CN111123895A - Linear ultrasonic motor performance measurement and control system and measurement and control method based on LabVIEW - Google Patents
Linear ultrasonic motor performance measurement and control system and measurement and control method based on LabVIEW Download PDFInfo
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- CN111123895A CN111123895A CN201911394869.8A CN201911394869A CN111123895A CN 111123895 A CN111123895 A CN 111123895A CN 201911394869 A CN201911394869 A CN 201911394869A CN 111123895 A CN111123895 A CN 111123895A
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- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0224—Process history based detection method, e.g. whereby history implies the availability of large amounts of data
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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Abstract
The invention provides a linear ultrasonic motor performance measurement and control system and a measurement and control method based on LabVIEW, wherein the measurement and control system comprises a microscopic laser displacement sensor and a macroscopic laser displacement sensor and is used for representing the output characteristics of a stator and the output characteristics and transient characteristics of a rotor; the device also comprises a signal conditioning circuit board, so that the conditioning and the voltage reduction of the motor driving voltage, the conditioning and the amplification of the motor driving current and the conditioning and the amplification of the locked-rotor thrust of the motor are realized, and the accuracy of the test is improved in the aspect of hardware; and the motor driving voltage and the driving current are used for representing the input characteristic of the motor, and the rotor speed and the motor thrust are used for representing the output characteristic of the motor. The invention can accurately and comprehensively test the input characteristic, the output characteristic and the transient characteristic of the linear ultrasonic motor.
Description
Technical Field
The invention relates to the technical field of testing of linear ultrasonic motors, in particular to a LabVIEW-based linear ultrasonic motor performance measurement and control system and a measurement and control method.
Background
The ultrasonic motor has a wide application prospect in various fields due to various advantages, such as no electromagnetic interference, outage self-locking, quick response and compact structure, so that the testing technology of the ultrasonic motor starts to rise, and the testing device and the testing method disclosed by Chinese patent (CN103278770) only measure the output torque/force of the motor and do not research the output characteristics of the motor; the testing device disclosed in the chinese patent (CN110018416A) is suitable for a rotary ultrasonic motor, and does not study the relationship between the amplitude of the stator of the ultrasonic motor and the frequency of the driving voltage; in the prior art, an oscilloscope, a dynamometer and a speedometer are adopted to conveniently obtain a measured value, but the instruments and equipment are mutually independent, and the equipment cost is high. Therefore, it is necessary to develop a linear ultrasonic motor measurement and control system with multi-parameter measurement, accurate measurement and low cost.
Disclosure of Invention
The invention aims to solve the problems of incomplete test parameters, low precision and the like of the conventional linear ultrasonic motor test system, and provides a linear ultrasonic motor performance measurement and control system and a measurement and control method based on LabVIEW, so that comprehensive, efficient and accurate tests on the input characteristic, the output characteristic and the transient characteristic of a linear ultrasonic motor are realized.
The linear ultrasonic motor performance measurement and control system based on LabVIEW comprises a linear ultrasonic motor, a microscopic laser displacement sensor and a macroscopic laser displacement sensor, wherein the microscopic laser displacement sensor and the macroscopic laser displacement sensor are opposite to the linear ultrasonic motor; the linear ultrasonic motor is connected with the voltage measuring circuit and the current sensor, and is also contacted with the force sensor; the voltage measuring circuit, the current sensor and the force sensor are all connected with the signal conditioning circuit board; and the micro laser displacement sensor, the macro laser displacement sensor, the conditioning circuit board and the computer are in data transmission.
In the above technical scheme, the signal conditioning circuit board includes a force sensor signal processing module, a current sensor signal processing module and a motor driving voltage signal processing module.
In the above technical scheme, the force sensor signal processing module and the current sensor signal processing module are both provided with a zero setting circuit and an adjustable amplifying circuit.
In the above technical scheme, a phase detection circuit is arranged in the motor driving voltage signal processing module, and the phase detection circuit converts two paths of square wave signals into a two-phase driving voltage phase difference and a motor frequency of the motor by using a trigger.
In the technical scheme, the microscopic laser displacement sensor and the conditioning circuit board are both connected with a data acquisition card I, and the conditioning circuit board and the macroscopic laser displacement sensor are both connected with a data acquisition card II; and the data acquisition card I and the data acquisition card II are both connected with a high level generating circuit.
The linear ultrasonic motor performance measurement and control method based on LabVIEW detects motor driving current and driving voltage, motor stator amplitude, motor rotor displacement speed and motor locked rotor thrust, and represents input characteristics, output characteristics and transient characteristics of a motor.
Further, the input characteristics of the motor are represented by the motor driving current and the driving voltage, and specifically are as follows: and performing power spectrum measurement, filtering and conversion on the detected motor driving current and driving voltage to obtain the instantaneous driving voltage and driving current value of the motor, and calculating effective values of the voltage and the current by adopting a true effective value method to obtain the input power of the linear ultrasonic motor.
Further, the output characteristic of motor stator is represented by motor stator amplitude, specifically: and filtering and converting the detected amplitude of the motor stator, then carrying out differential processing or power spectrum measurement, obtaining the vibration speed of the stator through differential processing, and obtaining the mechanical resonance frequency of the motor through power spectrum measurement.
Further, the output characteristic of the motor rotor is represented by the displacement speed of the motor rotor, and specifically comprises the following steps: and filtering, fitting and converting the detected displacement speed of the motor rotor to obtain an actual displacement value of the rotor, acquiring the speed of the rotor, and acquiring an output thrust value of the rotor by combining the actual displacement value of the rotor with Hooke's law.
Furthermore, the rotor speed stabilization stage is taken as the steady-state speed of the rotor, the starting time of the rotor is obtained through calculation, and the transient characteristic of the linear ultrasonic motor is represented.
Compared with the prior art, the technical scheme provided by the invention has the following remarkable effects:
(1) the invention relates to a linear ultrasonic motor performance measurement and control system based on LabVIEW, which comprises a microscopic laser displacement sensor and a macroscopic laser displacement sensor which are opposite to a linear ultrasonic motor, wherein the microscopic laser displacement sensor and the macroscopic laser displacement sensor are respectively used for detecting the amplitude of a stator and the displacement of a rotor of the linear ultrasonic motor, so that the vibration speed of the stator, the mechanical resonance frequency of the stator, the starting time of the rotor and a speed curve are obtained, and the output characteristic of the stator, the output characteristic of the rotor and the transient characteristic are accurately represented.
(2) The invention relates to a linear ultrasonic motor performance measurement and control system based on LabVIEW, which comprises a signal conditioning circuit board, wherein the signal conditioning circuit board comprises a force sensor signal processing module, a current sensor signal processing module and a motor driving voltage signal processing module; adjustable amplifying circuits are arranged in the force sensor signal processing module and the current sensor signal processing module, so that further amplification of signals is realized, and the detection accuracy is improved; a zero setting circuit is arranged in the current sensor signal processing module, so that direct current signals in the current sensor can be removed, and the detection accuracy is improved; the zero setting circuit is arranged in the force sensor signal processing module, so that the temperature drift of the force sensor can be inhibited, and the initial voltage of the force sensor is stable; the motor driving voltage signal processing module is internally provided with a phase detection circuit which converts two paths of square wave signals into two-phase driving voltage phase difference and motor frequency of the motor by using a trigger and is used for detecting whether a set value and an actual value of the signal generator are different or not, and when the set value and the actual value are different, the measurement and control system stops working.
(3) The linear ultrasonic motor performance measurement and control system based on LabVIEW comprises a data acquisition card I and a data acquisition card II which are both connected with a high-level generating circuit, wherein the data acquisition cards acquire data synchronously, and a program queue structure is designed to ensure that the acquired data are not heavy and leak.
Drawings
FIG. 1 is a schematic structural diagram of a LabVIEW-based linear ultrasonic motor performance measurement and control system of the invention;
FIG. 2 is a functional block diagram of a signal conditioning circuit board according to the present invention;
FIG. 3 is a high level generation circuit diagram of the present invention;
FIG. 4 is a flow chart of measurement and control of the performance of a linear ultrasonic motor based on LabVIEW.
Wherein: 1-a signal generator, 2-a power amplifier, 3-a voltage measuring circuit, 4-a current sensor, 5-a linear ultrasonic motor, 6-a microscopic laser displacement sensor, 7-a force sensor, 8-a macroscopic laser displacement sensor, 9-a signal conditioning circuit board, 10-a data acquisition card I, 11-a data acquisition card II, 12-a computer.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in figure 1, the LabVIEW-based linear ultrasonic motor performance measurement and control system comprises a signal generator 1, a power amplifier 2, a voltage measuring circuit 3, a current sensor 4, a linear ultrasonic motor 5, a microscopic laser displacement sensor 6, a force sensor 7, a macroscopic laser displacement sensor 8, a signal conditioning circuit board 9, a data acquisition card I10, a data acquisition card II11 and a computer 12.
The output end of the signal generator 1 is connected with the input end of the power amplifier 2, the output end of the power amplifier 2 is connected with the power supply end of the linear ultrasonic motor 5, the power supply wiring terminal of the linear ultrasonic motor 5 is connected with the voltage measuring circuit 3, and the power supply wiring terminal simultaneously penetrates through the current sensor 4 and is used for detecting the driving voltage and the driving current of the motor; a rotor of the linear ultrasonic motor 5 is in contact with the force sensor 7 and is used for detecting the locked rotor thrust of the motor; the microscopic laser displacement sensor 6 is right opposite to the stator of the linear ultrasonic motor 5, detects the microscopic amplitude of the stator of the motor and is used for acquiring the amplitude, the vibration speed and the mechanical resonance frequency of the stator; the macroscopic laser displacement sensor 8 is right opposite to the rotor of the linear ultrasonic motor 5, detects the transient displacement characteristic and the steady displacement characteristic of the motor rotor, and is used for acquiring the transient speed and the steady speed of the rotor and the starting time of the rotor; the output end of the voltage measuring circuit 3, the output end of the current sensor 4 and the output end of the force sensor 7 are connected with the input end of the conditioning circuit board 9; the output end of the microscopic laser displacement sensor 6 and the output end of the conditioning circuit board 9 are both connected with the analog input end of the data acquisition card I10, and the output end of the conditioning circuit board 9 and the output end of the macroscopic laser displacement sensor 8 are both connected with the analog input end of the data acquisition card II 11; the output end of the data acquisition card I10 is connected with the computer 12 through a PCI port, and the output end of the data acquisition card II11 is connected with the computer 12 through a USB data line.
As shown in fig. 2, the conditioning circuit board 9 includes a force sensor signal processing module, a current sensor signal processing module, and a motor driving voltage signal processing module.
A force sensor signal module: the signal output end of the force sensor is sequentially connected with the zero setting circuit, the instrument amplifying circuit and the operational amplifier circuit and finally connected to the analog input end of the data acquisition card. Adjusting the initial voltage value of the force sensor to 0 value by rotating a precise adjustable resistor in the zero setting circuit; the instrument amplification circuit is used for amplifying the output voltage signal of the force sensor; the operational amplification circuit realizes further amplification of the output voltage of the force sensor, and the amplification factor can be changed through a precise adjustable resistor in the operational amplification circuit.
The current sensor signal processing module: the signal output end of the current sensor is sequentially connected with the zero setting circuit, the following circuit and the operational amplification circuit and finally connected to the analog input end of the data acquisition card. Adjusting the initial voltage value of the current sensor to 0 by rotating a precise adjustable resistor in the conditioning circuit; the following circuit realizes voltage following and isolates the front and rear end circuits; the operational amplification circuit is used for amplifying the output voltage signal of the current sensor.
The motor driving voltage signal processing module: for the detection of the driving voltage of the linear ultrasonic motor 5, the driving voltage is firstly connected into the resistance voltage division circuit and then connected into the voltage follower circuit, on one hand, the output voltage of the voltage follower circuit is connected into the analog input end of the data acquisition card, on the other hand, the output voltage of the voltage follower circuit is continuously connected into the zero-crossing comparison circuit and the phase detection circuit, and finally, the output voltage is sent into the digital input end of the data acquisition card. The driving voltage of the linear ultrasonic motor 5 is reduced to a voltage range which can be collected by a data acquisition card through a resistance voltage division circuit; the following circuit realizes voltage following and isolates the front and rear end circuits; the zero-crossing comparison circuit converts the input sinusoidal signal into a square wave signal; the phase detection circuit converts two paths of square wave signals into square wave signals capable of representing the phase difference of two-phase driving voltage of the linear ultrasonic motor and the frequency information of the linear ultrasonic motor by using the double D triggers, and is used for detecting whether set values of the phase and the frequency of the signal generator are different from actual values or not, and when the set values are different, the measurement and control system stops working.
When the number of signals to be acquired exceeds the total number of channels of the data acquisition card I10, the digital input ends of the data acquisition card I10 and the data acquisition card II11 are connected with the OUT end of the high level generating circuit (shown in figure 3). When the switch button S is pressed, the OUT end outputs high level, and the computer 12 starts to really read the data of each semaphore only when detecting that the digital input ends of the data acquisition card I10 and the data acquisition card II11 are changed into high level, so as to realize the synchronous acquisition of the two data acquisition cards; when the switch button S is pressed, the relay coil KA is electrified, and the power supply wiring terminal of the linear ultrasonic motor 5 is connected with the power amplifier 2, so that the ultrasonic motor is started and braked.
The linear ultrasonic motor performance measurement and control method based on LabVIEW comprises the steps that each sensor detects motor driving current and driving voltage, motor stator amplitude, motor rotor displacement speed and motor stalling thrust respectively, the motor driving current, the motor driving voltage and the motor stalling thrust are conditioned through a signal conditioning circuit board and then are sent to a computer through a data acquisition card, the motor stator amplitude and the motor rotor displacement speed are sent to the computer through the data acquisition card, and after being processed through a LabVIEW program, all parameters of a motor are displayed in real time and recorded and analyzed.
As shown in fig. 4, the computer 12 runs LabVIEW software and enters the test item selection interface after the user selects to enter the login interface and the username and password are entered correctly. When the linear ultrasonic motor stator amplitude test item is selected, the computer 12 firstly performs spectrum analysis on the data acquired by the data acquisition card I10 to obtain a frequency domain diagram of the data acquired by the data acquisition card I10, determines the passing frequency and the cut-off frequency of the band-pass filter according to the frequency domain diagram, and then performs amplitude limiting filtering to remove abnormal points. And (4) converting the filtered data into a real stator amplitude value by using a coefficient, and then carrying out differential processing or carrying out power spectrum measurement again. The vibration speed curve of the stator of the linear ultrasonic motor 5 can be obtained by carrying out differential processing on the amplitude value of the stator; the mechanical resonance frequency of the linear ultrasonic motor 5 can be determined according to the frequency corresponding to the position where the maximum power value occurs by performing power spectrum measurement on the stator amplitude value.
When the motor driving voltage and driving current test items are selected, the computer 12 firstly performs power spectrum measurement on the data acquired by the data acquisition card I10 to obtain a frequency domain diagram of the acquired data, determines the passing frequency and the cut-off frequency of the band-pass filter according to the frequency domain diagram, and then performs amplitude limiting filtering to remove abnormal points. And then, carrying out coefficient conversion on the filtered data to obtain actual instantaneous driving voltage and driving current of the motor, carrying out power spectrum measurement on the instantaneous driving voltage and the instantaneous driving current to obtain a frequency domain diagram, analyzing the frequency domain diagram to judge whether the driving voltage and the driving current are distorted, and reducing the driving voltage of the motor when the distortion occurs. True effective value method for the instantaneous driving voltage and driving current (
Wherein U is the effective value of the driving voltage, I is the effective value of the driving current, UkFor driving voltage transients, ikN is the number of sampling points for driving the current instantaneous value) to calculate the effective values of the voltage and the current, calculate the phase difference ψ of the driving voltage and the current of the linear ultrasonic motor 5 by using a frequency spectrum analysis method, and calculate the input power of the linear ultrasonic motor 5 according to the formula P ═ UIcos ψ.
When a locked-rotor thrust test item is selected, the computer 12 firstly carries out amplitude limiting filtering and first-order lag filtering on data acquired by the data acquisition card II11 to remove data abnormal points and smooth curves, then converts the filtered data coefficients into real locked-rotor thrust values, and takes the average value of the stable stage of the thrust curve as the maximum locked-rotor thrust value of the motor.
When a mover displacement test item is selected, the computer 12 firstly performs amplitude limiting filtering, least square fitting and low-pass filtering on data acquired by the data acquisition card II11, and then performs coefficient conversion on the filtered dataObtaining a mover speed curve for the actual displacement value of the mover by adopting a differential method, taking the speed stable stage of the mover as the stable speed of the mover, and using a formula delta t equal to tv*95％-tv*5％(tv*95％Time value, t, representing 95% of the speed reaching steady state speedv*5％A time value representing that the speed reaches 5% of the steady-state speed) to obtain the start time of the rotor; and calculating the output thrust value of the rotor by using the actual displacement value of the rotor and Hooke's law. And calculating the output power value of the linear ultrasonic motor 5 according to the output speed and the output thrust value of the rotor. And then the operating efficiency of the linear ultrasonic motor can be obtained according to the calculated input power value of the motor.
Examples
Clamping a linear ultrasonic motor 5 on a clamping table, applying constant-voltage variable-frequency voltage to the linear ultrasonic motor 5 by a power amplifier 2, enabling a microscopic laser displacement sensor 6 to be in laser impact on a stator driving head of the linear ultrasonic motor 5, acquiring microscopic amplitude of a stator by a data acquisition card I10, firstly carrying out software filtering processing on microscopic amplitude data of the stator in a computer 12, then carrying out differential processing on the filtered microscopic amplitude data of the stator to obtain the vibration speed of the stator, and representing the output characteristic of the stator of the motor by using the amplitude and the vibration speed of the stator of the linear ultrasonic motor 5; meanwhile, the vibration characteristic of the stator amplitude of the linear ultrasonic motor 5 in a frequency domain can be obtained by performing power spectrum measurement on the filtered stator microscopic amplitude data, the mechanical resonance frequency of the linear ultrasonic motor 5 is correspondingly found according to the position where the maximum power value appears, and when the driving voltage frequency of the linear ultrasonic motor 5 is the mechanical resonance frequency, the output characteristic of the motor can be well improved.
The linear ultrasonic motor 5 is installed on a guide rail, the linear ultrasonic motor 5 is started, one end of a force sensor 7 is in contact with a guide rail sliding strip, the other end of the force sensor 7 is in contact with a baffle plate on which the force sensor is installed, a data acquisition card II11 acquires a voltage value output by the force sensor 7, a computer 12 performs software low-pass filtering on a voltage value acquired by a data acquisition card II11, and then the voltage value is multiplied by a conversion coefficient to obtain the locked-rotor thrust of the linear ultrasonic motor 5 so as to represent an output thrust item in the output characteristic of the linear ultrasonic motor 5.
The method comprises the steps of striking laser of a macroscopic laser displacement sensor 9 on a rotor interface of a linear ultrasonic motor 5, using a tension spring as a load, connecting a power supply terminal of the linear ultrasonic motor 5 into a voltage measuring circuit 3 and a current sensor 4, starting the linear ultrasonic motor 5, and collecting displacement of a rotor of the linear ultrasonic motor 5 by a data collection card II 11. The computer 12 performs software low-pass filtering on the voltage value of the data acquisition card II11, and then multiplies a conversion coefficient to obtain a mover displacement value of the linear ultrasonic motor 5, wherein the displacement value is the deformation quantity of the tension spring, and the motor output thrust is obtained according to Hooke's law; and meanwhile, carrying out differential processing on the filtered displacement data to obtain a speed curve of the linear ultrasonic motor 5 rotor, and calculating a speed average value of the linear ultrasonic motor 5 in a stable stage of the speed curve to be used as a stable speed value of the linear ultrasonic motor. Describing the output characteristics of the motor by using the steady-state speed value and the output thrust value, and further calculating the output power of the linear ultrasonic motor 5; at the same time, the time difference between the speed value at which the steady-state speed occurs 95% and the speed value at which the steady-state speed occurs 5% (Δ t)v*95％-tv*5％) And (5) representing the transient characteristics of the linear ultrasonic motor. The data acquisition card I10 acquires motor driving voltage and driving current, the computer 12 performs band-pass filtering on the voltage data acquired by the data acquisition card I10, and then multiplies the voltage data by a conversion coefficient to obtain real driving voltage and driving current values, and effective values and phase differences of the driving voltage and the driving current are calculated to obtain input power, so that the efficiency of the whole linear ultrasonic motor 5 is obtained.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (10)
1. The LabVIEW-based linear ultrasonic motor performance measurement and control system is characterized by comprising a linear ultrasonic motor (5), a microscopic laser displacement sensor (6) and a macroscopic laser displacement sensor (8), wherein the microscopic laser displacement sensor and the macroscopic laser displacement sensor are opposite to the linear ultrasonic motor (5); the linear ultrasonic motor (5) is connected with the voltage measuring circuit (3) and the current sensor (4), and the linear ultrasonic motor (5) is also contacted with the force sensor (7); the voltage measuring circuit (3), the current sensor (4) and the force sensor (7) are all connected with a conditioning circuit board (9); and the micro laser displacement sensor (6), the macro laser displacement sensor (8), the signal conditioning circuit board (9) and the computer (12) are used for data transmission.
2. The LabVIEW-based linear ultrasonic motor performance measurement and control system as claimed in claim 1, wherein the signal conditioning circuit board (9) comprises a force sensor signal processing module, a current sensor signal processing module and a motor driving voltage signal processing module.
3. The LabVIEW-based linear ultrasonic motor performance measurement and control system as claimed in claim 2, wherein the force sensor signal processing module and the current sensor signal processing module are both provided with a zero setting circuit and an adjustable amplifying circuit.
4. The LabVIEW-based linear ultrasonic motor performance measurement and control system as claimed in claim 2, wherein a phase detection circuit is arranged in the motor driving voltage signal processing module, and the phase detection circuit converts two paths of square wave signals into a two-phase driving voltage phase difference and a motor frequency of the motor by using a trigger.
5. The LabVIEW-based linear ultrasonic motor performance measurement and control system as claimed in claim 1, wherein the microscopic laser displacement sensor (6) and the conditioning circuit board (9) are both connected with a data acquisition card I (10), and the conditioning circuit board (9) and the macroscopic laser displacement sensor (8) are both connected with a data acquisition card II (11); the data acquisition card I (10) and the data acquisition card II (11) are both connected with a high level generating circuit.
6. A linear ultrasonic motor performance measurement and control method based on LabVIEW according to any one of claims 1-5, characterized in that motor driving current and driving voltage, motor stator amplitude, motor rotor displacement speed and motor locked-rotor thrust are detected to characterize the input characteristic, output characteristic and transient characteristic of the motor.
7. The LabVIEW-based linear ultrasonic motor performance measurement and control method as claimed in claim 6, wherein the input characteristics of the motor are represented by motor driving current and driving voltage, and specifically: and carrying out power spectrum measurement, filtering and conversion on the detected motor driving current and driving voltage to obtain the instantaneous driving voltage and driving current value of the motor, and calculating the effective values of the voltage and the current by adopting a true effective value method to obtain the input power of the linear ultrasonic motor (5).
8. The LabVIEW-based linear ultrasonic motor performance measurement and control method as claimed in claim 6, wherein the motor stator amplitude represents the output characteristics of the motor stator, and specifically comprises: and filtering and converting the detected amplitude of the motor stator, then carrying out differential processing or power spectrum measurement, obtaining the vibration speed of the stator through differential processing, and obtaining the mechanical resonance frequency of the motor through power spectrum measurement.
9. The LabVIEW-based linear ultrasonic motor performance measurement and control method as claimed in claim 6, wherein the output characteristics of the motor rotor are represented by the displacement speed of the motor rotor, and specifically: and filtering, fitting and converting the detected displacement speed of the motor rotor to obtain an actual displacement value of the rotor, acquiring the speed of the rotor, and acquiring an output thrust value of the rotor by combining the actual displacement value of the rotor with Hooke's law.
10. The LabVIEW-based linear ultrasonic motor performance measurement and control method as claimed in claim 9, wherein a rotor speed stabilization stage is taken as a rotor steady-state speed, and a rotor start time is calculated to characterize the transient characteristics of the linear ultrasonic motor.
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