Research On Bus Drive Controller Of Ultrasonic Motor

Ultrasonic motors have characteristics that are not available in conventional electromagnetic motors such as electromagnetic interference,low speed and high torque.Rotary traveling wave ultrasonic motor is one of the most representative motors,and it is often used in high-end equipment such as aerospace,precision instrumentation,biomedical,etc.At present,the performance of ultrasonic motor drive in China still stays in a single adjustment.The degree of integration is not high enough and the function is not complete enough.With the wide application of ultrasonic motor,conforming to industrial standardization,being able to connect via bus,realizing complex speed and position closed-loop control is the key to the application of ultrasonic motor scale.Therefore,this paper mainly studies the high-precision control of ultrasonic motor and multi-motor bus application.This paper focuses on the application characteristics of ultra-lightweight,miniaturization and integration of ultrasonic motors in high-end equipment.The research focuses on three aspects: high integration drive,high precision control and bus application.The main contents of the thesis are as follows:1.Briefly analyze the operation mechanism and driving mechanism of ultrasonic motor.According to the application requirements of ultrasonic motor in high-end equipment,the scheme of bus-type control driver is designed.The indicators that should be achieved in hardware circuit,control algorithm and bus communication are clarified.Request to provide a basis for further research.2.In view of the problem that the traditional ultrasonic motor driver can only be adjusted and the integration is not high,This paper proposes an integrated driver design scheme integrating power drive,voltage and current detection,stator and rotor interface temperature acquisition,encoder information feedback,bus communication and other functions,The amplitude,frequency and phase difference of the drive signal are adjustable in real time.3.In order to improve the running speed of ultrasonic motor,the closed-loop control method of ultrasonic motor speed position is studied.The design method of complex model construction and experimental test on d SPACE,which is quickly and automatically converted into ARM algorithm program is formed,which provides a new method for the research of complex control algorithm of ultrasonic motor.4.Around the bus-type application of ultrasonic motor,a standardized and standardized object dictionary is established.The CANopen protocol is used as the application layer protocol.The PLC main station and QTouch configuration software are used to complete the data transmission and human-computer interaction,and a distributed control system is constructed.Promote the development of ultrasonic motor bus control.In this paper,the rationality of the driver design is verified by the typical performance test of the ultrasonic motor.The performance of the closed-loop controller is verified by the speed and position closed-loop experiments of the ultrasonic motor.The stability,real-time and accuracy of the bus-type control system are verified by multimotor linkage experiments.