圆柱定子3自由度球转子超声波电机驱动控制技术的研究

DRIVING AND CONTROL FOR THREE-DEGREE OF FREEDOM SPHERICAL PIEZOELECTRIC ULTRASONIC MOTOR WITH CYLINDER STATOR

驱动控制电源的设计和制作直接决定了超声波电机的输出性能,国内超声波电机产业化空白的最主要原因之一是驱动控制手段的落后。该文从原理上提出了3自由度超声波电机驱动控制电源的要求,以自行设计的圆柱定子3自由度球转子超声波电机为驱动控制对象,设计并实现 了3种可用于3自由度驱动控制的电源。一种基于高频开关电源技术设计,适用于一般的控制,第二种对两相驱动控制电源的改进设计,适用于实验室调试,性价比较高,另一种是基于DSP技术的驱动控制电源,适用于超声波电机的产业化制造。实验证明,3种驱动控制电源适用于任意一种结构的3自由度超声波电机的驱动控制,并通过对电机输出性能的测试,验证了3种驱动控制电源的可行性和正确性,为提高3自由度超声波电机的能量转换效率和进一步增大电机的输出性能奠定了必要的技术和理论基础。

Driving and control for three-degree of freedom spherical piezoelectric ultrasonic motor with cylinder stator (abbr. 3D USM) are the key techniques to the application and research for USM. One of the main reasons of blank commercial application of USM in china is the lagged control strategy. This paper has established the requirements for 3D USM and developed three methods for driving and control for three-degree freedom USM for the first time. One based on the high frequency switch source is designed to generate three-phase driving voltages for 3D USM, the second based on the two-phase driving circuits and the digital switching circuits is designed for the use in Lab., the third based on the DSP and CPLD is designed to research for the control strategy and industrialization for 3D USM. Three driving circuits are all verified feasible and valid by the experiments on 3D USM designed by USM group of Southeast University. Three driving circuits can also be used to any kind of three-freedom degree USM and be the basis of the improving the efficiency of energy transformation between the stator and the rotor and optimization design of 3D USM.