Low-frequency PWM and single neuron self-adaption-based ultrasonic motor control system

Abstract

The invention discloses a low-frequency PWM and single neuron self-adaption-based ultrasonic motor control system. According to the system, a traveling wave ultrasonic motor is adopted as a control object, a serial port driving circuit is used for sending the steering, rotating speed, turning angle information into a serial communication SCI interface of a high-speed microprocessor DSP through a system information interface, and the DSP calculates low-frequency PWM signals required by close loop control according to the input command and feedback information in running of the motor, and inputting the frequency, phase and amplitude control word of a DDS signal generator to a high speed microprocessor CPLD through SPI communication. The low-frequency PWM signals output by the DSP and the signal output by the CPLD are processed by a DDS-based symmetrical PWM signal generation unit and then sent to a USM driving unit, four pathways of symmetrical PWM signals are acted to a two-phase push-pull inverting circuit and a matching circuit to output two-phase sinusoidal voltage with certain amplitude, frequency and phase difference and drive the ultrasonic motor. The system has the characteristics that power supply utilization rate is high, the speed regulation range is wide, the running state of the motor is stable, and the system has self-adaption capacity and the like.

Description

technical field [0001] The invention relates to a two-phase ultrasonic motor, in particular to an ultrasonic motor control system based on low-frequency PWM and single neuron self-adaptation. Background technique [0002] The structure and operating principle of the ultrasonic motor are different from the traditional electromagnetic motor. It uses the inverse piezoelectric effect of the piezoelectric material to generate ultrasonic vibration, thereby converting the electrical energy into the ultrasonic vibration of the elastic body, and converting it into a moving body through friction transmission. rotary or linear motion. Due to the process of piezoelectric energy conversion and frictional energy transfer, the nonlinearity and internal multivariable coupling of ultrasonic motors are serious. PID, Adaptive, Sliding Mode Variable Structure, Neural Networks, Model Reference, Inverse Model, H ∞ And other schemes have been used in the motion control of ultrasonic motors, whic...

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Problems solved by technology

PID, Adaptive, Sliding Mode Variable Structure, Neural Networks, Model Reference, Inverse Model, H ∞ And other schemes have been used in the motion control of ultrasonic motors, which have improved the problems of resonance frequency point drift and temperature compensation during the operation of ultrasonic motors, and improved the speed stability and tracking performance, but the control effect is still greatly improved. room

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