Ultrasonic motor driving control device and control method

Abstract

The embodiment of the invention discloses an ultrasonic motor driving control device and control method and belongs to the motor control technical field. With the ultrasonic motor driving control device and control method of the invention adopted, the rotation speed and torque of the operation of an ultrasonic motor can be effectively adjusted and stabilized. The method of the invention includes the following steps that: feedback signals of excitation voltage and excitation current of the ultrasonic motor are received; square wave signals are converted to triangular wave signals through an integral link; modulation is performed according to the triangular wave signals and the feedback signals of the excitation voltage and the excitation current, so that modulated square wave signals can be obtained; and power amplification is performed on the modulated square wave signals, and the square wave signals which have been subjected to power amplification are inputted into the ultrasonic motor. The ultrasonic motor driving control device and control method of the invention are applicable to the driving control of ultrasonic motors.

Description

technical field [0001] The invention relates to the technical field of motor control, in particular to an ultrasonic motor drive control device and control method. Background technique [0002] Ultrasonic motor is a new type of motor that utilizes the inverse piezoelectric effect of piezoelectric ceramic elements to excite elastic body vibration and the principle of friction transmission. Fast, high positioning accuracy and other advantages, so it is widely used in aviation, aerospace, medical, micro-electromechanical system fields. [0003] In the existing ultrasonic motor drive control circuit, by stabilizing the bus voltage of the power output part, the stability of the excitation voltage of the ultrasonic motor can be realized, and the following requirements can be met: figure 1 The equivalent circuit shown. However, the following problems have appeared in practical applications: in the scenarios of high-power excitation, long-term continuous operation and frequent loa...

AI Technical Summary

Problems solved by technology

However, the following problems have appeared in practical applications: in the scenarios of high-power excitation, long-term continuous operation and frequent load changes, the core components of ultrasonic motors (such as piezoelectric ceramics) will appear serious nonlinearity, and its equivalent motor parameters (capacitance Cm, inductance Lm, resistance Rm, etc.) are no longer constant values, and will change significantly with the excitation voltage, making it difficult for the motor control system to effectively adjust the speed and torque, affecting the normal operation of the motor

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