Research And Exploration Of Driving Controller For The Traveling Wave Rotary Ultrasonic Motor With Double Stators

Ultrasonic motor(USM)is a new type of micro motor based on inverse piezoelectric effect.Compared with the electromagnetic motor,it has the advantages of compact structure,low speed high torque,fast response,no magnetic field,no electromagnetic interference and self-locking.These unique advantages enable USM to show broad market development prospects in the fields of aerospace,robotics,digital products and medical equipment.Therefore,the ultrasonic motor has become a new research hotspot.The traveling wave rotary ultrasonic motor with double stators as a new structure has not only the above excellent characteristics,but also the defect of the single stator ultrasonic motor.Because of its complex time-varying,nonlinear characteristics and inaccurate mathematical models,its driving and control technology directly affects the performance of motor performance.In order to realize the driving control of the ultrasonic motor,a driving controller scheme based on C8051F120 microcontroller is proposed in this paper,which has completed the research and development of the related software and hardware,and the main functions of the drive controller are verified.Firstly,the research development history and types of ultrasonic motors are introduced.At the same time,the working characteristics and application fields of traveling wave rotary ultrasonic motor are summarized.The research background and current situation of the driving control technology of the traveling wave rotary ultrasonic motor with double stators are also presented.The technical difficulties of its driving control are further analyzed.Thereby,the purpose of the research and the main contents of the research are introduced.Secondly,the internal structure and operation mechanism of the ultrasonic motor are discussed and analyzed in detail.Thus the driving control technology requirements the ultrasonic motor are obtained.Then,on the basis of it,a design scheme of the ultrasonic motor driving control system based on single chip microcomputer C8051F120 is proposed.The drive controller uses the C8051F120 single chip as the control core and outputs four voltage signal of adjustable frequency of equal amplitude and same frequency.The output signal needs to be converted into four smooth sinusoidal voltages through the filter circuit,and the phase shift circuit is used to adjust the signal phase.Then the four channel output signal from the superior is amplified by thepower amplifier module.The high frequency and high voltage sine signal obtained by the module can drive the ultrasonic motor to run normally.At the same time,the isolated voltage feedback circuit adjusts the frequency of the driving signal and controls the vibration amplitude of the stator to improve the operating stability of the ultrasonic motor.Finally,based on the completion of the related circuit module’s software and hardware research development and simulation,the actual circuit is built and tested,and the basic driving and control function of the system is verified.The test results and analysis show that the driving controller meets the operation requirements of the traveling wave rotary ultrasonic motor with double stators.At the same time,it lays a foundation for the realization of the wide application of ultrasonic motor in various fields.