Driving Control Strategy And Experimental Research Of Ultrasonic Motor

Ultrasonic motor is a new type of driving device,which converts electrical energy into mechanical energy by converse piezoelectric effect and friction effect.Compared with the traditional electromagnetic motor,ultrasonic motor has many advantages,such as various shapes,high torque,fast response,anti-electromagnetic interference and high standstill torque.In the domestic and overseas,ultrasonic motor has become the research hotspot of micro-motor in recent years.In this paper,the driving control strategy of ultrasonic motor is studied.According to the operation characteristic of the drive requirements of single motor and double motor,a frequency controllable drive circuit is designed.The control strategy has been realized,which is based on the PID algorithm,the fuzzy algorithm and neural network algorithm.The main work of this paper includes:1.The significance of the research is put forward based on development status of the ultrasonic motor.The basic theoretical knowledge is briefly introduced,which is related to the research of ultrasonic motor.The driving control requirements of the ultrasonic motor are given.2.The special working principle of the ultrasonic motor leads to frequency variations in the process,and makes the motor speed nonlinear.Based on this working principle,using traveling-wave type ultrasonic motor as the research object,this paper designs a kind of ultrasonic motor driving circuit based on the DSP2407A.The driving circuit consists of many function modules and the hardware interface circuit.In the software development environment(CCS3.3),the PWM signal control algorithm is programmed,and the software of the driving circuit is compiled,debugged and simulated.Finally,a frequency controllable ultrasonic motor driving circuit is developed,which meets the design requirements of ultrasonic motor drive and speed control.3.The mathematical model of traveling-wave type ultrasonic motor is made,and then using this model,the speed control strategy of ultrasonic motor is analyzed theoretically.The PID control algorithm based on classical PID,Fuzzy PID and BP Neural network is designed,and the feasibility and practicability of the algorithm are supported by simulation analysis.This control algorithm can stabilize the speed and rectify the nonlinear characteristic of ultrasonic motor.4.According to the experimental requirements,the test platform and motor fixing device have been designed.The driving circuit and control algorithm are tested in detail and compared with the simulation results,and then the test results show that this system is stable and respond quickly,and this system can realize the driving and rotational speed control of the ultrasonic motor well.The innovation of this paper:First,aiming at the strong non-linear characteristic of ultrasonic motor,the driving control system of ultrasonic motor based on integrated drive and control function is designed,which realizes the parallel drive function of multiple ultrasonic motors;Second,the control strategy of ultrasonic motor based on fuzzy PID and Neural network PID is designed and analyzed,the platform of ultrasonic motor control system is developed,and the feasibility and effectiveness of the proposed control strategy are verified experimentally.The research results provide a relatively complete solution for the driving control of ultrasonic motor.