摘要
研究两相行波超声电机的转速控制策略,采用基于阶跃响应的系统辨识方法,建立能够反映超声电机系统主要非线性特征的控制模型。在此基础上,设计了极点配置转速控制器。随后针对超声电机非线性对控制性能的影响,设计了基于模型增益的控制器参数自校正算法,实现了有效的超声电机转速闭环控制。所提控制算法在线计算量小,实验表明了其有效性。
This paper studied on the speed control strategy of travelling wave ultrasonic motor.The speed control model which can reflects the main nonlinear characteristics was obtained using system identification method based on step response.On the basis of this model,a pole assignment speed controller was designed.To avoid the influence of motor's nonlinearity on the speed control performance,the control parameters' on-line self-tuning strategy utilizing the gain of model was designed.The proposed control strategy was realized using a DSP circuit,and experiments prove the validity of the proposed strategy.
出处
《中国电机工程学报》
EI
CSCD
北大核心
2010年第S1期215-219,共5页
Proceedings of the CSEE
基金
河南省基础与前沿技术研究计划(092300410164)~~
关键词
超声电机
转速控制
极点配置
自校正
ultrasonic motor(USM)
speed control
pole assignment
self-tuning
