超声波电机速度与定位控制系统

THE SPEED AND POSITION CONTROL SYSTEM OF ULTRASONIC MOTOR

由于超声波电机复杂的非线性关系,常规的控制方法根本不能满足其控制需求。该文提出了一种新型的超声波电机控制系统,即运用模糊自适应 PID 的控制策略来进行速度控制,并且在设定位置附近切换成 PID 的控制策略进行定位控制。由于综合了模糊控制及 PID 控制两种控制方法的优点,而不需要精确的数学模型就能够对超声波电机进行快速精确的控制。实验证明,利用该控制系统对行波型超声波电机进行速度与定位控制,其速度的快速性与定位的精确性可以得到保证。

For the complex nonlinear characteristics of ultrasonic motor (USM) the general control methods could not meet the demand. This paper presents a novel control system for USM, which adopts fuzzy adaptive PID speed control scheme and adopts PID positioning control scheme when the USM approaches the setting position. This system synthesizes the virtues of fuzzy control and PID control, and which can control the USM quickly and precisely without accurate mathematical model. Using this system to control a traveling wave ultrasonic motor (TWUSM), the rapidity of speed tracking and the precision of positioning are demonstrated by experiments.