The Research Of USM's Speed And Position Control System Based On ARM

Ultrasonic motors (abbr. USMs) are relatively new types of direct drive motors. Their operating principle is quite different from the traditional electromagnetic motors. USMs utilize the mechanical vibration in the ultrasonic frequency scale that were generated by the converse piezoelectric effect of piezoelectric ceramics. They have the stator in direct contact with the rotor driven by a contact friction. USMs have many excellent performances and features such as high torque at a low speed, compactness in size, high holding torque when power is off, insensitive to magnetic fields, fast response, and no noise and so on. They have more excellent performance than the electromagnetic motors in the field needing compact, efficient, intermittent motion and fine controls. USMs have seen commercial application and the attractive prospects in areas such as automobile, office automation, robots, precise positioning device, miniaturized machines, etc. USMs have attracted considerable attention as a new type of actuator in servo system and much more researches were carried out.This paper mainly studied on the traveling wave ultrasonic mortors and their control technology. A drive-control system of USMs was established with the design methods of embedded system and the speed and position control technology of USMs was discussed.The contents are summarized as follows:USMs operating principle, features and their applications are summarized, In this Paper, the development of ultrasonic motors at home and abroad are systematically reviewed. The important significance of the study on USMs is stated. On the basis of above mentioned, the develop direction of control techniques and the content of this thesis are pointed out.Based on control techniques of the ultrasonic motors, the author discussed the designment of the hardware and software of the embedded drive-control system.And the experiment of the testing the performances of USMs is carried out.The DDS technology is used to solve the problem that USMs need high-frequency driving source and digital control mode. In this paper, a dual-channel signal generator with phase, frequency and amplitude adjusted was designed, which is high precsion on frequency and difference phase.In the research of control principle of USMs,Speed and position control strategy were presented. PID control strategy was adopted in the speed control of USMs for it's simple and easy to do,and also can meet the general precision by choosed right parameters.A precise position control scheme for ultrasonic motors using fuzzy and PID control strategy which synthesizes the virtues of fuzzy control and PID control,and which can control the USM quickly and precisely without accurate mathematical model. The stability of the Fuzzy-controller was improved by Fuzzy-PID control strategy and the control accuracy reached 0.0880...