摘要
圆柱-球体三自由度超声电机绕x、y轴旋转时有较严重的耦合,针对这种情况,提出了矢量控制策略。从电机运动机理角度论述了矢量控制策略原理,应用有限元仿真系统对该控制原理进行了仿真和实验。实验结果表明,该控制策略实现了圆柱-球体三自由度超声电机运动的解耦,可实现全方位运动的控制。
An effective control scheme using Vector controller is proposed to resolve the coupling x-y axis of cylinder-sphere 3-DOF ultrasonic motor. The control principle is discussed by analyzing movement principium of cyl- inder-sphere 3-DOF ultrasonic motor and is simulated through Ansys software. It is demonstrated by experiments that the control scheme of Vector performance can obtain good results.
出处
《压电与声光》
CSCD
北大核心
2008年第5期624-626,630,共4页
Piezoelectrics & Acoustooptics
基金
国家自然科学重点基金资助项目(50235010)
关键词
超声电机
矢量控制
运动机理
位置控制
ultrasonic motor
vector control
movement principium
position control
