基于多变量变速积分的超声波电机超低转速控制策略

Abstract
Figure/Table
References
Related Citation (12)

Download: PDF (583 KB) HTML (1 KB)
Export: BibTeX | EndNote (RIS)

Abstract In this paper, by off-line identification, the driving frequency and wave-numbers is obtained as input where the speed as output. The low speed model is built, the change-velocity integral control is applied, for the Nonlinearity, integral factor is corrected by reference to the model curvature, Suitability of the control strategy is improved. Against to the low speed working condition where the speed is lower than 1º/s, the multi-input system is established in order to improve the servo performance. Combine the PI strategy using frequency as the control variable, steady-state error is reduced. The experimental results are presented to verify the correctness and effectiveness of the proposed control strategy.

Key words： Ultrasonic motor change speed integral low speed control multi-variable control

Received: 20 August 2014 Published: 14 April 2015

PACS:

TM356

	Service

	E-mail this article
	Add to my bookshelf
	Add to citation manager
	E-mail Alert
	RSS
	Articles by authors
	Pan Peng
	Xu Zhike
	Wang Qianqian
	Huang Zurong
	Wang Ruixia

Cite this article:

Pan Peng,Xu Zhike,Wang Qianqian等. Low Speed Control of Ultrasonic Motor Using Change-Speed Integral Strategy and Multi-Variables[J]. Transactions of China Electrotechnical Society, 2015, 30(2): 122-127.

URL:

http://dgjsxb.ces-transaction.com/EN/ OR http://dgjsxb.ces-transaction.com/EN/Y2015/V30/I2/122

[1] 周丽平, 孙志峻, 张泉. 一种应用正态分布理论的直线超声电机精密定位控制方法[J]. 中国电机工程学报, 2012, 32(27): 60-65,183. Zhou Liping, Sun Zhijun, Zhang Quan. A precision alignment control method of linear ultrasonic motors using the normal distribution theory[J]. Proceedings of the CSEE, 2012, 32(27): 60-65,183.
[2] 华亮, 冯浩, 顾菊平, 等. 行波超声波电机微步控制研究[J]. 电气传动, 2009, 39(3): 72-76. Hua Liang, Feng Hao, Gu Juping, et al. Micro-step control for traveling-wave ultrasonic motor[J]. Electric Drive, 2009, 39(3): 72-76.
[3] 纪科辉, 郭吉丰, 刘晓. 超声波电机的步进特性和步进定位控制[J]. 中国电机工程学报, 2004. 24(1): 71-75. Ji Kehui, Guo Jifeng, Liu Xiao. Stepping characterics of ultrasonic motor and its stepping-position control [J]. Proceedings of the CSEE, 2004, 24(1): 71-75.
[4] 胡敏强, 金龙, 顾菊平. 超声波电机原理与设计[M]. 北京: 科学出版社, 2005.
[5] 史敬灼, 张慧敏. 基于电压调节的行波超声波电机转速模糊PID控制[J]. 微电机, 2011, 44(3): 68-70,111. Shi Jingzhuo, Zhang Huimin. Fuzzy PID speed control of traveling wave ultrasonic motor using voltage amplitude regulation[J]. Micromotors, 2011, 44(3): 68-70,111.
[6] 夏长亮, 祁温雅, 杨荣. 基于RBF神经网络的超声波电机参数辨识与模型参考自适应控制[J]. 中国电机工程学报, 2004, 24(7): 121-125. Xia Changliang, Qi Wenya, Yang Rong. Identification and model reference adaptive control for ultrasonic motor based on RBF neural network[J]. Proceedings of the CSEE, 2004, 24(7): 121-125.
[7] 史敬灼, 吕方方. 超声电机非线性多步预测自校正转速控制[J]. 中国电机工程学报, 2012, 32(27): 66-72,184. Shi Jingzhuo, Lü Fangfang. Self-tuning nonlinear generalized predictive speed control of ultrasonic motors[J]. Proceedings of the CSEE, 2012, 32(27): 66-72,184.
[8] 史敬灼, 刘玉. 超声电机简单专家PID速度控制[J]. 中国电机工程学报, 2013, (36): 120-125,17. Shi Jingzhuo, Liu Yu. Simple expert PID speed control of ultrasonic motors[J]. Proceedings of the CSEE, 2013, (36): 120-125,17.
[9] 史敬灼, 尤冬梅. 超声波电机黄金分割自适应转速控制[J]. 电工技术学报, 2013, 28(6): 59-65. Shi Jingzhuo, You Dongmei. Golden section adaptive speed control of ultrasonic motors[J]. Transactions of China Electrotechnical Society, 2013, 28(6): 59-65.
[10] 傅平, 郭吉丰, 丁敬, 等. 基于神经元自适应PID的超声波电机速度位置控制[J]. 电工技术学报, 2007, 22(2): 28-33. Fu Ping, Guo Jifeng, Ding Jing, et al. A neuron adaptive PID speed and position control for ultrasonic motors[J]. Transactions of China Electrotechnical Society, 2007, 22(2): 28-33.
[11] 赵淳生. 超声电机技术与应用[M]. 北京: 科学出版社, 2007.
[12] 王心坚, 胡敏强, 金龙, 等. 行波超声波电机多调节量协调控制方法[J]. 中国电机工程学报, 2009, 29(6): 73-79. Wang Xinjian, Hu Minqiang, Jin Long, et al. A traveling-wave ultrasonic motor control method based on coordination regulation of three variables[J]. Proceedings of the CSEE, 2009, 29(6): 73-79.
[13] 史敬灼, 王海彦. 超声波电动机转速的双变量复合控制[J]. 微特电机, 2010, 38(5): 42-44,52. Shi Jingzhuo, Wang Haiyan. Compound speed control of ultrasonic motors using two variables[J]. Small & Special Electrical Machines, 2010, 38(5): 42-44,52.