超声电机多参量高精度测控系统的研制

Development of high-precision multivariable measurement and control system of ultrasonic motor

为了克服传统超声电机测控系统参数调控不灵活、特性测试分析不全面、控制算法效率低等问题,本文介绍了一种能对超声电机主要机电参数进行测量和控制的实验系统。依据超声电机参数特点与输入输出特性提出了测控系统总体方案。针对变预压力特性与温度特性难以快速获取的问题,设计了以电动缸为出力源的预压力施加装置和以薄膜热电阻为敏感源的界面温度采集装置;针对高频激励信号难以灵活产生和实时采集的困难,设计了多参数可调的驱动与采集电路;针对电机特性测控低效、过程不够规范的问题,形成了标准化测控流程,尤其是提出了能够精细化分析瞬态特性的同步采集和控制流程。测试结果表明,本系统覆盖了超声电机主要的8项控制参数与13项状态参数,能够实现控制参数的在线精确调控与状态参数的快速测量,测试效率较传统的超声电机测控系统提高了30%,为超声电机的动力学建模、特性评估及运动控制算法研究提供了较为完善的测控手段。

In order to solve the restriction caused by inflexible parameter control and low analysis efficiency in the motor’s test system,this paper builds a multi-parameter measurement and control system.This paper introduces a system that can measure and test the main mechanical-electrical parameters of ultrasonic motors.Firstly,an overall scheme is designed according to the parameters and the input-output characteristics.Then in order to obtain the characteristics of variable preloads and temperature rapidly,an electric cylinder is employed as the source of pre-pressure and a temperature acquisition unit based on thin-film thermal resistance is designed;In view of the difficulties in flexible generation and real-time acquisition of high-frequency signals,a driving circuit which can satisfy the adjustment and measurement in multi-parameters is designed.An overall flowchart is formed for solving low efficiency and incompleteness occurring in the traditional test process.The flowchart especially includes synchronous acquisition processes that can measure transient characteristics of the stepwise movement.Experimental results show that the system covers the main 8 control parameters and 13 state parameters of the ultrasonic motor,and the test apparatus can achieve online accurate adjustments of control parameters and rapid measurement of state parameters.The efficiency in this system is 30%higher than the one in other traditional test system.This paper focuses on solving the problems of multi-parameter measurement and control and provides several effective strategies for dynamic modeling,characteristic evaluation and servo control of the ultrasonic motor.