CN1315252C - Ultrasonic motor precision locating device - Google Patents
Ultrasonic motor precision locating device Download PDFInfo
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- CN1315252C CN1315252C CNB021544794A CN02154479A CN1315252C CN 1315252 C CN1315252 C CN 1315252C CN B021544794 A CNB021544794 A CN B021544794A CN 02154479 A CN02154479 A CN 02154479A CN 1315252 C CN1315252 C CN 1315252C
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Abstract
The present invention discloses a precision positioning device for an ultrasonic motor, which comprises a single chip computer, an analog switching circuit, a signal converting circuit, a control command interface and an input terminal leading high frequency driving signals to a controller, and an output terminal of the controller is connected with an input terminal of a high pressure power amplifier. The present invention is a controller provided with a CPU and has the function of controlling the continuous run, the single step (stepwise) run and the stop of an ultrasonic motor by external commands. The function of single step run is realized in the mode that the single chip computer counts high frequency driving signals and controls the analog switching circuit, and the high precision positioning of an ultrasonic motor is guaranteed by step angles which have ultrahigh resolution and are generated by the single step run. The positioning precision can reach 0.005 degree; nearly all annular travelling wave type USM and longitudinal torsional composite type USM in markets can be controlled to precisely position.
Description
Technical field
The present invention relates to the ultrasonic motor control device, is a kind of ultrasonic motor precision positioning device that is applicable to.
Background technology
Ultrasonic motor (Ultrasonic Motor, be called for short USM) be a kind of novel direct friction drive motors that development in recent years is got up, its operation must have the high-frequency driving signal generation circuit and the high-voltage power amplifier circuit of a special special use, and these two parts abbreviate USM driving governor (as shown in Figure 1) as.Usually, USM manufacturer all provides corresponding USM driving governor, but these driving governors are not considered or considered seldom the requirement of control aspect in the practical application.Only USM operation is provided as most of driver to turn on and off control, but motor when turn-offing often owing to there is overshoot in the inertia reason, and the overshoot size is relevant with institute application of load size, so can't realize the precision positioning requirement by closing power machine accurately.Though some driving governor has the interface to electric machine speed regulation, can change frequency, phase place and the amplitude of drive control signal by interface, thereby realize adjusting motor speed.But USM is a kind of piezoelectric vibrator that utilizes makes motor elastomer generation resonance that driving torque is provided, in case operating frequency, phase place or amplitude change, the output torque of motor will have greatly changed.When motor speed reduced, output torque also will sharply diminish even shut down, and the relation between them has the severe nonlinear relation, made the precise Positioning Control strategy become very complicated, and still can't reach good precise Positioning Control effect.
Summary of the invention
Purpose of the present invention just provides a kind of ultrasonic motor precision positioning device, traditional USM driving governor is simply transformed, the output end signal reconfiguration of the high-frequency driving signal generation circuit of the input of soon original access high-voltage power amplifier circuit is to the input of precise Positioning Control device circuit of the present invention, the output of this precise Positioning Control device circuit is connected to the input of high-voltage power amplifier circuit again, as shown in Figure 2.Realize the requirement of precision positioning easily through the characteristic that can utilize this ultrasonic motor precision positioning device after such transformation, positioning accuracy can reach 0.005 degree.
The technical solution used in the present invention is as follows:
Be used to make motor from initial position successively through the stepping operation of the continuous running of Alfa1 angle and Alfa2 angle and be positioned to the target location with angle error epson.Described positioner comprises: Single Chip Microcomputer (SCM) system, simulation commutation circuit, signal conversion circuit, control command interface circuit, the road high-frequency driving signal that sends from the high-frequency driving signal generator connects simulation commutation circuit and signal conversion circuit respectively, another road high-frequency driving signal that sends from the high-frequency driving signal generator connects the simulation commutation circuit, simulation commutation circuit output termination high-voltage power amplifier; The signal conversion circuit output connects Single Chip Microcomputer (SCM) system, is used for the waveform of high-frequency driving signal is carried out shaping and level conversion; The external control instruction of control command interface circuit and peripheral control unit is joined, and is used to make single-chip microcomputer to accept external command; Single Chip Microcomputer (SCM) system is connected with simulation commutation circuit, signal conversion circuit output, control command interface circuit respectively, this Single Chip Microcomputer (SCM) system is used for when the control command interface circuit receives the external control instruction, by control simulation commutation circuit high-frequency driving signal and high-voltage power amplifier are connected, made ultrasonic motor be in continuous operating condition; During the angle B eta=Alfa1 that turns over when ultrasonic motor is actual, by the inner register of repeated priming above-mentioned high-frequency driving signal through shaping and level conversion is counted, and when numeration reaches predetermined value, motor is stopped signal ground and the connection of high-voltage power amplifier, time-delay a period of time, be generally several signal waveform Cycle Lengths, high-frequency drive letter and high-voltage power amplifier connected, thereby made ultrasonic motor be in the step-operated state; When | Alfa1+Alfa2-Beta|≤epson, the instruction out of service according to peripheral control unit is sent out makes ultrasonic motor out of service.
Precision positioning flow process: initial position is moved to the angle A lfa that the target location turns over be divided into two parts, first is continuous operation area, the angle that turns over is Alfa1, second portion is the stepping operation area near target, the angle that turns over is Alfa2, be Alfa=Alfa1+Alfa2, definition epson is the angular error of positioning accuracy, if the actual angle that turns over is Beta, the actual angle that turns over is Beta1 in continuous operation area, have following relation between them: | Beta1-Alfa1|＜Alfa2 and | Alfa-Beta|≤epson, Alfa2 is the smaller the better satisfying under the above-mentioned condition, when single-chip microcomputer receives external command: when the IO mouth P1.1=1 of CPU and P1.2=1, this moment, single-chip microcomputer was put the IO mouth P1.0=0 of CPU, even the B=0 of the State Control mouth line of the U2 of analog switch circuit, analog switching circuit U2 makes high-frequency driving signal X and Y communicate with the high pressure power amplifier, USM is in continuous running status, peripheral control unit writes down the angle that USM turns over by angle detecting sensor simultaneously, when reaching Alfa1, peripheral control unit sends the single step run order, even P1.1=1, P1.2=0, this moment, single-chip microcomputer was still put P1.0=0, the counter T0 that starts single-chip microcomputer simultaneously counts the high-frequency driving signal waveform, when counting reaches N waveform, single-chip microcomputer is put P1.0=1, this moment, the input of signal ground and high-voltage power amplifying circuit was connected, this moment, motor was out of service, time-delay a period of time, this time length also can configure by control command interface 4, but must be greater than 2 signal waveform Cycle Lengths, then put P1.0=0 again, the counter T0 that starts single-chip microcomputer counts the high-frequency driving signal waveform, after counting reaches N waveform, put P1.0=1 again, this moment, motor was out of service, after time-delay a period of time, repeat said process, when USM is in single step run, the angle that peripheral control unit also turns over by angle detecting sensor record USM always, when satisfying | during Alfa-Beta|≤epson, peripheral control unit sends order out of service, even P1.1=0, P1.2=0, this moment, single-chip microcomputer was put P1.0=1, USM is with out of service, adopt this controller to realize the single step run of USM, and the step angle of per step operation is very little, realize that angle location, its precision are decided by the resolution and the precision of the angular transducer that adopted.
The invention has the advantages that:
1) it can realize precise Positioning Control to most ring-type travelling-wave type USM on the market and longitudinal-torsional compound USM, has the advantages that to adapt to face width.Especially to the driving governor of motor run switch control only is provided, add this controller after, positioning accuracy is increased substantially, can reach 0.005 degree.The precision of the minimum resolution of the angular transducer that reaches and adopted;
Control algolithm when 2) making the USM precise Positioning Control is extremely simple, need not to know the controlling models of USM and the transfer function of whole system, has avoided the appearance of intensive nonlinear functions in control algolithm.And still have the high characteristics of positioning accuracy;
3) circuit structure is simply compact, owing to adopted CPU, all kinds of Control Parameter is adjusted according to actual needs accordingly.
Description of drawings
Fig. 1 is a conventional ADS driving controller architecture block diagram;
Fig. 2 is to use rear drive controller architecture block diagram of the present invention;
Fig. 3 is a circuit structure block diagram of the present invention;
Fig. 4 is circuit theory diagrams of the present invention.
Embodiment
As shown in Figure 3, Figure 4, the present invention it comprise Single Chip Microcomputer (SCM) system 1, simulation commutation circuit 2, signal conversion circuit 3, control command interface circuit 4; The road signal that sends from the high-frequency driving signal generator connects simulation commutation circuit 2 and signal conversion circuit 3 respectively, another road signal (Y) that sends from the high-frequency driving signal generator connects simulation commutation circuit 2, Single Chip Microcomputer (SCM) system 1 is connected with simulation commutation circuit 2, signal conversion circuit 3, control command interface circuit 4 respectively, the external control instruction connects control interface circuit 4, the output termination high-voltage power amplifier of simulation commutation circuit 2.
Described Single Chip Microcomputer (SCM) system 1 is 89C2051, and simulation commutation circuit 2 is 4052 chips, and signal conversion circuit 3 is that 74LS14 chip, rectifier diode and voltage stabilizing didoe are formed.
Wherein Single Chip Microcomputer (SCM) system 1 is mainly finished function has: (1) accepts external command by control command interface circuit 4, (2) by single-chip microcomputer itself comprise counter/timer the waveform number that the high-frequency driving signal generator produces is counted, (3) carry out switching controls to analog circuit; Simulation commutation circuit 2 is mainly finished waveform that the high-frequency driving signal generator is sent and the switching controls between the ground.That is to say, as the A=0 of the State Control mouth line of the U2 of analog switch circuit, during B=0, high-frequency driving signal waveform (X) and (Y) and the input of high-voltage power amplifying circuit connect, this moment, motor can move.As analog switch control line A=0, during B=1, the input of signal ground and high-voltage power amplifying circuit is connected, and this moment, motor was out of service; Signal conversion circuit 3 is mainly finished the high-frequency driving signal waveform is carried out shaping and level conversion, makes it be suitable for the Transistor-Transistor Logic level of single-chip microcomputer counting.Control command interface 4 major functions are to make single-chip microcomputer receive external command, the operation of control motor and stopping, and being provided with etc. of predefined parameter.
The following describes and utilize precise Positioning Control device of the present invention to carry out precision positioning.Adopt this controller to realize the Cheng Qian of crossing of USM precise Positioning Control in narration, introduce single step (or claiming stepping) operation of the ultrasonic motor that has inventive features among the present invention earlier.Owing to realize by friction-driven between the rotor of ultrasonic motor and stator, when giving the excitation of its sine wave (or square wave) signal (by the power amplifier type decided), this moment, motor can not turn over a constant angles (step angle), even may not rotate.Yet if one-time continuous sends N sine wave or square wave, ultrasonic motor will turn over an angle forward this moment, suspend then to send signal waveform, then continue to send N waveform, and ultrasonic motor is with step by step operation forward like this.Test shows, when stable and load is constant when the ultrasonic motor operation characteristic, the operation step angle of motor is more uniform, when single step run, every group of signal is made up of N sinusoidal wave (or square wave), the big I of N determines according to the angle that per step needs turn over, and relevant with motor characteristic and external loading, and the dead time between every group is then at least greater than 2 signal waveform cycle times.When N got suitable hour, per step corner of ultrasonic motor will be less than 0.005 degree.Introduce below and realize the precise Positioning Control strategy, for convenience of explanation, initial position is moved to the angle A lfa that the target location turns over be divided into two parts, first is continuous operation area, the angle that turns over is Alfa1, second portion is the stepping operation area near target, the angle that turns over is Alfa2, be Alfa=Alfa1+Alfa2, definition epson is the angular error of positioning accuracy, if the actual angle that turns over is Beta, the actual angle that turns over is Beta1 in continuous operation area, has following relation between them: | Beta1-Alfa1|＜Alfa2 and | Alfa-Beta|≤epson.Alfa2 is the smaller the better satisfying under the above-mentioned condition.In conjunction with Fig. 3 and Fig. 4, utilize this controller to realize that the idiographic flow of precision positioning is as follows.
When single-chip microcomputer receives external command: when the IO mouth P1.1=1 of CPU and P1.2=1, this moment, single-chip microcomputer was put the IO mouth P1.0=0 of CPU, even the B=0 of the State Control mouth line of the U2 of analog switch circuit, analog switching circuit U2 makes high-frequency driving signal X and Y communicate with the high pressure power amplifier, and USM is in continuous running status.Peripheral control unit writes down the angle that USM turns over by angle detecting sensor (as photoelectric encoder) simultaneously, when reaching Alfa1, peripheral control unit sends the single step run order, even P1.1=1, P1.2=0, this moment, single-chip microcomputer was still put P1.0=0, the counter T0 (P3.4) that starts single-chip microcomputer simultaneously counts the high-frequency driving signal waveform, when reaching N waveform, counting (can configure by control command interface 4 in advance, or online modification) time, single-chip microcomputer is put P1.0=1, this moment, the input of signal ground and high-voltage power amplifying circuit was connected, and this moment, motor was out of service, time-delay a period of time, this time length also can configure by control command interface 4, but must be greater than 2 signal waveform Cycle Lengths.Then put P1.0=0 again, the counter T0 that starts single-chip microcomputer after counting reaches N waveform, puts P1.0=1 to high-frequency driving signal waveform counting again, and this moment, motor was out of service, after time-delay a period of time, repeated said process.When USM is in single step run, the angle that peripheral control unit also turns over by angle detecting sensor (as photoelectric encoder) record USM always, when satisfying | during Alfa-Beta|≤epson, peripheral control unit sends order out of service, even P1.1=0, P1.2=0, this moment, single-chip microcomputer was put P1.0=1, and USM is with out of service.Because adopt this controller to realize the single step run of USM, and the step angle of operation of per step is very little, therefore can realize very high angle location precision, its precision depends mainly on the resolution and the precision of the angular transducer that is adopted.
The present invention utilizes single-chip microcomputer signal waveform to be counted and the control of analog switch is realized single step (stepping) the operation motion of USM, the precision of the minimum resolution of the angular transducer that can obtain and be adopted, and the angular dimension of single step run can be regulated by the setting to N.
Claims (2)
1. ultrasonic motor precision positioning device, be used to make motor from initial position successively through the stepping operation of the continuous running of Alfa1 angle and Alfa2 angle and be positioned to the target location with angle error epson, it is characterized in that, described positioner comprises: Single Chip Microcomputer (SCM) system (1), simulation commutation circuit (2), signal conversion circuit (3), control command interface circuit (4), the road high-frequency driving signal (X) that sends from the high-frequency driving signal generator connects simulation commutation circuit (2) and signal conversion circuit (3) respectively, another road high-frequency driving signal (Y) that sends from the high-frequency driving signal generator connects simulation commutation circuit (2), simulation commutation circuit (2) output termination high-voltage power amplifier; Signal conversion circuit (3) output connects Single Chip Microcomputer (SCM) system (1), is used for the waveform of high-frequency driving signal is carried out shaping and level conversion; Control command interface circuit (4) joins with the external control instruction of peripheral control unit, is used to make single-chip microcomputer to accept external command; Single Chip Microcomputer (SCM) system (1) is connected with simulation commutation circuit (2), signal conversion circuit (3) output, control command interface circuit (4) respectively, this Single Chip Microcomputer (SCM) system (1) is used for when control command interface circuit (4) receives the external control instruction, make high-frequency driving signal (X by control simulation commutation circuit (2), Y) connect with the high-voltage power amplifier, make ultrasonic motor be in continuous operating condition; During the angle B eta=Alfa1 that turns over when ultrasonic motor is actual, by the inner register of repeated priming (T0) above-mentioned high-frequency driving signal through shaping and level conversion is counted, and when numeration reaches predetermined value, motor is stopped signal ground and the connection of high-voltage power amplifier, time-delay a period of time is generally several signal waveform Cycle Lengths, makes high-frequency driving signal (X again, Y) connect with the high-voltage power amplifier, thereby make ultrasonic motor be in the step-operated state; When | Alfa1+Alfa2-Beta|≤epson, the instruction out of service according to peripheral control unit is sent out makes ultrasonic motor out of service.
2. ultrasonic motor precision positioning device according to claim 1, it is characterized in that described Single Chip Microcomputer (SCM) system (1) is 89C2051, simulation commutation circuit (2) is 4052 chips, and signal conversion circuit (3) is that 74LS14 chip, rectifier diode and voltage stabilizing didoe are formed.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB021544794A CN1315252C (en) | 2002-12-17 | 2002-12-17 | Ultrasonic motor precision locating device |
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| CNB021544794A CN1315252C (en) | 2002-12-17 | 2002-12-17 | Ultrasonic motor precision locating device |
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| CN1315252C true CN1315252C (en) | 2007-05-09 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100495895C (en) * | 2005-06-30 | 2009-06-03 | 中国工程物理研究院电子工程研究所 | Ultrasonic motor positioning device |
| CN101141102B (en) * | 2007-10-23 | 2010-09-08 | 南京航空航天大学 | Ultrasound motor driven quick reaction device |
| CN101820203B (en) * | 2010-01-26 | 2012-02-08 | 南通大学 | Combined drive semi-closed loop precision positioning system |
| CN107038796B (en) * | 2016-10-17 | 2020-01-14 | 深圳怡化电脑股份有限公司 | Positioning control method and device for banknote box tongue piece |
| CN107016778B (en) * | 2017-04-14 | 2020-03-27 | 深圳怡化电脑股份有限公司 | Banknote box tongue piece positioning method, device, equipment and storage medium |
| CN107481396B (en) * | 2017-07-26 | 2020-05-15 | 深圳怡化电脑股份有限公司 | Banknote box tongue piece positioning method and device and terminal equipment |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5055750A (en) * | 1989-09-28 | 1991-10-08 | Asmo Co., Ltd. | Air damper operating system of vehicle air conditioners |
| JP2000060164A (en) * | 1998-06-02 | 2000-02-25 | Seiko Instruments Inc | Ultrasonic motor and electronic equipment with ultrasonic motor |
| CN1359189A (en) * | 2001-12-14 | 2002-07-17 | 清华大学 | Three-dimension self-support swing type high-precision step piezoelectric ultrasonic motor and driving system |
-
2002
- 2002-12-17 CN CNB021544794A patent/CN1315252C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5055750A (en) * | 1989-09-28 | 1991-10-08 | Asmo Co., Ltd. | Air damper operating system of vehicle air conditioners |
| JP2000060164A (en) * | 1998-06-02 | 2000-02-25 | Seiko Instruments Inc | Ultrasonic motor and electronic equipment with ultrasonic motor |
| CN1359189A (en) * | 2001-12-14 | 2002-07-17 | 清华大学 | Three-dimension self-support swing type high-precision step piezoelectric ultrasonic motor and driving system |
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Assignee: Ningbo Lion-Ball Motor Co., Ltd. Assignor: Zhejiang University Contract fulfillment period: 2008.9.30 to 2018.9.30 contract change Contract record no.: 2008330001565 Denomination of invention: Ultrasonic motor precision locating device Granted publication date: 20070509 License type: Exclusive license Record date: 20081031 |
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