CN208939846U - A kind of superimposed pulse speed-adjusting driving system - Google Patents

Abstract

The utility model provides a kind of superimposed pulse speed-adjusting driving system, and the system comprises dsp chip, push-pull inverter circuit, booster circuit, inductance match circuit and ultrasound electric machines；Wherein, four road PWM output ends, respectively sinA, sinB, cosA and cosB are arranged in the dsp chip, and the PWM output of the dsp chip is linked into push-pull inverter circuit；After the push-pull inverter circuit successively carries out inversion, boosting amplification to PWM driving control signal again, through driving ultrasound electric machine rotation in inductance match circuit output sin, cos two path control signal input ultrasound electric machine.Motor is enabled to export the low speed of rad grade and the revolving speed of high stability by using the measuring system.Another advantage with this driving method is motor speed can be allowed rapidly to restore original speed rapidly after load variation, or in the case where constant load by the value of change m and n, and motor speed is allowed to adjust the speed to setting rapidly rapidly.

Description

A kind of superimposed pulse speed-adjusting driving system

Technical field:

The utility model relates to a kind of superimposed pulse speed-adjusting driving systems, belong to a kind of ultrasound electric machine power power-supply technology.

Background technique:

Ultrasound electric machine is also known as piezo-electric motor, is the novel of the vibration realizing driving of the ultrasonic frequency based on function ceramics Driver.Supersonic motor is related to vibration, kymatology, materialogy, tribology, electronics science, computing technique and experiment skill The multiple fields such as art, compared with conventional motors, with the slow-speed of revolution, torque is big, fast response time, cuts off self-lock, nanometer fraction Resolution, without electromagnetic interference the features such as.

Tradition, which adjusts motor speed, is that these three methods are adjusted by frequency modulation, pressure regulation and phase modulation, but these three methods Respectively there is disadvantage as driven at low speed method.Frequency modulation method load capacity is limited, frequency is excessively high will cause crawl；Phase modulation method low speed Difficulty in starting, there are dead zones, are non-linear relation between phase difference and speed；Voltage regulating method speed adjustable range is small, and speed is extremely difficult to Lower value.In consideration of it, how to design a kind of driving method of low speed, the defect in the presence of the above-mentioned prior art is overcome, It is those skilled in the art's technical problem urgently to be resolved.As shown in Fig. 2, the technical side of Patent No. US2007/0247023 Case, in the method that the setting discontinuity pulse of this two-phase of the sin and cos of motor exports, by the data such as Fig. 3 for testing measuring rotating speed Shown, although the low speed of rad can be obtained in this method, but revolving speed has significantly periodic jitter in real time；The reason is that motor is transported Row becomes normal in step run by the transient state of continuous operation in continuous periodical start-stop state, the fluctuation of speed of motor State, large inertia system lead to the unstable of system, the consequence of speed oscillation occur, have to the speed stability of motor very big It influences.

How to design the low speed of a kind of rad of grade and vibrate the driving method of smaller high stability, is this field skill How art personnel technical problem urgently to be resolved adjusts rapidly the speed of setting in addition to this in the case where constant load Degree, or in the case where constant load, motor revolving speed can be rapidly reached setting value, be always asking of facing of this field Topic, conventional method are the speed for allowing rotor adjusting to setting by adjusting frequency with pid algorithm, although effectively, with The difference of present speed and target velocity is bigger, and regulating time is longer.However many fields require motor energy after load variation It is enough to restore original speed rapidly, it can be solved the above problems by driving method provided by the utility model.

Utility model content:

In order to solve the problems, such as above-mentioned background technique, the utility model is intended to provide a kind of superimposed pulse speed regulation control Method processed, the utility model method enable motor to export the low speed of rad grade and vibrate smaller high stability；With this Driving method can allow motor speed to restore original speed rapidly, or constant negative by changing parameter after changing load In the case where load, revolving speed is allowed to adjust the speed to setting rapidly.

Technical solution: in order to realize function described above, the utility model provides a kind of superimposed pulse method for controlling speed regulation, It the described method comprises the following steps:

Fig. 4 is seen, firstly, four road PWM output ends, respectively sinA, sinB, cosA and cosB are arranged in dsp chip.This four tunnel Signal respectively drives four gate MOS pipes of push-pull circuit, exported after boosting using booster circuit amplification square wave driving with The ultrasound electric machine that inductance match circuit is connected makes its rotation.

Secondly, four road PWM output ends output pulse number n be a cycle, duty ratio be 25% square-wave pulse, each Period, sinA and sinB, cosA and cosB are sequentially output m pulse, the pulse that the end sin and cos endlap add in the form being superimposed Number is that (2*m-n) is a.

Finally, motor speed is adjusted by the value for adjusting m and n, the end sin is identical with the driving frequency at the end cos and can It adjusts, the finally obtained motor speed of difference and stability of the frequency of setting are also different.

The utility model has the following beneficial effects: the purpose of this utility model is to provide a kind of speed regulation of superimposed pulse to control System processed enables motor to export the low speed of rad grade and the revolving speed of high stability.In addition with this driving method One advantage is motor speed can be allowed rapidly to restore original speed rapidly after load variation by the value of change m and n Degree, or in the case where constant load, motor speed is allowed to adjust the speed to setting rapidly rapidly.

Detailed description of the invention:

Fig. 1 is push-pull circuit schematic diagram；

Fig. 2 is the driving pulse schematic diagram of discontinuity chopper speed control control method in the prior art；

Fig. 3 is the when m- hodograph obtained using prior art discontinuity chopper speed control control method；

Fig. 4 is the utility model superimposed pulse speed-adjusting driving system structural schematic diagram；

Fig. 5 is the utility model superimposed pulse method for controlling speed regulation driving pulse schematic diagram；

Fig. 6 is that the utility model superimposed pulse method for controlling speed regulation starts characteristic curve diagram；

Fig. 7 is the when m- hodograph obtained using the utility model technology superimposed pulse method for controlling speed regulation；

Fig. 8 is single cycle pulse monophasic pulses if-driving torque figure；

Fig. 9 is polycycle pulse monophasic pulses if-driving torque figure.

Specific embodiment:

The technical solution of the utility model is described in detail below in conjunction with attached drawing.

Fig. 1 describes the push-pull circuit of the drive system of the utility model, and drive system includes dsp chip and push-pull circuit, Four road PWM output ends are arranged in dsp chip, are connected respectively with sinA, sinB, cosA and cosB of push-pull circuit, the end sin and cos End is the output end of push-pull circuit, is connected respectively with the two-phase of ultrasound electric machine.

Fig. 2 describes the setting discontinuity pulse of two-phase provided in the technical solution of Patent No. US2007/0247023 The method of output, the area each period Fen Liangge of this method, the end sin and the end cos output pulse when be promoter region, signal sinA and SinB, cosA and cosB are two pairs of complementary gate drive signals of push-pull circuit, respectively with 180 degree phase output, wherein signal SinA and cosA phase difference is 90 degree.The end sin and the end cos stop when output being stop zone.

Fig. 3 is the experimental period-hodograph obtained using above-mentioned driving method, and experiment measuring rotating speed is 580arc sec/s In the case where, the low speed of rad can be obtained with the method that discontinuity pulse exports, but revolving speed has the significantly period in real time Property shake, the reason is that in continuous periodicity start-stop state, there is the consequence of speed oscillation, to motor speed in motor operation Stability has a very big impact.

In conjunction with Fig. 4, Fig. 4 is the structural schematic diagram of superimposed pulse speed-adjusting driving system provided by the utility model, DSP core Four road PWM output ends are arranged in piece, and respectively sinA, sinB, cosA and cosB, this four roads signal respectively drives the four of push-pull circuit A gate MOS pipe will form square wave driving after the boosting amplification of four road signals using booster circuit and be connected with inductance match circuit Ultrasound electric machine rotation.It is a cycle, the square-wave pulse that duty ratio is 25%, letter that four road PWM output ends, which export pulse number n, Number sinA and sinB, cosA and cosB are two pairs of complementary gate drive signals of push-pull circuit, respectively with 180 degree phase output, Wherein signal sinA and cosA phase difference are 90 degree.Each period, with sinA and sinB two paths of signals be starting, sinA and SinB two paths of signals stops output after first exporting m pulse immediately；During this period, when sinA and sinB two paths of signals has exported When (n-m) a pulse, cosA and cosB start to export first pulse, until m-th of pulse output finishes, superimposed pulse tune The a cycle of speed control method just finishes, and then the beginning of next cycle.The end each period sin and cos endlap The pulse number added is that (2*m-n) is a.

As shown in figure 5, by the area each period Fen Sange, respectively standing wave area, traveling wave area, standing wave area, the end sin or the end cos When pulse individually exports, when piezoelectric ceramic piece applies single-phase sine wave on stator, stator can generate stationary wave vibration, and stationary wave vibration makes It obtains rotor generation and empties phenomenon, contact area is reduced, and results in ultrasonic antifriction phenomenon, the frequency of the sine wave of application is closer to altogether Vibration frequency point, stator and rotor time of contact are shorter, and the frictional force between stator and rotor is smaller, are supplied to the negative of measurement motor Load torque is smaller, and vice versa, this section is known as standing wave area；During the end sin and the end cos superimposed pulses, motor two-phase is applied Add alternating voltage, form traveling wave after the piezoelectric ceramic piece two-phase standing wave superposition in ultrasonic motor stator, stator can generate traveling wave vibration Dynamic, this is vibrated so that generating contact friction function power drive rotor motion between rotor and stator, this section is known as going Wave area.

See Fig. 6, when being in traveling wave area, under the driving for the contact friction function power that motor generates between rotor and stator, Rotor starts turning until to stabilized (steady-state) speed, sees the starting indicatrix in figure；Standing wave area, standing wave are entered after traveling wave end of extent So that phenomenon is emptied in rotor generation, contact area reduces, results in ultrasonic antifriction phenomenon, have between rotor and stator at this time for vibration Certain frictional force, the revolving speed that this frictional force drives motor at traveling wave area glide, and see the shutdown indicatrix in figure, under When dropping to certain revolving speed, and traveling wave area is entered, motor speed begins to ramp up stabilized (steady-state) speed again, in cycles.In standing wave The speed that speed glides when area is related with the size that mill examines power, and the size of frictional force is related with the driving frequency of motor, driving Frequency is closer to the resonant frequency point of motor, and frictional force is with regard to smaller, and vice versa.The utility model superimposed pulse adjusts the speed driving side Compared with method driving method described in the patent No. US2007/0247023, it is advantageous that the revolving speed of output is more stable, knot It is obtained by the comparison that can pass through Fig. 3 and Fig. 7.

By the comparison of Fig. 7 and Fig. 3, the driving method and the patent No. of the utility model are found

Driving method mentioned by US2007/0247023, its advantage is that when exporting same low speed, the utility model The revolving speed that embodiment provides is 580arc sec/s rads, and there is no significantly periodically tremble for the real-time revolving speed of the utility model Dynamic, the stability of motor speed is significantly improved relative to the latter.

Fig. 8 is seen, according to the equation of motionT_mFor driving torque, T_LFor load torque, c is resistance Buddhist nun's coefficient, J are the load rotating inertia including rotor, and ω is the angular speed of rotor.In the case where constant load such as What adjusts rapidly the speed to setting, is always this field problems faced, the method that tradition changes frequency with pid algorithm Motor speed is allowed to adjust the speed to setting, although the method is effectively convenient, the range that will appear adjustment speed is bigger, adjusts Save this longer disadvantage of time.In order to solve this problem, the utility model can be by adjusting the pulse number (2*m-n) being superimposed It can be solved and above-mentioned be previously mentioned problem.It originally is that driving frequency is described in embodiment for 42kHz, when recurrent pulse number n is 10, Adjusted by DSP program, change single-phase output pulse number m value, value from 6 change to 10 during, motor will export Different driving torques, by Fig. 8 it can be found that with pulse number m increase, driving torque is at non linear parabolic line trend Increase, according to the equation of motionLoad torque remains unchanged, i.e. T_LFor steady state value, driven by adjusting Torque, i.e. T_mFor regulated value, with the increase of its value, it is also in non-linear increase that driving torque corresponds to motor angular velocity ω therewith, Vice versa.

Shown in Fig. 9, according to above-mentioned, when recurrent pulse n is definite value, the driving obtained by testing the value for obtaining only adjusting m Torque is limited, and can be obtained according to the above-mentioned equation of motion, in the case where load torque is definite value, the revolving speed of obtained rotor Also it is limited, is difficult satisfaction and obtains different revolving speeds.In order to achieve this goal, it is necessary to obtain more different drivings and turn Square obtained by the experiment in figure, can carry out reality by changing the value of each recurrent pulse number n and single-phase output pulse number m Existing above-mentioned target.

In the case that motor drives constant load, setting can be found out by the adjusting of n and m two values first Driving torque corresponding to revolving speed can first find immediate drive if not finding driving torque corresponding to setting speed Then dynamic torque adjusts revolving speed by the method for frequency modulation again, fine tuning is finally reached the purpose of setting speed, phase after the first coarse adjustment of realization The time used in speed of the motor speed adjusting to setting is allowed to shorten very with the method that pid algorithm only changes frequency than tradition It is more.In the case where the load of variation, the case where motor speed will appear unexpected speed change, can also be by upper in order to maintain former speed Method adjusting is stated, by experimental verification, the time used in whole process is equally shortened very much.

In order to propose high-revolving stability, frequency can be adjusted to close to resonant frequency point, this is because electric in standing wave area The single-phase frequency for applying sine wave of machine is closer to resonant frequency point, and the frictional force between stator and rotor is smaller, and motor speed exists Standing wave area declines smaller, and the stability of speed is higher.

Above-described specific embodiment, to the purpose of this utility model, technical scheme and beneficial effects carried out into One step is described in detail, it should be understood that being not used to limit the foregoing is merely specific embodiment of the present utility model The utility model processed, within the spirit and principle of the utility model, any modification, equivalent substitution, improvement and etc. done, It should be included within the scope of protection of this utility model.

Claims (1)

1. a kind of superimposed pulse speed-adjusting driving system, which is characterized in that the system comprises dsp chip, push-pull inverter circuit, liters Volt circuit, inductance match circuit and ultrasound electric machine；Wherein,

Four road PWM output ends, respectively sinA, sinB, cosA and cosB, the PWM of the dsp chip is arranged in the dsp chip Output is linked into push-pull inverter circuit；

After the push-pull inverter circuit successively carries out inversion, boosting amplification to PWM driving control signal again, through inductance match circuit Export driving ultrasound electric machine rotation in sin, cos two path control signal input ultrasound electric machine.