CN104539190B - Control method for rotating speed linearization of ultrasonic motor - Google Patents
Control method for rotating speed linearization of ultrasonic motor Download PDFInfo
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- CN104539190B CN104539190B CN201410584778.1A CN201410584778A CN104539190B CN 104539190 B CN104539190 B CN 104539190B CN 201410584778 A CN201410584778 A CN 201410584778A CN 104539190 B CN104539190 B CN 104539190B
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Abstract
The technical scheme of the invention is as follows: a control method for the rotation speed linearization of an ultrasonic motor comprises the following steps: step S1, in the initialization stage of the ultrasonic motor control system, introducing linearly-changed frequency excitation to the ultrasonic motor, and testing the rotating speed-frequency curve of the ultrasonic motor system; step S2, fitting a curve of the rotating speed n-frequency f; step S3, taking n as linearity, obtaining (n, f) point pairs; step S4, generating a mapping table corresponding to the control quantity n and the frequency f for the query of the control instruction; in step S6, the frequency f data corresponding to the rotational speed control amount n is obtained by referring to the corresponding map table. The invention provides a control method for the linearization of the rotating speed of an ultrasonic motor, which realizes the accurate control of the linearization of the rotating speed of the ultrasonic motor. The invention adopts the fitting method and the interpolation method to obtain the (n, f) point pair corresponding to the rotation speed linearization, so that the rotation speed control of the ultrasonic motor is more accurate.
Description
Technical field
The present invention relates to field of electrical control, the linearizing control method of more particularly to a kind of supersonic motor rotating speed,
With the nonlinear problem for solving to occur in the control of supersonic motor rotating speed.
Background technology
, progressively to lightweight, miniaturization, supersonic motor is one for current microminiature multi-DOF platform or turntable
Plant preferable high torque density shaft end driving element.Above-mentioned application scenario needs the low speed even running of supersonic motor mostly,
And rotation speed change is gentle.
Supersonic motor is a kind of inverse piezoelectric effect excitation ultrasound vibration of utilization piezoelectric element, by between stator and rotor
Friction-driven, realization convert electrical energy into mechanical energy output new direct-driving motor.Wherein annular traveling wave type ultrasound wave
Motor application is the most extensive.Supersonic motor is different from traditional electromagnetic machine, and its control system generally adopts frequency modulation control, leads to
Excited frequency is overregulated, the resonance state of stator can be controlled, and then adjusted the rotating speed of supersonic motor.
However, the rotating speed of supersonic motor is presented significantly non-linear with the relation of frequency, and especially at the low rotational speed, non-thread
Sex expression is projected.Conventional control method is all to utilize piece-wise linearization, in the range of little value, curve is made at approximate linearization
Reason.This method only approximately linear, control accuracy be not high, control program is loaded down with trivial details, and the low speed for being difficult to realize supersonic motor is put down
It is steady to change.The rotating speed control characteristic of supersonic motor is undesirable, hinders the process of its application to a great extent.
The content of the invention
Present invention solves the technical problem that being：There is provided a kind of supersonic motor rotating speed linearizing control method, solve super
Nonlinear problem in the control of sound wave motor speed, controls supersonic motor with realizing linearisation, reduces the body of controller hardware
Product, reduces complexity, and the generation for Driven by Ultrasonic Motors signal provides the pure digi-tal algorithm being easily achieved.
The technical scheme is that：A kind of linearizing control method of supersonic motor rotating speed, including：Step S1,
Supersonic motor control system initial phase, is passed through the frequency excitation of linear change to the supersonic motor, and test is described
Rotating speed-the frequency curve of ultrasonic motor system；Step S2, is fitted rotating speed n-- frequency f curves；Step S3, is linear with n, obtains
Take (n, f) put it is right；Step S4, generates the correspondence mappings form of controlled quentity controlled variable n and frequency f, inquires about for control instruction；Step S6, looks into
Correspondence mappings form obtains the corresponding frequency f data of spin rate control quantity n.
Also include after step s4：Step S5, performs the control of supersonic motor rotating speed, first given rotating speed controlled quentity controlled variable,
It is then that ultrasound electric machine tachometer value is measured according to angular transducer feedback element, calculates spin rate control quantity.
Also include after step S6：Step S7, coupling system clock frequency, is internally generated 4 in FPGA using enumerator
The square wave that 90 ° of road phase, is controlled to the rotating speed of ultrasound electric machine.
Rotating speed n- frequencies f curve is fitted in step S2 to be carried out according to equation below：
Wherein, A, B, C are constant, and e is natural logrithm.
Mapping form in step S4, is stored in the piece of fpga chip in ROM.
Square wave show that according to simple square wave algorithm simple square wave algorithm flow includes：
(1) the current clock frequency clock periodicity Nummax of lower 1 second, the square wave after controller is calculated are determined first
Frequency is Numf；
(2) number is remembered using enumerator Cnt each cycles, step-length is 2*Numf；
(3) Out is the square-wave signal of output, and initial value is 0, and as Cnt >=Nummax, Out is negated, otherwise repeat step
(2)；
(4) repetitive process (2), (3) once, complete a complete waveform；
(5) step (1) is returned to, repeats said process.
The square wave of output is directly output to power amplifier element using the I/O mouths of FPGA,
Present invention advantage compared with prior art is：
(1) present invention proposes a kind of linearizing control method of supersonic motor rotating speed, realizes to supersonic motor
The linearizing precise control of rotating speed；
(2) present invention is put right using (n, f) that fitting process and interpolation method are obtained corresponding to rotating speed linearisation, makes ultrasound wave electricity
The rotating speed control of machine is more accurate；
(3) present invention counts evidence according to tachometer, and coupling system clock is internally generated difference in FPGA using enumerator
90 ° of square wave, and the I/O mouths using FPGA are directly output to power amplifier element, reduce the size of driving plate hardware circuit；
(4) a kind of simple square wave generation method is present invention employs, its flow process is as shown in figure 4, calculate using controller
To count step-length, add up out the frequency for going out 1 second counterparty's wave number under current clock frequency.Square wave is converted in frequency data defeated
No multiplication and division computing during going out, it is less and easy to implement that this method takes logical resource.
Description of the drawings
Fig. 1 is the flow chart of the linearizing control method of supersonic motor rotating speed of the present invention；
Fig. 2 is the rotating speed-frequency dependence figure of the supersonic motor using the method for the present invention；
Fig. 3 is the control block of the system of the linearizing control method of supersonic motor rotating speed of the present invention；
Fig. 4 is a kind of frequency conversion square wave generating algorithm flow chart in the method for the present invention；
The control square wave figure of 4 road phase 90os of the Fig. 5 to export in the method for the present invention.
Specific embodiment
The invention discloses a kind of linearizing control method of supersonic motor rotating speed, at the beginning of supersonic motor control system
Stage beginning, sweep check rotating speed-frequency curve, and Jing fitting processs and interpolation method, obtain with spin rate control quantity as linear change
Corresponding rotating speed-the Frequency point pair of amount, generates correspondence mappings form.Then in supersonic motor control process, according to gyro
Feedback signal, calculates spin rate control quantity, inquires about mapping form, obtains the corresponding frequency data of controlled quentity controlled variable.The present invention utilizes one
The generating algorithm for planting the Pure numerical form frequency conversion square wave being easily achieved generates control of the control signal realization to supersonic motor.
This method has done easy linearization process for the nonlinear characteristic of rotating speed-frequency model in supersonic motor,
It is effectively utilized the piece memory storage resource of control chip, principle is simple, design is convenient, reduces Controlling model and control algolithm
Complexity.
It is shown in Figure 1, it is as follows the step of a kind of linearizing control method of supersonic motor rotating speed of the present invention：
(1) in supersonic motor control system initial phase, sweep check rotating speed-frequency curve, to supersonic motor
The frequency excitation of linear change is passed through, using the feedback element of control system, the ultrasound corresponding to different frequency is tested and record
Ripple motor speed；
(2) rotating speed n- frequency f curves are fitted；
(3) interpolation method is utilized, is linear with n, it is right that acquisition (n, f) is put；
(4) the correspondence mappings form of controlled quentity controlled variable n and frequency f is generated, is inquired about for control instruction；
(5) perform supersonic motor rotating speed to control, first given rotating speed controlled quentity controlled variable, fed back according to angular transducer
Element measures ultrasound electric machine tachometer value, calculates spin rate control quantity；
(6) table look-up and obtain the corresponding frequency f data of spin rate control quantity n；
(7) coupling system clock frequency, generates the square wave of 4 road phase 90o according to simple square wave algorithm, to ultrasonic electric
The rotating speed of machine is controlled.
Comprise the following steps that：
In the step (2), fitting rotating speed n- frequencies f curve is carried out according to equation below：
According to engineering experience, rotating speed n- frequencies f corresponding relation is closest with the exponential function curve of natural logrithm e.
Wherein, A, B, C are constant, by the fitting to n-f curves, determine their value.Tri- constants of A, B, C, lead to
The exponential function fitting tool crossed in data processing software (such as origin), fitting n-f curves and obtain.Origin is a kind of
Project data processes software, and it has powerful data processing function, and one of which function is according to given curve matched curve
Trend, draw the functional equation being consistent with the curve.The form of n-f curves is as shown in Figure 2.Using in origin softwares points
In the drop-down list of analysis menu bar, the exponential function fitting process in fitting tool hurdle is selected, then choosing in pop-up window will
Data in the tables of data that the curve of fitting is located, and specify the number and bound at matched curve midpoint, click confirmation, you can
Matched curve is drawn out, and while obtains the numerical value of A, B, the C in fitting formula.Through to multiple stage annular traveling wave type ultrasound wave electricity
The fitting of the rotating speed-frequency curve of machine, as a result shows that its rule meets above-mentioned formula, by the number for adjusting tri- constants of A, B, C
Value, can obtain preferable matched curve (rotating speed-frequency dependence referring to illustrating in Fig. 2).
It is to ask for the inverse function of n-f formula first in the step (3), as follows,
With rotating speed n as independent variable, with frequency f as dependent variable.The range of variables of setting n is usually 0～200, in n equal volume contours
Property situation of change under, using above-mentioned formula solve the n such as corresponding f values, acquisition away from (n, f) put it is right.
In the step (4), it is right to be put by (n, f) for being obtained, and generates the correspondence mappings data of controlled quentity controlled variable n and frequency f, should
Data are 16 systems, and ROM in the piece of FPGA (field programmable gate array) logic control chip is stored in the form of hex files
In, table look-up for controller, control instruction is called and inquired about.
Feedback in the step (5) according to angular transducer, calculates controlled quentity controlled variable n.Here angular transducer can be
Gyro or rotary transformer or angular encoder or Circular gratings etc..Turning using supersonic motor revolution speed control system of the invention
Speed control method block diagram is as shown in Figure 3.Given rotating speed target control amount first, the rotating speed of Jing comparators and angular transducer test
It is compared, Jing digitial controllers export tachometer value to be controlled, linearized module is obtained corresponding to current spin rate control quantity
Frequency values (table looked in step (4)), coupling system clock generates corresponding square wave control signal to supersonic motor, then
Angular transducer detects the tach signal of supersonic motor, feeds back to comparator, is compared again and output control amount, so far
Complete a supersonic motor speed closed loop control.
Coupling system clock frequency in the step (7), as supersonic motor adopts frequency modulation control, which controls waveform and is
The square wave of 4 90 ° of road phases, here with method shown in Fig. 4, the frequency calculated using controller is counting step-length, is added up
Go out 1 second counterparty's wave number under current clock frequency, and directly exported to power amplifier element, to ultrasonic electric using the I/O mouths of FPGA
The rotating speed of machine is controlled.
General to be related to multiplication and division computing in the algorithm that frequency conversion is waveform is related to, the realization in FPGA can take more
Logical resource.The present invention provides the straightforward procedure of a generation frequency conversion square wave here.Fig. 4 is algorithm flow, and which illustrates
It is as follows：
(1) the current clock frequency clock periodicity Nummax of lower 1 second is determined first.Square wave after controller is calculated
Frequency is Numf；
(2) number is remembered using enumerator Cnt each cycles, step-length is 2*Numf；
(3) Out is the square-wave signal of output, and initial value is ' 0 ', and as Cnt >=Nummax, Out is negated, otherwise repeat step
(2)；
(4) repetitive process (2), (3) once, complete a complete waveform；
(5) step (1) is returned to, repeats said process.
Square wave of the output frequency for 90 ° of the 4 road phase of f, the sequential of 4 road square-wave signals, as shown in figure 5, so as to right
The rotating speed of ultrasound electric machine is controlled.
Claims (5)
1. the linearizing control method of a kind of supersonic motor rotating speed, it is characterised in that include：
Step S1, in supersonic motor control system initial phase, is passed through the frequency of linear change to the supersonic motor
Excitation, tests the rotating speed-frequency curve of the ultrasonic motor system；
Step S2, is fitted rotating speed n-- frequency f curves；
Step S3, is linear with n, and it is right that acquisition (n, f) is put；
Step S4, generates the correspondence mappings form of controlled quentity controlled variable n and frequency f, inquires about for control instruction；
Step S5, performs supersonic motor rotating speed and control, first given rotating speed controlled quentity controlled variable, is fed back according to angular transducer
Element measures ultrasound electric machine tachometer value, calculates spin rate control quantity；
Step S6, checks and answers mapping form to obtain the corresponding frequency f data of spin rate control quantity n；
Step S7, coupling system clock frequency are internally generated the square wave of 90 ° of 4 road phase using enumerator in FPGA, to super
The rotating speed of sound wave motor is controlled.
2. the linearizing control method of supersonic motor rotating speed according to claim 1, it is characterised in that step S2
Middle fitting rotating speed n- frequencies f curve is carried out according to equation below：
Wherein, A, B, C are constant, and e is natural logrithm.
3. the linearizing control method of supersonic motor rotating speed according to claim 1, it is characterised in that
The mapping form in step S4, is stored in the piece of fpga chip in ROM.
4. the linearizing control method of supersonic motor rotating speed according to claim 1, it is characterised in that
The square wave show that according to simple square wave algorithm simple square wave algorithm flow includes：
(1) the current clock frequency clock periodicity Nummax of lower 1 second, the square wave frequency after controller is calculated are determined first
For Numf；
(2) number is remembered using enumerator Cnt each cycles, step-length is 2*Numf；
(3) Out is the square-wave signal of output, and initial value is 0, and as Cnt >=Nummax, Out is negated, otherwise repeat step (2)；
(4) repetitive process (2), (3) once, complete a complete waveform；
(5) step (1) is returned to, repeats said process.
5. the linearizing control method of supersonic motor rotating speed according to claim 4, it is characterised in that output it is described
Square wave is directly output to power amplifier element using the I/O mouths of FPGA.
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| CN110138268A (en) * | 2019-04-03 | 2019-08-16 | 中国人民解放军国防科技大学 | Bus type drive control integrated circuit of ultrasonic motor |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0849813A1 (en) * | 1996-12-20 | 1998-06-24 | Canon Kabushiki Kaisha | Apparatus provided with a vibration type motor |
| CN102904482A (en) * | 2012-09-29 | 2013-01-30 | 北京控制工程研究所 | Ultralow rotation speed control method of ultrasonic motor |
| CN103684041A (en) * | 2013-12-06 | 2014-03-26 | 中国航天科技集团公司第五研究院第五一三研究所 | Amplitude and frequency control self-adaptation switching ultrasonic motor speed adjusting system and method |
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2014
- 2014-10-27 CN CN201410584778.1A patent/CN104539190B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0849813A1 (en) * | 1996-12-20 | 1998-06-24 | Canon Kabushiki Kaisha | Apparatus provided with a vibration type motor |
| CN102904482A (en) * | 2012-09-29 | 2013-01-30 | 北京控制工程研究所 | Ultralow rotation speed control method of ultrasonic motor |
| CN103684041A (en) * | 2013-12-06 | 2014-03-26 | 中国航天科技集团公司第五研究院第五一三研究所 | Amplitude and frequency control self-adaptation switching ultrasonic motor speed adjusting system and method |
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Effective date of registration: 20220429 Address after: Room 411, 4th floor, building 3, yard 7, Shixing street, Shijingshan District, Beijing 100043 Patentee after: Beijing Aerospace Wanrun High Tech Co.,Ltd. Address before: 142 box 403, box 100854, Beijing, Beijing, Haidian District Patentee before: BEIJIGN INSTITUTE OF AEROSPACE CONTROL DEVICES |