二自由度行波型超声波电机的驱动和运动姿态控制

Driving Circuit and Position Control System of Two Degree-of-Freedom Spherical Traveling-Wave Type Ultrasonic Motor

球形二自由度行波型超声波电机是一种多自由度超声波电机,文中介绍了一种二自由度行波型超声波电机简要的结构和机理,并介绍其驱动控制电源的设计,然后提出了一种新颖的电机姿态测量机构,最后研制基于相位差PI控制策略的电机驱动和运动姿态控制系统。实验表明,球形二自由度超声波电机驱动和运动姿态控制是可行和正确的,而且具有较高的定位精度。本文为二自由度行波型超声波电机的优化设计和性能提高奠定了理论基础。

Two degree-of-freedom spherical traveling wave type ultrasonic motor （2DOF USM） is a multi degree-of-freedom ultrasonic motor. This paper presents the structure and working principle of 2DOF USM and the driving control system and new position measuring device for 2DOF USM designed by Zhejiang University for the first time. The driving circuit and position control system is based on phase-difference PI strategy. Through experiments its feasibility is verified with high position accuracy. All the results above lay a theoretical foundation for further optimal design and good performance of this type motors.