotation switch, the speed regulating switch, the current feedback circuit, the voltage feedback circuit, the encoder, the crystal oscillator and the sinusoidal signal generator, and the output side of the sinusoidal signal generator is connected with an ultrasonic motor to be driven through the power amplifier matching circuit; the crystal oscillator is used for providing a clock signal for the embedded microprocessor;
the embedded microprocessor comprises a first ePWM module, a second ePWM module, a third ePWM module, an operation unit, a GPIO unit, an ADC unit and an eQEP unit;
the first ePWM module is used for generating a clock signal of a sinusoidal signal generator according to a clock signal provided by the crystal oscillator and the received first frequency and transmitting the clock signal to the sinusoidal signal generator;
the second ePWM module is used for generating a first PWM wave signal according to a clock signal provided by the crystal oscillator and a received second frequency and transmitting the first PWM wave signal to the sinusoidal signal generator, and the frequency ratio of the first PWM wave signal frequency to the sinusoidal signal generator clock signal is 1:50;
the third ePWM module is used for generating a second PWM wave signal according to a clock signal provided by the crystal oscillator and a received third frequency and transmitting the second PWM wave signal to the sinusoidal signal generator, the frequency ratio of the frequency of the second PWM wave signal to the clock signal of the sinusoidal signal generator is 1:50, and the phase difference of the second PWM wave signal and the first PWM wave signal is 90 degrees;
the positive and negative rotation switch is used for inputting a positive rotation or reverse rotation or stopping analog signal to the embedded microprocessor;
the current feedback circuit is used for measuring an analog signal of the working current of the ultrasonic motor and transmitting the analog signal to the embedded microprocessor;
the voltage feedback circuit is used for measuring an analog signal of the working voltage of the ultrasonic motor and transmitting the analog signal to the embedded microprocessor;
the encoder is used for measuring the rotation angle of the rotor of the ultrasonic motor or the displacement of the rotor, generating corresponding pulse signals and transmitting the pulse signals to the embedded microprocessor;
the speed regulation switch is used for inputting a speed regulation analog signal to the embedded microprocessor;
the GPIO unit is used for converting the analog signal input by the forward and reverse switch into a digital signal and transmitting the digital signal to the operation unit;
the ADC unit is used for converting analog signals input by the current feedback circuit and the voltage feedback circuit into digital signals and transmitting the digital signals to the operation unit;
the eQEP unit is used for converting the pulse signal input by the encoder into a digital signal and transmitting the digital signal to the operation unit;
the operation unit is used for calculating a first frequency, a second frequency and a third frequency according to the digital signals converted by the forward and reverse rotation switch, the speed regulating switch, the current feedback circuit, the voltage feedback circuit and the encoder, and transmitting the first frequency, the second frequency and the third frequency to the first ePWM module, the second ePWM module and the third ePWM module respectively; when the arithmetic unit does not receive the digital signals converted by the forward and reverse rotation switch, the speed regulating switch, the current feedback circuit, the voltage feedback circuit and the encoder, the arithmetic unit respectively transmits a preset first frequency threshold value, a preset second frequency threshold value and a preset third frequency threshold value to the first ePWM module, the second ePWM module and the preset third frequency threshold value as the first frequency, the preset second frequency and the preset third frequency;
the sine signal generator is used for generating a first sine wave signal and a second sine wave signal according to the received sine signal generator clock signal, the first PWM wave signal and the second PWM wave signal, and transmitting the first sine wave signal and the second sine wave signal to the power amplifier matching circuit, and the phase difference between the first sine wave signal and the second sine wave signal is 90 degrees;
the power amplifier matching circuit is used for generating a first driving signal and a second driving signal according to the received first sine wave signal and the received second sine wave signal, and the phase difference of the first driving signal and the second driving signal is 90 degrees and is used for driving an ultrasonic motor to be controlled.
As a further optimization scheme of the ultrasonic motor driving controller based on the audio power amplifier, the sinusoidal signal generator comprises a direct current power supply, a first active filter, a second active filter, first to second resistors and first to third capacitors;
the models of the first active filter and the second active filter are MAX295;
the direct current power supply is a 5V power supply, the positive electrode of the direct current power supply is respectively connected with one end of a first capacitor, one end of a second capacitor, one end of a first resistor, a V+ pin of a first active filter and a V+ pin of a second active filter, and the negative electrode of the direct current power supply is respectively connected with the other end of the first capacitor, the other end of the second capacitor, one end of a second resistor, one end of a third capacitor, the V-pin of the first active filter and the V-pin of the second active filter and then grounded;
the other end of the first resistor is respectively connected with the other end of the second resistor, the other end of the third capacitor, the GND pin of the first active filter and the GND pin of the second active filter;
the CLK pin of the first active filter and the CLK pin of the second active filter are connected with the first ePWM module;
the IN pin of the first active filter and the IN pin of the second active filter are correspondingly connected with the second ePWM module and the third ePWM module respectively;
the OP IN pin of the first active filter is connected with the OP OUT pin of the first active filter, and the OP IN pin of the second active filter is connected with the OP OUT pin of the second active filter;
and the OUT pin of the first active filter and the OUT pin of the second active filter are connected with the power amplifier matching circuit.
As a further optimization scheme of the ultrasonic motor driving controller based on the audio power amplifier, the power amplifier matching circuit comprises a Class D audio power amplifier chip, first to second step-up transformers and first to second parallel inductors;
the Class D audio power amplifier chip is respectively connected with the sinusoidal signal generator, the input end of the first step-up transformer and the input end of the second step-up transformer; the input ends of the first step-up transformer and the second step-up transformer are respectively connected with one ends of the first parallel inductor and the second parallel inductor, and the other ends of the first parallel inductor and the second parallel inductor are respectively connected with two driving ends of an ultrasonic motor to be controlled;
the Class D audio power amplifier chip is used for generating SPWM wave signals SinA and SinB according to the received first sine wave signals, inputting the SPWM wave signals SinA and SinB to the first step-up transformer, generating SPWM wave signals CosA and CosB according to the received second sine wave signals, and inputting the SPWM wave signals CosA and CosB to the second step-up transformer, wherein the SinA signal and the SinB signal are a group of differential signals, and the CosA signal and the CosB signal are a group of differential signals;
the SinA signal and the SinB signal are boosted by a first boosting transformer and then are matched through a first parallel inductor to generate a first driving signal;
the CosA signal and the CosB signal are boosted by a second boosting transformer and then are matched through a second parallel inductor to generate a second driving signal;
the phase difference between the first driving signal and the second driving signal is 90 degrees, and the first driving signal and the second driving signal are used for driving the ultrasonic motor to be controlled.
As a further optimization scheme of the ultrasonic motor driving controller based on the audio power amplifier, a pulse absorption circuit is arranged between the Class D audio power amplifier chip and the first and second step-up transformers.
As a further optimization scheme of the ultrasonic motor driving controller based on the audio power amplifier, the model of the embedded microprocessor is TMS320F28335.
As a further optimization scheme of the ultrasonic motor driving controller based on the audio power amplifier, the forward and reverse rotation switch adopts a single-pole three-throw switch.
As a further optimization scheme of the ultrasonic motor driving controller based on the audio power amplifier, the embedded microprocessor further comprises an SCI unit, and the SCI unit is used for transmitting the digital signals converted by the current feedback circuit, the voltage feedback circuit and the encoder to an upper computer.
Compared with the prior art, the technical scheme provided by the invention has the following technical effects:
the invention applies the Class D audio power amplifier to the power amplifier circuit of the ultrasonic motor driver, and combines the requirements of ultrasonic motor driving to exert the advantages of high efficiency, small heating value and small harmonic component of the Class D audio power amplifier; the control circuit has simple structure and lower cost, and is more beneficial to the integration and miniaturization of the driving circuit.
The driving core adopts a DSP chip with powerful operation function, the model is TMS320F28335, and the driving signal of the motor can be subjected to real-time frequency phase and amplitude adjustment through an internal module of the DSP chip according to the working state and the working requirement of the stable platform, so that the control target of high performance and high stability of the ultrasonic motor is realized.
The driving controller can be communicated with the upper computer in real time, so that the receiving of a remote control instruction and the real-time monitoring of the running state of the motor are realized.
Drawings
FIG. 1 is a schematic block diagram of an ultrasonic motor drive controller;
FIG. 2 is a schematic diagram of a sinusoidal signal generator circuit implementation;
fig. 3 is a waveform diagram of a drive controller circuit.
Detailed Description
The technical scheme of the invention is further described in detail below with reference to the accompanying drawings:
this invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, the components are exaggerated for clarity.
As shown in fig. 1, the invention discloses an ultrasonic motor driving controller based on an audio power amplifier, which comprises a crystal oscillator, an embedded microprocessor, a sinusoidal signal generator, a power amplifier matching circuit, a forward/reverse rotation switch, a speed regulating switch, a current feedback circuit, a voltage feedback circuit, an encoder and a power module, wherein the embedded microprocessor is respectively and electrically connected with the input sides of the forward/reverse rotation switch, the speed regulating switch, the current feedback circuit, the voltage feedback circuit, the encoder, the crystal oscillator and the sinusoidal signal generator, and the output side of the sinusoidal signal generator is connected with an ultrasonic motor to be driven through the power amplifier matching circuit;
the crystal oscillator is used for providing a clock signal to the embedded microprocessor;
the embedded microprocessor comprises a first ePWM module, a second ePWM module, a third ePWM module, an operation unit, a GPIO unit, an ADC unit and an eQEP unit;
the first ePWM module is used for generating a clock signal of the sinusoidal signal generator according to the clock signal provided by the crystal oscillator and the received first frequency and transmitting the clock signal to the sinusoidal signal generator;
the second ePWM module is used for generating a first PWM wave signal according to a clock signal provided by the crystal oscillator and a received second frequency and transmitting the first PWM wave signal to the sinusoidal signal generator, and the frequency ratio of the first PWM wave signal frequency to the sinusoidal signal generator clock signal is 1:50;
the third ePWM module is used for generating a second PWM wave signal according to a clock signal provided by the crystal oscillator and a received third frequency and transmitting the second PWM wave signal to the sinusoidal signal generator, the frequency ratio of the frequency of the second PWM wave signal to the clock signal of the sinusoidal signal generator is 1:50, and the phase difference of the second PWM wave signal and the first PWM wave signal is 90 degrees;
the forward and backward rotation switch is used for inputting forward rotation or reverse rotation or stopping analog signals to the embedded microprocessor;
the current feedback circuit is used for measuring an analog signal of the working current of the ultrasonic motor and transmitting the analog signal to the embedded microprocessor;
the voltage feedback circuit is used for measuring an analog signal of the working voltage of the ultrasonic motor and transmitting the analog signal to the embedded microprocessor;
the encoder is used for measuring the rotation angle of the rotor of the ultrasonic motor or the displacement of the rotor, generating corresponding pulse signals and transmitting the pulse signals to the embedded microprocessor;
the speed regulating switch is used for inputting a speed regulating analog signal to the embedded microprocessor;
the GPIO unit is used for converting the analog signal input by the forward and reverse rotation switch into a digital signal and transmitting the digital signal to the operation unit;
the ADC unit is used for converting analog signals input by the current feedback circuit and the voltage feedback circuit into digital signals and transmitting the digital signals to the operation unit;
the eQEP unit is used for converting the pulse signal input by the encoder into a digital signal and transmitting the digital signal to the operation unit;
the operation unit is used for calculating a first frequency, a second frequency and a third frequency according to the digital signals converted by the forward and reverse rotation switch, the speed regulating switch, the current feedback circuit, the voltage feedback circuit and the encoder, and transmitting the first frequency, the second frequency and the third frequency to the first ePWM module, the second ePWM module and the third ePWM module respectively; when the arithmetic unit does not receive the digital signals converted by the forward and reverse rotation switch, the speed regulating switch, the current feedback circuit, the voltage feedback circuit and the encoder, the arithmetic unit respectively transmits a preset first frequency threshold value, a preset second frequency threshold value and a preset third frequency threshold value to the first ePWM module, the second frequency and the preset third frequency threshold value as the first frequency, the second frequency and the preset third frequency;
the sine signal generator is used for generating a first sine wave signal and a second sine wave signal according to the received clock signal of the sine signal generator, the first PWM wave signal and the second PWM wave signal, and transmitting the first sine wave signal and the second sine wave signal to the power amplifier matching circuit, wherein the phase difference between the first sine wave signal and the second sine wave signal is 90 degrees;
the power amplifier matching circuit is used for generating a first driving signal and a second driving signal according to the received first sine wave signal and the received second sine wave signal, and the phase difference of the first driving signal and the second driving signal is 90 degrees and is used for driving an ultrasonic motor to be controlled.
The power amplifier matching circuit comprises a Class D audio power amplifier chip, first to second step-up transformers and first to second parallel inductors;
the Class D audio power amplifier chip is respectively connected with the sinusoidal signal generator, the input end of the first step-up transformer and the input end of the second step-up transformer; the input ends of the first step-up transformer and the second step-up transformer are respectively connected with one ends of the first parallel inductor and the second parallel inductor, and the other ends of the first parallel inductor and the second parallel inductor are respectively connected with two driving ends of the ultrasonic motor to be controlled;
the Class D audio power amplifier chip is used for generating SPWM wave signals SinA and SinB according to the received first sine wave signals, inputting the SPWM wave signals SinA and SinB to the first step-up transformer, generating SPWM wave signals CosA and CosB according to the received second sine wave signals, and inputting the SPWM wave signals CosA and CosB to the second step-up transformer, wherein the SinA signal and the SinB signal are a group of differential signals, and the CosA signal and the CosB signal are a group of differential signals;
the SinA signal and the SinB signal are boosted by a first boosting transformer and then are matched through a first parallel inductor to generate a first driving signal;
the CosA signal and the CosB signal are boosted by a second boosting transformer and then are matched through a second parallel inductor to generate a second driving signal;
the phase difference between the first driving signal and the second driving signal is 90 degrees, and the first driving signal and the second driving signal are used for driving an ultrasonic motor to be controlled.
A pulse absorption circuit is arranged between the Class D audio power amplifier chip and the first and second step-up transformers.
The model of the embedded microprocessor adopts TMS320F28335 preferentially.
The forward and reverse rotation switch adopts a single-pole three-throw switch.
The embedded microprocessor can further comprise an SCI unit, wherein the SCI unit is used for transmitting the digital signals converted by the current feedback circuit, the voltage feedback circuit and the encoder to the upper computer.
As shown in fig. 2, the sinusoidal signal generator includes a dc power supply, a first active filter, a second active filter, first to second resistors, and first to third capacitors. The first active filter and the second active filter are of the MAX295 type.
The direct current power supply is a 5V power supply, the positive electrode of the direct current power supply is respectively connected with one end of the first capacitor, one end of the second capacitor, one end of the first resistor, the V+ pin of the first active filter and the V+ pin of the second active filter, and the negative electrode of the direct current power supply is respectively connected with the other end of the first capacitor, the other end of the second capacitor, one end of the second resistor, one end of the third capacitor, the V-pin of the first active filter and the V-pin of the second active filter and then grounded.
The other end of the first resistor is respectively connected with the other end of the second resistor, the other end of the third capacitor, the GND pin of the first active filter and the GND pin of the second active filter; the CLK pin of the first active filter and the CLK pin of the second active filter are connected with the first ePWM module; the IN pin of the first active filter and the IN pin of the second active filter are correspondingly connected with the second ePWM module and the third ePWM module respectively; the OP IN pin of the first active filter is connected with the OP OUT pin of the first active filter, and the OP IN pin of the second active filter is connected with the OP OUT pin of the second active filter; the OUT pin of the first active filter and the OUT pin of the second active filter are connected with the power amplifier matching circuit. The direct current power supply and the voltage dividing resistors R1 and R2 supply power for the active filter of the dual power supply; the capacitors C1 and C2 are bypass capacitors and decoupling capacitors; the sliding rheostat R3 and the resistor R4 are used for adjusting the amplitude of the sinusoidal signal; the active filter receives signals output by the first ePWM module, the second ePWM module and the third ePWM module of the embedded microprocessor, and generates two paths of sine waves with 90-degree phase difference.
As shown in fig. 3, the clock signal of the external crystal oscillator unit is input into the embedded microprocessor, the ePWM module of the embedded microprocessor outputs a clock signal of a sinusoidal signal generator and two PWM waves with 90 ° phase difference amplitude of 3.3V, two sinusoidal waves with 90 ° phase difference peak value of 3.3V are generated by filtering with an active filter, two sets of differential SPWM waves are generated by a power amplifier circuit based on an audio power amplifier, and finally two sinusoidal waveforms with 90 ° phase difference peak value of 300V-400V are generated by an amplifying/matching circuit to drive the ultrasonic motor.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.
Claims (6)
1. The ultrasonic motor driving controller based on the audio power amplifier is characterized by comprising a crystal oscillator, an embedded microprocessor, a sinusoidal signal generator, a power amplifier matching circuit, a forward and reverse rotation switch, a speed regulating switch, a current feedback circuit, a voltage feedback circuit, an encoder and a power module, wherein the embedded microprocessor is respectively and electrically connected with the power module, the forward and reverse rotation switch, the speed regulating switch, the current feedback circuit, the voltage feedback circuit, the encoder, the crystal oscillator and the input side of the sinusoidal signal generator, and the output side of the sinusoidal signal generator is connected with an ultrasonic motor to be driven through the power amplifier matching circuit;
the crystal oscillator is used for providing a clock signal for the embedded microprocessor;
the embedded microprocessor comprises a first ePWM module, a second ePWM module, a third ePWM module, an operation unit, a GPIO unit, an ADC unit and an eQEP unit;
the first ePWM module is used for generating a clock signal of a sinusoidal signal generator according to a clock signal provided by the crystal oscillator and the received first frequency and transmitting the clock signal to the sinusoidal signal generator;
the second ePWM module is used for generating a first PWM wave signal according to a clock signal provided by the crystal oscillator and a received second frequency and transmitting the first PWM wave signal to the sinusoidal signal generator, and the frequency ratio of the first PWM wave signal frequency to the sinusoidal signal generator clock signal is 1:50;
the third ePWM module is used for generating a second PWM wave signal according to a clock signal provided by the crystal oscillator and a received third frequency and transmitting the second PWM wave signal to the sinusoidal signal generator, the frequency ratio of the frequency of the second PWM wave signal to the clock signal of the sinusoidal signal generator is 1:50, and the phase difference of the second PWM wave signal and the first PWM wave signal is 90 degrees;
the positive and negative rotation switch is used for inputting a positive rotation or reverse rotation or stopping analog signal to the embedded microprocessor;
the current feedback circuit is used for measuring an analog signal of the working current of the ultrasonic motor and transmitting the analog signal to the embedded microprocessor;
the voltage feedback circuit is used for measuring an analog signal of the working voltage of the ultrasonic motor and transmitting the analog signal to the embedded microprocessor;
the encoder is used for measuring the rotation angle of the rotor of the ultrasonic motor or the displacement of the rotor, generating corresponding pulse signals and transmitting the pulse signals to the embedded microprocessor;
the speed regulation switch is used for inputting a speed regulation analog signal to the embedded microprocessor;
the GPIO unit is used for converting the analog signal input by the forward and reverse switch into a digital signal and transmitting the digital signal to the operation unit;
the ADC unit is used for converting analog signals input by the current feedback circuit and the voltage feedback circuit into digital signals and transmitting the digital signals to the operation unit;
the eQEP unit is used for converting the pulse signal input by the encoder into a digital signal and transmitting the digital signal to the operation unit;
the operation unit is used for calculating a first frequency, a second frequency and a third frequency according to the digital signals converted by the forward and reverse rotation switch, the speed regulating switch, the current feedback circuit, the voltage feedback circuit and the encoder, and transmitting the first frequency, the second frequency and the third frequency to the first ePWM module, the second ePWM module and the third ePWM module respectively; when the arithmetic unit does not receive the digital signals converted by the forward and reverse rotation switch, the speed regulating switch, the current feedback circuit, the voltage feedback circuit and the encoder, the arithmetic unit respectively transmits a preset first frequency threshold value, a preset second frequency threshold value and a preset third frequency threshold value to the first ePWM module, the second ePWM module and the preset third frequency threshold value as the first frequency, the preset second frequency and the preset third frequency;
the sine signal generator is used for generating a first sine wave signal and a second sine wave signal according to the received sine signal generator clock signal, the first PWM wave signal and the second PWM wave signal, and transmitting the first sine wave signal and the second sine wave signal to the power amplifier matching circuit, and the phase difference between the first sine wave signal and the second sine wave signal is 90 degrees;
the power amplifier matching circuit is used for generating a first driving signal and a second driving signal according to the received first sine wave signal and the received second sine wave signal, and the phase difference of the first driving signal and the second driving signal is 90 degrees and is used for driving an ultrasonic motor to be controlled;
the power amplifier matching circuit comprises a Class D audio power amplifier chip, first to second step-up transformers and first to second parallel inductors;
the Class D audio power amplifier chip is respectively connected with the sinusoidal signal generator, the input end of the first step-up transformer and the input end of the second step-up transformer; the input ends of the first step-up transformer and the second step-up transformer are respectively connected with one ends of the first parallel inductor and the second parallel inductor, and the other ends of the first parallel inductor and the second parallel inductor are respectively connected with two driving ends of an ultrasonic motor to be controlled;
the Class D audio power amplifier chip is used for generating SPWM wave signals SinA and SinB according to the received first sine wave signals, inputting the SPWM wave signals SinA and SinB to the first step-up transformer, generating SPWM wave signals CosA and CosB according to the received second sine wave signals, and inputting the SPWM wave signals CosA and CosB to the second step-up transformer, wherein the SinA signal and the SinB signal are a group of differential signals, and the CosA signal and the CosB signal are a group of differential signals;
the SinA signal and the SinB signal are boosted by a first boosting transformer and then are matched through a first parallel inductor to generate a first driving signal;
the CosA signal and the CosB signal are boosted by a second boosting transformer and then are matched through a second parallel inductor to generate a second driving signal;
the phase difference between the first driving signal and the second driving signal is 90 degrees, and the first driving signal and the second driving signal are used for driving the ultrasonic motor to be controlled.
2. The audio power amplifier-based ultrasonic motor drive controller of claim 1, wherein the sinusoidal signal generator comprises a dc power source, a first active filter, a second active filter, first to second resistors, and first to third capacitors;
the models of the first active filter and the second active filter are MAX295;
the direct current power supply is a 5V power supply, the positive electrode of the direct current power supply is respectively connected with one end of a first capacitor, one end of a second capacitor, one end of a first resistor, a V+ pin of a first active filter and a V+ pin of a second active filter, and the negative electrode of the direct current power supply is respectively connected with the other end of the first capacitor, the other end of the second capacitor, one end of a second resistor, one end of a third capacitor, the V-pin of the first active filter and the V-pin of the second active filter and then grounded;
the other end of the first resistor is respectively connected with the other end of the second resistor, the other end of the third capacitor, the GND pin of the first active filter and the GND pin of the second active filter;
the CLK pin of the first active filter and the CLK pin of the second active filter are connected with the first ePWM module;
the IN pin of the first active filter and the IN pin of the second active filter are correspondingly connected with the second ePWM module and the third ePWM module respectively;
the OP IN pin of the first active filter is connected with the OP OUT pin of the first active filter, and the OP IN pin of the second active filter is connected with the OP OUT pin of the second active filter;
and the OUT pin of the first active filter and the OUT pin of the second active filter are connected with the power amplifier matching circuit.
3. The ultrasonic motor driving controller based on the audio power amplifier according to claim 2, wherein a pulse absorption circuit is arranged between the Class D audio power amplifier chip and the first step-up transformer and the second step-up transformer.
4. The ultrasonic motor drive controller based on an audio power amplifier of claim 1, wherein the embedded microprocessor is model TMS320F28335.
5. The ultrasonic motor drive controller based on an audio power amplifier according to claim 1, wherein the forward and reverse rotation switch is a single pole three throw switch.
6. The ultrasonic motor drive controller based on the audio power amplifier according to claim 1, wherein the embedded microprocessor further comprises an SCI unit, and the SCI unit is used for transmitting the digital signals converted by the current feedback circuit, the voltage feedback circuit and the encoder to an upper computer.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5198732A (en) * | 1991-08-22 | 1993-03-30 | Mitsubishi Jukogyo Kabushiki Kaisha | Rotation control system for ultrasonic motor |
| CN103346693A (en) * | 2013-07-03 | 2013-10-09 | 南京航空航天大学 | Embedded-type driving controller for ultrasonic motor two-freedom-degree platform |
| CN208386439U (en) * | 2018-05-21 | 2019-01-15 | 南京航空航天大学 | A kind of ultrasound motor drive controller based on audio frequency power amplifier |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5198732A (en) * | 1991-08-22 | 1993-03-30 | Mitsubishi Jukogyo Kabushiki Kaisha | Rotation control system for ultrasonic motor |
| CN103346693A (en) * | 2013-07-03 | 2013-10-09 | 南京航空航天大学 | Embedded-type driving controller for ultrasonic motor two-freedom-degree platform |
| CN208386439U (en) * | 2018-05-21 | 2019-01-15 | 南京航空航天大学 | A kind of ultrasound motor drive controller based on audio frequency power amplifier |
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