Study On Driver Of Column-Sphere Ultrasonic Motor With Three Degrees Of Freedom

The column-sphere ultrasonic motor with three degrees of freedom developed recently is a new type of motors with multi-degrees of freedom, which can be applied in many fields such as robots and bionics for its special motion.This thesis systematically and deeply researches on some key technologies in driver of the column-sphere ultrasonic motor with three degrees of freedom. The main work accomplished is summarized as follows:1. The development of driving and control technologies of the ultrasonic motors with multi-degrees of freedoms is summarized. And the driving principle of the column-sphere ultrasonic motor is expatiated.2. Several kinds of main circuit of the driver and their peculiarities are introduced. The method of the driver transformer design is studied in detail.3. Design a driver based on DSP(TMS320LF2407A), and can change the parameters of PWM by the software, such as frequency, duty, phase difference. It works stably.4. The USB interface has been used because it can make data transfer quickly and correctly in a long distance. The USB communication protocol is outlined in this thesis and the design of USB controller is introduced in detail in the software and hardware aspects;5. Design the application programs with Visual C++ 6.0.We can set the parameters by PC, such as frequency, duty and so on.