基于相关性相位提取的超声电机频率控制技术
|
摘要
为了解决温度和负载的变化容易引起超声电机转速波动,以及基于转速反馈的闭环控制因转速传感器安装体积和成本在某些特种场合应用受限的问题,提出一种基于相位差信息反馈的频率闭环控制方法:首先,根据电机各类相位差对温度和负载变化的敏感程度,优化选择了相位差反馈量的类型;其次,针对系统机械噪声以及驱动器谐波对相位差计算结果的影响,利用改进的相关性相位提取方法准确提取驱动电压和孤极电压的基频相位差信息;最后,分别就超声电机运行过程中温度和负载变化的情况,给出了相应的频率闭环控制方案。实验结果表明,所提出的方法能有效降低温度以及负载变化导致的转速波动,可提升电机所在系统的转速稳定性。由于其只需采样两路电压信号,故易于工程实现。
In order to solve the problems that the speed of ultrasonic motor is usually affected by the changes of temperature and load, and that due to installation volume and cost of the speed sensor, the closed-loop control based on speed feedback is often limited in some special applications, a frequency closed-loop control method based on phase difference feedback is introduced. Firstly, the type of phase difference feedback quantity is optimally selected according to the sensitivity of different motor phase differences to the temperature and load change; secondly, aiming to the interference of mechanical and harmonic noises on phase difference calculating result, the correlation phase extraction method is proposed to improve the accuracy of phase difference between driving voltage and monitor electrode voltage; lastly, the corresponding frequency closed-loop control scheme is given according to the changes of temperature and load change, respectively. Experiment results indicate that this method can reduce the speed fluctuations caused by the changes of temperature and load, and improve the speed stability of motor system. Because only two voltage signals are needed to be recorded, this method is easy for implementation.
In order to solve the problems that the speed of ultrasonic motor is usually affected by the changes of temperature and load, and that due to installation volume and cost of the speed sensor, the closed-loop control based on speed feedback is often limited in some special applications, a frequency closed-loop control method based on phase difference feedback is introduced. Firstly, the type of phase difference feedback quantity is optimally selected according to the sensitivity of different motor phase differences to the temperature and load change; secondly, aiming to the interference of mechanical and harmonic noises on phase difference calculating result, the correlation phase extraction method is proposed to improve the accuracy of phase difference between driving voltage and monitor electrode voltage; lastly, the corresponding frequency closed-loop control scheme is given according to the changes of temperature and load change, respectively. Experiment results indicate that this method can reduce the speed fluctuations caused by the changes of temperature and load, and improve the speed stability of motor system. Because only two voltage signals are needed to be recorded, this method is easy for implementation.
引文
[1] 牛子杰,孙志峻,陈超,等. 基于响应面模型与自适应遗传算法的中空型行波超声电机柔性转子结构优化[J]. 中国电机工程学报,2014,34(30):5378-5385.NIU Zijie, SUN Zhijun, CHEN Chao, et al. Optimization of the rotor structure of a hollow traveling wave ultrasonic motor based on response surface methodology and self-adaptive genetic algorithm[J]. Proceedings of the CSEE, 2014, 34(30): 5378-5385
[2] 张军,时运来,梁大志,等. 直线超声电机驱动精密二维定位平台系统[J]. 中国电机工程学报,2014,34(18):2960-2966.ZHANG Jun, SHI Yunlai, LIANG Dazhi, et al. A 2-D precision positioning table system driven by linear ultrasonic motors[J]. Proceedings of the CSEE, 2014, 34(18): 2960-2966.
[3] 夏长亮,徐绍辉,史婷娜,等. 基于遗传算法的超声波电机模糊自适应速度控制[J]. 中国电机工程学报,2003,23(3):99-103.XIA Changliang, XU Shaohui, SHI Tingna, et al. Fuzzy adaptive speed control for ultrasonic motor based on genetic algorithm[J]. Proceedings of the CSEE, 2003,23(3):99-103.
[4] STEPANENKO D A,MINCHENYA V T.Development and study of novel non-contact ultrasonic motor based on principle of structural asymmetry[J]. Ultrasonics, 2012,52(7):866-872.
[5] 李争,郭鹏,高世豪.环形超声波电机的特性分析与实验研究[J].微电机,2018,51(5):17-21.LI Zheng, GUO Peng, GAO Shihao. Characteristic analysis and experimental study of ring ultrasonic motor[J]. Micro motors, 2018, 51(5): 17-21.
[6] 张龙.基于DSP的行波型超声波电机驱动控制系统的研究[D].杭州:浙江大学,2004.ZHANG Long. Research on Drive Control System of Traveling Wave Ultrasonic Motor Based on DSP[D]. Hangzhou:Zhejiang Univer-sity, 2004.
[7] 王光庆,郭吉丰.超声波电机频率-温度特性研究[J].电机与控制学报,2008,12(6):675-679.WANG Guangqing, GUO Jifeng. Research on the frequency-temperature characteristics of the ultrasonic motor[J]. Electric Machines and Control, 2008,12(6): 675-679.
[8] 曾劲松,姚志远,赵淳生.超声电机中的非线性现象研究[J].中国机械工程,2006,17(10):1047-1051.ZENG Jinsong, YAO Zhiyuan, ZHAO Chunsheng. Research on non-linear phenomena in ultrasonic motor[J]. China Mechanical Engineering, 2006,17(10): 1047-1051.
[9] 陈胜,雷向红.超声电机的阻抗角特性及其控制技术研究[J].机电信息,2013,15:94-95.CHEN Sheng, LEI Xianghong. Research on impedance angle characteristics of ultrasonic motor and its control technology[J]. Journal of Mechanical And Electrical Information, 2013, 15:94-95.
[10] 李华峰,丁庆军,陈超.超声电机启动可靠性研究[J].中国电机工程学报,2013,33(9):138-145. LI Huafeng, DING Qingjun, CHEN Chao. Research on startup reliability of ultrasonic motors[J]. Proceedings of the CSEE, 2013, 33(9): 138-145.
[11] 陈志华,赵淳生.一种简单实用的超声电机频率跟踪控制技术[J].压电与声光,2003,25(2):149-151.CHEN Zhihua, ZHAO Chunsheng. The control of resonant tracking of ultrasonic motor[J]. Piezoele Ctrics & Acoustooptics, 2003,25(2): 149-151.
[12] IZUNO Y, HOJO M, NAKAOKA M. Software-based adjusting P-I gain controller for speed-tracking servo system using traveling-wave type ultrasonic motor[C]// IEEE Industry Applications Society Annual Meeting.[S.l.]: Denver,1994.
[13] 赵淳生,朱华.超声电机技术的发展和应用[J].机械制造与自动化,2008,37(3):1-9.ZHAO Chunsheng, ZHU Hua. Development and application of ultrasonic motors technologies[J]. Machine Building & Automation, 2008,37(3): 1-9.
[14] 陈志华,赵淳生,黄卫清.行波型超声电机速度控制技术的研究[J].压电与声光,2005,27(4):427-430.CHEN Zhihua, ZHAO Chunsheng, HUANG Weiqing. Research on the speed control techniques of a traveling-wave-type ultrasonic motor[J]. Piezoelectrics & Acoustooptics, 2005,27(4): 427-430.
[15] 王文浩,郭吉丰,胡锡幸,等.驱动电压跟踪的超声波电机频率自适应技术[J].中国电机工程学报,2010,30(27):36-41.WANG Wenhao, GUO Jifeng, HU Xixing,et al. A adaptive frequency tracking control strategy for ultrasonic motor using the driving voltage[J]. Proceedings of the CSEE, 2010, 30(27): 36-41.
[16] 甘云华,金龙,胡敏强,等.基于锁相环的超声波电机频率跟踪控制技术[J].哈尔滨理工大学学报,2009,14(2):66-70.GAN Yunhua, JIN Long, HU Minqiang, et al. Frequency tracking technology of ultrasonic motor based on phase-locked loop[J]. Journal of Harbin University of Science and Technology, 2009, 14(2): 66-70.
[17] 祖家奎,赵淳生.行波型超声电机频率自动跟踪控制技术评述[J].微电机,2004,37(6):47-50.ZU Jiakui, ZHAO Chunsheng. A review for frequency tracking control techniques of traveling wave ultrasonic motors[J]. Micro Motors, 2004,37(6): 47-50.
[18] SHI Jingzhuo,LV Lin,ZHANG Yu. Dynamic takagi-sugeno model for the control of ultrasonic motor[J]. Journal of Control Science and Engineering, 2011:1-9.
[19] 顾菊平,秦申蓓,石斌,等.超声波电机测试技术的研究[J].电工技术学报,2003,18(1):21-26.GU Juping, QIN Shenbei, SHI Bin, et al. Research on testing techniques of ultrasonic motors[J]. Transactions of China Electrotechnical Society, 2003,18(1): 21-26.
[20] 甘云华,金龙,王心坚,等.超声波电机自激振荡驱动电路的变频控制特性[J].中国电机工程学报,2008,28(9):93-97.GAN Yunhua, JIN Long, WANG Xinjian, et al. Characteristic of variable frequency control of self-oscillating driving circuit for utrasonic motor[J]. proceedings of the CSEE, 2008, 28(9): 93-97.
[21] AN Guoqing, LI Hongru. Stator and rotor faults diagnosis of squirrel cage motor based on fundamental component extraction method[J]. International Journal of Rotating Machinery, 2017: Article ID 1576381.
[2] 张军,时运来,梁大志,等. 直线超声电机驱动精密二维定位平台系统[J]. 中国电机工程学报,2014,34(18):2960-2966.ZHANG Jun, SHI Yunlai, LIANG Dazhi, et al. A 2-D precision positioning table system driven by linear ultrasonic motors[J]. Proceedings of the CSEE, 2014, 34(18): 2960-2966.
[3] 夏长亮,徐绍辉,史婷娜,等. 基于遗传算法的超声波电机模糊自适应速度控制[J]. 中国电机工程学报,2003,23(3):99-103.XIA Changliang, XU Shaohui, SHI Tingna, et al. Fuzzy adaptive speed control for ultrasonic motor based on genetic algorithm[J]. Proceedings of the CSEE, 2003,23(3):99-103.
[4] STEPANENKO D A,MINCHENYA V T.Development and study of novel non-contact ultrasonic motor based on principle of structural asymmetry[J]. Ultrasonics, 2012,52(7):866-872.
[5] 李争,郭鹏,高世豪.环形超声波电机的特性分析与实验研究[J].微电机,2018,51(5):17-21.LI Zheng, GUO Peng, GAO Shihao. Characteristic analysis and experimental study of ring ultrasonic motor[J]. Micro motors, 2018, 51(5): 17-21.
[6] 张龙.基于DSP的行波型超声波电机驱动控制系统的研究[D].杭州:浙江大学,2004.ZHANG Long. Research on Drive Control System of Traveling Wave Ultrasonic Motor Based on DSP[D]. Hangzhou:Zhejiang Univer-sity, 2004.
[7] 王光庆,郭吉丰.超声波电机频率-温度特性研究[J].电机与控制学报,2008,12(6):675-679.WANG Guangqing, GUO Jifeng. Research on the frequency-temperature characteristics of the ultrasonic motor[J]. Electric Machines and Control, 2008,12(6): 675-679.
[8] 曾劲松,姚志远,赵淳生.超声电机中的非线性现象研究[J].中国机械工程,2006,17(10):1047-1051.ZENG Jinsong, YAO Zhiyuan, ZHAO Chunsheng. Research on non-linear phenomena in ultrasonic motor[J]. China Mechanical Engineering, 2006,17(10): 1047-1051.
[9] 陈胜,雷向红.超声电机的阻抗角特性及其控制技术研究[J].机电信息,2013,15:94-95.CHEN Sheng, LEI Xianghong. Research on impedance angle characteristics of ultrasonic motor and its control technology[J]. Journal of Mechanical And Electrical Information, 2013, 15:94-95.
[10] 李华峰,丁庆军,陈超.超声电机启动可靠性研究[J].中国电机工程学报,2013,33(9):138-145. LI Huafeng, DING Qingjun, CHEN Chao. Research on startup reliability of ultrasonic motors[J]. Proceedings of the CSEE, 2013, 33(9): 138-145.
[11] 陈志华,赵淳生.一种简单实用的超声电机频率跟踪控制技术[J].压电与声光,2003,25(2):149-151.CHEN Zhihua, ZHAO Chunsheng. The control of resonant tracking of ultrasonic motor[J]. Piezoele Ctrics & Acoustooptics, 2003,25(2): 149-151.
[12] IZUNO Y, HOJO M, NAKAOKA M. Software-based adjusting P-I gain controller for speed-tracking servo system using traveling-wave type ultrasonic motor[C]// IEEE Industry Applications Society Annual Meeting.[S.l.]: Denver,1994.
[13] 赵淳生,朱华.超声电机技术的发展和应用[J].机械制造与自动化,2008,37(3):1-9.ZHAO Chunsheng, ZHU Hua. Development and application of ultrasonic motors technologies[J]. Machine Building & Automation, 2008,37(3): 1-9.
[14] 陈志华,赵淳生,黄卫清.行波型超声电机速度控制技术的研究[J].压电与声光,2005,27(4):427-430.CHEN Zhihua, ZHAO Chunsheng, HUANG Weiqing. Research on the speed control techniques of a traveling-wave-type ultrasonic motor[J]. Piezoelectrics & Acoustooptics, 2005,27(4): 427-430.
[15] 王文浩,郭吉丰,胡锡幸,等.驱动电压跟踪的超声波电机频率自适应技术[J].中国电机工程学报,2010,30(27):36-41.WANG Wenhao, GUO Jifeng, HU Xixing,et al. A adaptive frequency tracking control strategy for ultrasonic motor using the driving voltage[J]. Proceedings of the CSEE, 2010, 30(27): 36-41.
[16] 甘云华,金龙,胡敏强,等.基于锁相环的超声波电机频率跟踪控制技术[J].哈尔滨理工大学学报,2009,14(2):66-70.GAN Yunhua, JIN Long, HU Minqiang, et al. Frequency tracking technology of ultrasonic motor based on phase-locked loop[J]. Journal of Harbin University of Science and Technology, 2009, 14(2): 66-70.
[17] 祖家奎,赵淳生.行波型超声电机频率自动跟踪控制技术评述[J].微电机,2004,37(6):47-50.ZU Jiakui, ZHAO Chunsheng. A review for frequency tracking control techniques of traveling wave ultrasonic motors[J]. Micro Motors, 2004,37(6): 47-50.
[18] SHI Jingzhuo,LV Lin,ZHANG Yu. Dynamic takagi-sugeno model for the control of ultrasonic motor[J]. Journal of Control Science and Engineering, 2011:1-9.
[19] 顾菊平,秦申蓓,石斌,等.超声波电机测试技术的研究[J].电工技术学报,2003,18(1):21-26.GU Juping, QIN Shenbei, SHI Bin, et al. Research on testing techniques of ultrasonic motors[J]. Transactions of China Electrotechnical Society, 2003,18(1): 21-26.
[20] 甘云华,金龙,王心坚,等.超声波电机自激振荡驱动电路的变频控制特性[J].中国电机工程学报,2008,28(9):93-97.GAN Yunhua, JIN Long, WANG Xinjian, et al. Characteristic of variable frequency control of self-oscillating driving circuit for utrasonic motor[J]. proceedings of the CSEE, 2008, 28(9): 93-97.
[21] AN Guoqing, LI Hongru. Stator and rotor faults diagnosis of squirrel cage motor based on fundamental component extraction method[J]. International Journal of Rotating Machinery, 2017: Article ID 1576381.