CN208939846U - A kind of superimposed pulse speed-adjusting driving system - Google Patents
A kind of superimposed pulse speed-adjusting driving system Download PDFInfo
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- CN208939846U CN208939846U CN201821619794.XU CN201821619794U CN208939846U CN 208939846 U CN208939846 U CN 208939846U CN 201821619794 U CN201821619794 U CN 201821619794U CN 208939846 U CN208939846 U CN 208939846U
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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
The technical field is as follows:
the utility model relates to a stack pulse speed governing actuating system belongs to an supersound motor power supply technique.
Background art:
the ultrasonic motor is also called as a piezoelectric motor, and is a novel driver for realizing driving based on the vibration of ultrasonic frequency of functional ceramics. The ultrasonic motor relates to a plurality of fields such as vibration, wave motion, materials science, tribology, electronic science, computing technology and experimental technique, compares with traditional motor, and it has characteristics such as low rotational speed, moment are big, response speed is fast, outage auto-lock, nanometer resolution ratio, no electromagnetic interference.
The traditional method for adjusting the rotating speed of the motor is to adjust the rotating speed by three methods, namely frequency modulation, voltage regulation and phase modulation, but the three methods have defects as low-speed driving methods. The frequency modulation method has limited loading capacity and can cause creeping phenomenon due to overhigh frequency; the phase modulation method is difficult to start at low speed, a dead zone exists, and the phase difference and the speed are in a nonlinear relation; the pressure regulating method has a small speed regulating range, and the speed is difficult to reach a lower value. In view of this, how to design a low-speed driving method to overcome the above-mentioned drawbacks in the prior art is a technical problem to be solved by those skilled in the art. As shown in fig. 2, the technical solution of patent No. US2007/0247023 is a method of providing intermittent pulse output to two phases of sin and cos of a motor, and data of rotational speed measured through experiments is shown in fig. 3, although the method can obtain low speed of angular seconds, the real-time rotational speed has large amplitude periodic jitter; the reason is that the motor runs in a continuous periodic start-stop state, the rotation speed fluctuation of the motor is changed from a transient state in continuous running into a normal state in stepping running, a large inertia system causes instability of the system, the rotation speed oscillation result occurs, and the speed stability of the motor is greatly influenced.
In addition, in the conventional method, a PID algorithm is used to adjust the rotor to the set speed by adjusting the frequency, and although the conventional method is effective, the adjustment time is longer as the difference between the current speed and the target speed is larger. However, many fields require the motor to be able to recover the original speed rapidly after the load changes, through the utility model provides a driving method alright solve above-mentioned problem.
The utility model has the following contents:
in order to solve the problems existing in the background technology, the utility model aims to provide a superposed pulse speed regulation control method, which can lead the motor to output the low speed of the order of angular seconds and has smaller oscillation and higher stability; by using the driving method, the rotating speed of the motor can be quickly restored to the original speed after the load is changed by changing the parameters, or the rotating speed can be quickly adjusted to the set speed under the condition of constant load.
The technical scheme is as follows: in order to realize the above function, the utility model provides a superposition pulse speed regulation control method, the method includes following step:
referring to fig. 4, first, the DSP chip sets four PWM outputs, sinA, sinB, cosA, and cosB, respectively. The four paths of signals respectively drive four grid MOS tubes of a push-pull circuit, and the four grid MOS tubes are boosted by a booster circuit and then output amplified square waves to drive an ultrasonic motor connected with an inductance matching circuit to rotate.
And secondly, outputting square wave pulses with the number n of the pulses of one period and the duty ratio of 25% from four PWM output ends, wherein in each period, sinA and sinB, cosA and cosB sequentially output m pulses in a superposition mode, and the number of the superposed pulses of the sin end and the cos end is (2 m-n).
Finally, the motor rotating speed can be adjusted by adjusting the values of m and n, the driving frequency of the sin end and the cos end is the same and adjustable, and the motor rotating speed and the stability finally obtained by different set frequencies are also different.
The utility model has the advantages of the utility model aims to provide a stack pulse speed governing control system for the motor can output the low-speed of angle second level and the higher rotational speed of stability. Another advantage of using this driving method is that the motor speed can be quickly restored to the original speed after the load change or quickly adjusted to the set speed under the condition of constant load by changing the values of m and n.
Description of the drawings:
FIG. 1 is a schematic diagram of a push-pull circuit;
FIG. 2 is a schematic diagram of a driving pulse of a discontinuous pulse speed control method in the prior art;
FIG. 3 is a time-velocity plot obtained using a prior art discontinuous pulse rate control method;
FIG. 4 is a schematic structural view of the pulse-modulated driving system according to the present invention;
FIG. 5 is a schematic diagram of driving pulses of the control method of pulse speed control according to the present invention;
FIG. 6 is a starting characteristic curve diagram of the control method of the pulse speed regulation by superposition according to the present invention;
FIG. 7 is a time-velocity diagram obtained by the pulse rate control method according to the present invention;
FIG. 8 is a single cycle pulse monophasic pulse-drive torque plot;
fig. 9 is a multi-cycle pulse monophasic pulse-drive torque diagram.
The specific implementation mode is as follows:
the technical solution of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 depicts the push-pull circuit of the driving system of the present invention, the driving system includes a DSP chip and a push-pull circuit, the DSP chip sets four PWM outputs, which are connected to sinA, sinB, cosA and cosB of the push-pull circuit, respectively, and the sin end and the cos end are the outputs of the push-pull circuit, which are connected to two phases of the ultrasonic motor, respectively.
Fig. 2 illustrates a method for providing discontinuous pulse output for two phases provided in the solution of US2007/0247023, in which each cycle of the method is divided into two regions, the sin terminal and the cos terminal output pulses as start regions, and the signals sinA and sinB, cosA and cosB are two pairs of complementary gate driving signals of the push-pull circuit, and are output with 180 degrees phase, respectively, wherein the phase difference between the signals sinA and cosA is 90 degrees. The sin end and the cos end are stop areas when the output is stopped.
Fig. 3 is an experimental time-velocity diagram obtained by using the above driving method, and when the rotation speed is 580arc sec/s, which is experimentally measured, the angular second low speed can be obtained by using the intermittent pulse output method, but the real-time rotation speed has large-amplitude periodic jitter, because the motor runs in a continuous periodic start-stop state, and the rotation speed oscillation occurs, which has a great influence on the stability of the rotation speed of the motor.
Combine fig. 4, fig. 4 is the utility model provides a stack pulse speed governing actuating system's structural schematic, the DSP chip sets up four ways PWM output, is sinA, sinB, cosA and cosB respectively, and these four ways signals drive four grid MOS pipes of push-pull circuit respectively, and the ultrasonic motor who forms the square wave drive and link to each other with inductance matching circuit after boosting circuit boosts the four ways signal again and amplifies rotates. The number n of output pulses of the four PWM output ends is one period, the duty ratio is square wave pulses of 25%, signals sinA and sinB, and signals cosA and cosB are two pairs of complementary grid driving signals of a push-pull circuit and are output in 180-degree phases respectively, wherein the phase difference between the signals sinA and cosA is 90 degrees. In each period, two paths of signals of sinA and sinB are used as the initial signals, and the two paths of signals of sinA and sinB output m pulses and then stop outputting immediately; during the period, when the sinA and sinB signals output the (n-m) th pulse, cosA and cosB start to output the first pulse until the m pulse is output, and one period of the superposition pulse speed regulation control method is ended and is immediately followed by the beginning of the next period. The number of the superposed pulses at the sin end and the cos end of each period is (2 x m-n).
As shown in fig. 5, each period is divided into three regions, namely a standing wave region, a traveling wave region and a standing wave region, when a sin end or cos end pulse is output independently, when a piezoelectric ceramic plate on a stator applies a single-phase sine wave, the stator generates standing wave vibration, the standing wave vibration enables a rotor to generate a vacation phenomenon, the contact area is reduced, and an ultrasonic antifriction phenomenon is caused, the frequency of the applied sine wave is closer to a resonance frequency point, the contact time between the stator and the rotor is shorter, the friction force between the stator and the rotor is smaller, the load torque provided for a measuring motor is smaller, and vice versa, and the region is called as the standing wave region; during the pulse superposition period of the sin end and the cos end, alternating current voltage is applied to two phases of the motor, the two-phase standing waves of the piezoelectric ceramic sheet on the stator of the ultrasonic motor are superposed to form traveling waves, the stator can generate traveling wave vibration, the vibration enables contact friction acting force to be generated between the rotor and the stator of the motor to drive the rotor to move, and the interval is called as a traveling wave area.
In the traveling wave zone, the motor is driven by the contact friction force generated between the rotor and the stator, and the rotor starts to rotate until reaching a stable rotating speed, as shown in a starting characteristic curve; the rotor is driven to slide down in the traveling wave zone by the friction force, the turning-off characteristic curve in the figure is shown, when the rotor falls to a certain rotating speed, the rotor enters the traveling wave zone again, and the rotating speed of the motor begins to rise to a stable rotating speed again and starts in cycles. The speed of the sliding down in the standing wave zone is related to the magnitude of the abrasion force, the magnitude of the friction force is related to the driving frequency of the motor, and the friction force is smaller when the driving frequency is closer to the resonance frequency point of the motor, and vice versa. Compared with the driving method described in patent number US2007/0247023, the superimposed pulse speed-adjusting driving method of the present invention has the advantage that the output speed is more stable, and the conclusion can be obtained by comparing fig. 3 and fig. 7.
Through comparison between fig. 7 and fig. 3, it is found that the driving method of the present invention and the patent number
The driving method mentioned in US2007/0247023 has the advantage that when outputting the same low speed, the embodiment of the present invention provides a rotation speed of 580arc sec/s angular seconds, the present invention has no large amplitude periodic jitter in the real-time rotation speed, and the stability of the motor rotation speed is obviously improved compared with the latter.
See FIG. 8, in terms of equations of motionTmFor driving torque, TLThe load torque, c the damping coefficient, J the moment of inertia of the load including the rotor, and ω the angular velocity of the rotor. The problem that how to quickly adjust the motor speed to the set speed under the condition of constant load is always the problem in the field, the traditional method for changing the frequency by using a PID algorithm is used for adjusting the motor speed to the set speed, and although the method is effective and convenient, the defect that the adjusting time is long when the adjusting speed range is larger can occur. In order to solve this problem, the present invention can solve the above mentioned problem by adjusting the number of the superimposed pulses (2 × m-n). In the embodiment, the driving frequency is 42kHz, when the number n of periodic pulses is 10, the value of the number m of single-phase output pulses is changed through the adjustment of a DSP program, and in the process that the value is changed from 6 to 10, the motor outputs different pulsesThe driving torque is increased in a nonlinear parabolic trend along with the increase of the number m of pulses according to the motion equation as can be seen from fig. 8The load torque remaining constant, i.e. TLAt a constant value by regulating the drive torque, i.e. TmFor the adjustment of the value, the drive torque increases non-linearly with the motor angular velocity ω and vice versa as the value increases.
As shown in fig. 9, according to the above, when the periodic pulse n is a constant value, the driving torque obtained by experimentally obtaining a value for adjusting only m is limited, and according to the above equation of motion, when the load torque is a constant value, the obtained rotation speed of the rotor is also limited, and it is difficult to obtain different rotation speeds. In order to achieve this goal, more different driving torques have to be obtained, which can be achieved by varying the values of the number of pulses n per cycle and the number of single-phase output pulses m, as can be found experimentally in the figure.
When the motor drives a constant load, the driving torque corresponding to the set rotating speed can be found out through the adjustment of the n and m numerical values, if the driving torque corresponding to the set rotating speed is not found, the closest driving torque can be found out firstly, then the rotating speed is adjusted through a frequency modulation method, the purpose that the set rotating speed is finally achieved through coarse adjustment and fine adjustment is achieved, and compared with the traditional method that the PID algorithm is only used for changing the frequency, the time for adjusting the rotating speed of the motor to the set speed is greatly shortened. In the case of a variable load, the rotation speed of the motor can be suddenly changed, and the rotation speed can be adjusted by the method for maintaining the original speed, and the time used in the whole process is also greatly shortened through experimental verification.
In order to improve the stability of the rotating speed, the frequency can be adjusted to be close to the resonance frequency point in the standing wave region, because the closer the frequency of the sine wave applied to the single phase of the motor is to the resonance frequency point, the smaller the friction force between the stator and the rotor is, and the smaller the motor rotating speed is reduced in the standing wave region, and the higher the stability of the speed is.
The above-mentioned embodiments further describe the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above description is only the embodiments of the present invention, and is not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (1)
1. A superimposed pulse speed regulation driving system is characterized by comprising a DSP chip, a push-pull inverter circuit, a booster circuit, an inductance matching circuit and an ultrasonic motor; wherein,
the DSP chip is provided with four paths of PWM output ends which are sinA, sinB, cosA and cosB respectively, and the PWM output of the DSP chip is connected into the push-pull inverter circuit;
and the push-pull inverter circuit sequentially inverts and boosts the PWM driving control signals, and outputs sin and cos control signals to the ultrasonic motor through the inductance matching circuit to drive the ultrasonic motor to rotate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821619794.XU CN208939846U (en) | 2018-09-30 | 2018-09-30 | A kind of superimposed pulse speed-adjusting driving system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821619794.XU CN208939846U (en) | 2018-09-30 | 2018-09-30 | A kind of superimposed pulse speed-adjusting driving system |
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| CN208939846U true CN208939846U (en) | 2019-06-04 |
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| CN201821619794.XU Expired - Fee Related CN208939846U (en) | 2018-09-30 | 2018-09-30 | A kind of superimposed pulse speed-adjusting driving system |
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- 2018-09-30 CN CN201821619794.XU patent/CN208939846U/en not_active Expired - Fee Related
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