多自由度超声电机驱动电路研究

Study on driving circuit of multi degree of freedom ultrasonic motor

针对多自由度超声电机应用于X-Y工作平台相对复杂的逻辑电路控制要求,提出模拟式与数字式两种驱动电路解决方案,分别从信号输出原理、逻辑控制策略及并联谐振匹配方面对比研究了各自方案的特点,并在此基础上着重讨论了并联谐振匹配各参数对电路效率的影响。研究结果表明,一方面方波占空比D对抑制谐波分量,减少输入电流起着关键作用;另一方面采用数字式驱动方案,电路逻辑控制简单,易于实现快速切换,方便控制电机在平台上做复杂轨迹运动,为多自由度超声电机的推广应用提供有价值的参考依据。

As for the complex control requirements of logical circuit in Multi-Degree-Of-Freedom（ M-DOF） Ultrasonic Motor（ USM） used on X-Y Platform,two driving circuits,the analog and digital,were proposed. The characteristics of two driving methods,considering theory of signal output,strategy of logic control and matching of parallel resonant,were analyzed respectively. And on this basis,it was focused on the effects of various parameters to the circuit efficiency of parallel resonant. The results show that the duty ratio D of the square wave suppressed the harmonic components and played a key role in decreasing the input current. With a digital driving scheme,logic circuit for Ultrasonic Motor＇s controlling is simple,easy to implement fast switching and facilitates the motor do complex trajectory on X-Y platform,providing benefit reference for the popularization and application of M- DOF USM.