超声波电机步进特性及精密定位控制方法研究

Step Characteristic and Precision Positioning Control for Ultrasonic Motor

对日本Shinsei公司的环形行波超声波电机USR60的调速特性和步进特性进行了实验研究,探讨了控制方法和负载变化对电机步进控制的影响并揭示了其中规律,提出了步进控制的改进方法。该方法在电机特性实验研究基础上,通过最小二乘法拟合出的经验公式对电机步距角的偏差进行修正,实现了环形行波超声波电机带负载时的等步距运行。提出的步进控制方法可实现环形行波超声波电机无位置传感器开环精密定位控制,控制精度达0.005°。

Based on the experiments with the speed adjustable characteristic and the step characteristic of USR-60 ring-type traveling-wave ultrasonic motor produced by Shinsei corporation in Japan, the regularity that the stepping accuracy for controlling ring-type traveling-wave ultrasonic motor is influenced by control methods and different loads was concluded and one improved method for micro-step controlling was given. The deviation of the stepping angle can be modified by the empirical calculated through the simulation with software Matlab by the least square procedure founded on all characteristic experiments about ring-type traveling-wave ultrasonic motor. Designed precise positioning system realizes the high-precision control to the motor without using high precision angular sensor whose precision can reach 0. 005°.