摘要
超声波电机(Ultrasonic Motor，简称USM)是近二十年来发展起来的一种新型驱动装置，该电机不同于传统的电磁感应电机，它是利用压电陶瓷的逆压电效应激发超声振动，借助弹性体谐振放大，通过摩擦耦合产生旋转运动或直线运动。这种电机的具有响应快、结构紧凑、低转速、大力矩、不受电磁干扰、断电自锁等优点，在微型机械、机器人、精密仪器、家用电器、航空航天、汽车等方面有着广泛的应用前景。
随着超声波电机的推广应用和产业化发展的需要，对超声波电机的驱动和控制技术的研究就非常必要了，小型化、通用化、高性能的驱动电源和简单而又实用的控制技术已成为国内外研究的热点。本文对于单一的定位控制，研究一种简单且控制精度高的控制算法，结合所研制的纵扭复合型超声波电机样机，实现了高精度(0.010度)的定位控制，另对基于高性能DSP的驱动电源进行了初步的探讨和研究，研制了通用性较高的驱动电源。
本文开展的主要研究工作和取得的成果如下：
1．简要地介绍了超声波电机的原理、发展历史和特点，重点分析了超声波电机驱动电源和定位控制的研究进展和存在的问题，从而引出本硕士论文的研究意义和主要内容。
2．从理论和实验上揭示这种电机具有的高分辨率和步进特性实质，提出了利用此特性实现高精度的定位控制策略——步进定位法，并分析了影响其定位精度的因素，结合所研制的纵扭复合型超声波电机样机，实现了高精度(0.010度)的定位控制，并确定了相关控制参数的选择准则。
3．简要介绍了常用开关变换器结构，设计了以MOSFET为开关器件的半桥式逆变功率电路。介绍了高性能DSP(TMS320LF2407)为核心的控制信号发生电路和以UC3842为控制芯片的可调压直流电源，结合控制电路和功率变换电路获得了驱动超声波电机所需两项幅值、频率、相位可调的交变方波，具有较高的通用性，为进一步开展运用较复杂控制策略的超声波电机位置和速度伺服控制研究打下一定基础。
The ultrasonic motor is a new type motor that has been developed in recent twenty years. It is different from traditional electromagnetic motors in principle. Ultrasonic vibration is excited by the conversely piezoelectric effect of piezoelectric materials and magnified by the elastic body. With the friction coupling, the rotation of the rotor or moving of the slider is generated. Low speed, high torque, simple structure, no electromagnetic, and high holding torque when power is off, characterize ultrasonic motor. All of these characters make ultrasonic motor promising in some special application areas in micro mechanism, robots, precise instrument, spacecraft and automobile.
With the rapid progress of the ultrasonic motor and its appliance, it is necessary to research on driving circuit and control method. High efficiency driving source and experimental device have become a hotspot at home and abroad. This thesis introduces a precise position control method, by which high precise position control has been realized by the experimental hybrid transducer type ultrasonic motor. Driving electrical source of ultrasonic motor based on DSP also has been discussed in the thesis.
The main work accomplished and creative achievements is summarized as follows:
1. Introducing principle, the development history and characteristic of USM and analyzing development and problem of driving source and position control method of USM.
2. In the thesis, the essentials of high resolution and stepping characteristic of ultrasonic motor in theory and experiment has been pointed out. Based on this characteristic of the motor, the paper discusses high precise position control strategy named stepping-position control method and the factors that influence position precision are analyzed. By the stepping-position control method, high precise position control (0.010 degree) has been realized by the experimental hybrid transducer type ultrasonic motor. The rule of choosing controls parameter also has been defined.
3. Designed and completed two-phase resonant inverter for driving ultrasonic motor with MOSFET, the frequency and phase difference of which can be adjusted.
Driving signal on MOSFET is PWM signal generated from TMS320LF2407 DSP. UC3842 controlled BUCK circuit has been used as DC power, the output of which can be adjusted. Because of this, the electrical source can drive the USM that have different voltage rating.
引文
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