超声波电机黄金分割自适应转速控制

Golden Section Adaptive Speed Control of Ultrasonic Motors

针对超声波电机的明显非线性特征,研究适当的转速自适应控制策略。建立能够较好表述超声波电机控制特性的三阶特征模型。基于该模型,以电机驱动电压频率为控制量,设计黄金分割自适应转速控制器。根据对实验结果的分析,给出逻辑积分控制律、微分控制律等方法以进一步改善转速控制性能。实验表明了所提控制方法的有效性。

Aiming at the obvious nonlinearity of ultrasonic motor, a kind of adaptive speed control strategy is studied in this paper. The three-order characteristic model of ultrasonic motor which can describe the motor＇s control characteristics is established. Using frequency of the driving voltage as control variable, a golden section adaptive speed controller is designed based on the characteristic model. According to the analysis on experimental results, the improved measures such as logic integral and differential control laws are proposed to improve the control performance. The experiments indicate the availability of the proposed control strategy.