两相行波超声电机系统平均值模型研究
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摘要
超声波电机是一种内部结构和能量传输机理都不同于传统电磁电机的新型电机,具有结构紧凑灵活,转矩密度高,无电磁干扰和噪声等优点,特别适用于高精度部件和特殊的工作环境。但是,由于其独特的工作机理导致的非线性问题以及控制技术的滞后,限制了它在更多领域的广泛应用。而超声波电机系统模型的研究是解决其非线性问题、提高控制性能的关键性基础研究。建立必要的数学模型并进行仿真分析对提高超声波电机驱动控制系统性能具有重要意义。
本课题以具有良好应用前景的环形行波型超声波电机为研究对象,对超声波电机系统模型与仿真的研究现状进行了总结;从控制的角度出发,在现有数学模型的基础上,利用广义平均值法建立了包含驱动电路的超声波电机系统平均值模型,通过时变基波傅里叶系数反映系统的动态特性;基于机电转换原理建立了便于优化控制的谐振变换器模型;把解析法应用于逆变和定转子接触模块建立了平均值定子模型、平均值定转子接触模型;从而得到了完整的行波型超声波电机驱动系统平均值模型。在此基础上进行了仿真计算,得出了两相逆变驱动电路的占空比、相位差、频率与超声波电机驱动电压和输出转矩的非线性映射样本,建立了超声波电机电压与转矩的神经网络控制模型;为得到可直接用于控制的神经网络逆模型以及实现实时闭环控制系统设计奠定了基础。
The ultrasonic motor is a new motor whose internal structure and energy transferring mechanisms are different from the traditional electromagnetic motors, with a compact structure,torque output of high density, non-electromagnetic interference and noise,etc.,especially suitable for high-precision parts and special environment.However, the inherent non-linear problems and control technology lagged behind limit its application in more areas. In order to solve nonlinear problems and improve control performance, ultrasonic motor system model is studied. Etablishing the necessary mathematical model and simulation analysis is very important to improve the performance of ultrasonic motor drive control system.
In this paper, the traveling wave ultrasonic motor with a good application prospect is studied. The research on ultrasonic motor system model is reviewed; based on the existing mathematical model,the averaged model with the ultrasonic motor drive circuit system is established by generalizing averaging method and the system's dynamic properties are reflected by the time-varying fundamental Fourier coefficients; based on the principle of mechanical and electrical conversion, the resonant converter model is facilitated for optimal control; the analytical method is applied to the module of inverter and stator/rotor-contact for the establishment of the averaged stator and the averaged stator/rotor-contact model; on this basis,ultrasonic motor voltage and torque of the neural network control model with two-phase duty cycle, phase difference, frequency are set up and simulated.; then it will become the foundation of the neural network inverse model and real-time closed-loop control system.
本课题以具有良好应用前景的环形行波型超声波电机为研究对象,对超声波电机系统模型与仿真的研究现状进行了总结;从控制的角度出发,在现有数学模型的基础上,利用广义平均值法建立了包含驱动电路的超声波电机系统平均值模型,通过时变基波傅里叶系数反映系统的动态特性;基于机电转换原理建立了便于优化控制的谐振变换器模型;把解析法应用于逆变和定转子接触模块建立了平均值定子模型、平均值定转子接触模型;从而得到了完整的行波型超声波电机驱动系统平均值模型。在此基础上进行了仿真计算,得出了两相逆变驱动电路的占空比、相位差、频率与超声波电机驱动电压和输出转矩的非线性映射样本,建立了超声波电机电压与转矩的神经网络控制模型;为得到可直接用于控制的神经网络逆模型以及实现实时闭环控制系统设计奠定了基础。
The ultrasonic motor is a new motor whose internal structure and energy transferring mechanisms are different from the traditional electromagnetic motors, with a compact structure,torque output of high density, non-electromagnetic interference and noise,etc.,especially suitable for high-precision parts and special environment.However, the inherent non-linear problems and control technology lagged behind limit its application in more areas. In order to solve nonlinear problems and improve control performance, ultrasonic motor system model is studied. Etablishing the necessary mathematical model and simulation analysis is very important to improve the performance of ultrasonic motor drive control system.
In this paper, the traveling wave ultrasonic motor with a good application prospect is studied. The research on ultrasonic motor system model is reviewed; based on the existing mathematical model,the averaged model with the ultrasonic motor drive circuit system is established by generalizing averaging method and the system's dynamic properties are reflected by the time-varying fundamental Fourier coefficients; based on the principle of mechanical and electrical conversion, the resonant converter model is facilitated for optimal control; the analytical method is applied to the module of inverter and stator/rotor-contact for the establishment of the averaged stator and the averaged stator/rotor-contact model; on this basis,ultrasonic motor voltage and torque of the neural network control model with two-phase duty cycle, phase difference, frequency are set up and simulated.; then it will become the foundation of the neural network inverse model and real-time closed-loop control system.
引文
[1]赵淳生.超声电机技术与应用[M].北京,科学出版社.2007,1-6.
[2]褚祥诚.超声波马达在美国的发展[J].压电与声光,1999,21(1):37- 40
[3]芦亚萍,孟繁琴,袁云龙.超声波电机研究现状[J].微电机, 2005,38(5):75-76
[4]李君余.行波型旋转超声波电机的建模及仿真[D].华侨大学硕士学位论文,2005,3-5
[5]何小虎.超声波电机及其测控系统的理论与实践[D].东南大学硕士学位论文,2004,2-8
[6]尤向阳.超声波电机驱动控制装置的建模与仿真[D].河南科技大学硕士学位论文,2007,5-9
[7]王心坚.行波超声波电机伺服控制特性理论与实践研究[D].东南大学博士学位论文,2007,3-10
[8]赵淳生.世界超声电机技术的新进展[J].振动、测试与诊断,2004,26(1),2-5
[9]赵淳生.对发展我国超声电机技术的若干建议[J].微电机,2006,39(2):64-67
[10]金龙,朱美玲,赵淳生.旋转型压电行波超声马达的驱动与控制技术[J].1997,17(3):8-12
[11]陈超,赵淳生.行波超声电机理论建模及优化设计的研究进展[J].机械科学与技术,2005,24(12):1413-1415
[12]陈永校,郭吉丰.超声波电动机[M].杭州,浙江大学出版社.1994,6-8
[13] N.Hagood,J.Andrew.Modeling of a Piezoelectric Rotary Ultrasonic Motor [J].IEEE Trans. Ultras-on Ferroelectr.Frequency Control,1995,42(2),210-224.
[14] Norddin EI Ghouti. Hybr idModeling of TravelingWave Pie2zoelectr icMotor[D ]. PhD Thesis. Dep of Control EngineeringAalborg University, 2000
[15] Hagedorn P, Scattel T, Speziari D, Schmidt J, Diana G. Theimportance of rotor flexibility in ultrasonic traveling wave motors[J].SmartMa ter ia ls and Structures,1998,7:352～368
[16]朱美玲.压电行波超声马达的研究[R].南京:南京航空航天大学博士后研究报告,1996
[17]赵向东.旋转型行波超声电机动力学模型及性能仿真的研究[D].南京航空航天大学博士学位论文, 2000, 9-11
[18]雷伏容等.超声马达数学建模研究现状与展望[J].压电与声光,2003,(1):64-67.
[19]雷伏容,钟宜生.行波型超声马达的数学模型[J].压电与声光,2003,(8):329-332.
[20]夏长亮,郑尧行.波接触型超声波电机定子振动有限元分析[J].中国电机工程报,2001,(2):25-28
[21]黄青华.超声电机的模型仿真和驱动控制技术[D].山东大学硕士论文,2004,19-23
[22] T.Maeno, T.Tsukimoto, A.Miyake. Finite element Analysis of the Rotor/Stator Contact in a Ring-typeUltrasonicMotor[J].IEEE Trans.on Ultrason.Ferroelec.Freq.Control.1998,39(6),668-674.
[23]董迎晖等.杆状弯曲行波超声电机定子和转子的优化设计[J].振动、测试与诊断, 2002,(3):175-178
[24]施一峰.超声波电机仿真及其测试系统[D].东南大学硕士学位论文,2005,3-15
[25]黄茹楠,陈在礼.行波超声电机动态控制模型的研究[J].燕山大学学报,2004,28(6):528-533
[26] Gugr Bal.CHARACTERISTICS ESTIMATION OF TRAVELLINGWAVEULTRASONIC MOTOR USING EQUIVALENT CIRCUITMODEL[C].Eleco 2001 International Conference on Electrical and Ectronics Engineering,Bursa,2001,62 - 66.
[27]刘锦波.超声波电机的数学模型及其驱动系统的研究[D].浙江大学博士学位论文. 1998
[28]韩西京.薄型压电超声电机的研究[R].南京航空航天大学博士后报告.1999
[29]周广睿.行波型超声波电机定转子摩擦模型及瞬态特性的研究[D].浙江大学硕士学位论文,2006,1-13
[30] T. Senjyu, H. Miyazato, S. Yokoda, and K. Uezato,“Speed control ofultrasonic motors using neural network,”IEEE Trans. Power Electron.,, May 1998 vol.13, pp. 381–387
[31] J.Maas,T. Schulte,and H. Grotstollen,“Optimized drive control for inverter-fed ultrasonic motors”in Conf.Rec.IEEE-IAS Annu. Meeting,vol. 1, New Orleans,LA,Oct.1997,pp.690–698.
[32] J. Maas and H. Grotstollen,“Averaging model for inverter-fed ultrasonic motors,”in Proc. IEEE PESC’97, vol. 1, St. Louis, MO, June 1997, pp.740–746.
[33]胡敏强.超声电动机模型分析的研究[J].微电机,2002,35(1):6-10
[34]刘锦波,艾兴.行波型超声波电机定子振动模型及驱动设计.机械工程学报,2004,40(10):129-133
[35]夏长亮,史婷娜,陈永校.环形超声波电机定子振动固有频率.微特电机,1995,25(4):370-375
[36] SENJYUT,YO KODA S, UEZATOK. Speed control of ultrasonic motors by adaptive control with a simplified mathematical model [J]. Electric Power Applications, 1998, 145 (3) 180-184.
[37] P. Hagedom,J.Wallaschek: Travelling wave ultrasonic motors, part I:Working principle and mathematical modelling of the stator. Journal of Sound and Vibration (1992), 155(1), pp. 31-46
[38] J. Wallaschek: Piezoelectric ultrasonic motors. Joumal of Intelligent Material Systems andStructures, Vo1.6, January. 1995, pp. 71-83.
[39] X.Cao, J. Wallaschek: Estimation of the tangential stresses in the stator/rotor-contact of travelling wave ultrasonic motors using visco-elasticfoundation models, accepted for 2nd Intemat. Conf. CONTACT MECHANICS 95, Ferrara, Italy, July 1995
[40]陈超,曾劲松,赵淳生.行波型旋转超声电机理论模型的仿真研究.振动与冲击,2006,25(2):129-133
[41] Chen Chao,Chunsheng,Zhao.Theoretical analysis of the traveling wave rotary ultrasonic motor.IPPMA2005.Germany:University of Paderborn,2005:325-337
[42] J. Maas, P. Ide, and H. Grotstollen,“Characteristics of inverter-fed ultrasonicmotors—Optimization of stator/rotor-interface,”in Proc. 5th Int.Conf. New Actuators, Bremen, Germany, June 1996, pp. 241–244.
[43] Giraud, Frédéric; Semail, Betty. Analysis and Phase Control of a Piezoelectric Traveling-Wave Ultrasonic Motor for Haptic Stick Application[C]. IEEE Transactions on Industry Applications, 2004,225-226.
[44] Simone Pirrotta, Rosario Sinatra . Alberto Meschini. A novel simulation model for ring type ultrasonic motor.Meccanica, 2006,(7):127-139
[45] J.Maas, P. Ide,N.Fr?hleke,and H. Grotstollen, Simulation model for ultrasonic motors powered by resonant converters in Conf. Rec.IEEE-IAS Annu. Meeting, vol. 1, Lake Buena Vista, FL, Oct. 1995, pp.111–120.
[46] J. Maas and T. Schulte, High performance speed control for ultrasonic motors in Proc. IEEE /ASME Int. Conf. Advanced Intelligent Mechatronics,vol. 1, Atlanta, GA, Sept. 1999, pp. 91–96.
[47]杨建红.超声波电机及其控制系统的设计与研究[D].广东:华侨大学硕士学位论文,2004,46-52.
[48]陈超,黄卫清,赵淳生.行波型超声电机理论建模评述[J].振动工程学报,2003,16(增):29-31
[49]徐志科,胡敏强,金龙,顾菊平,施一峰.行波型超声波电动机接触模型的研究.微特电机,2007,6:16-19
[50] Senjyu T, Yokoda S,Uezato. Speed Control of Ultrasonic Motors using Fuzzy Network [ J ]. Journal of Intelligent & Fuzzzy System,2000, 8 (2) : 135-146
[51] Senjyu T, Yokoda S,Uezato K. A Study on High Efficiency Drive of Ultrasonic Motors [ J ]. Electric Power Components and Systems,2001, 29 (3) : 179-189
[52]赵学涛,陈维山,刘军考,郝铭.基于改进BP算法神经网络的超声波电动机速度控制.微特电机,2007,3:35-37
[53]阮晓钢.神经计算科学.北京:国防工业出版社,2006,404-408.
[54]丛爽.面向MATLAB工具箱的神经网络理论与应用(第2版).合肥:中国科学技术大学出版社.2003,5:1-26
[2]褚祥诚.超声波马达在美国的发展[J].压电与声光,1999,21(1):37- 40
[3]芦亚萍,孟繁琴,袁云龙.超声波电机研究现状[J].微电机, 2005,38(5):75-76
[4]李君余.行波型旋转超声波电机的建模及仿真[D].华侨大学硕士学位论文,2005,3-5
[5]何小虎.超声波电机及其测控系统的理论与实践[D].东南大学硕士学位论文,2004,2-8
[6]尤向阳.超声波电机驱动控制装置的建模与仿真[D].河南科技大学硕士学位论文,2007,5-9
[7]王心坚.行波超声波电机伺服控制特性理论与实践研究[D].东南大学博士学位论文,2007,3-10
[8]赵淳生.世界超声电机技术的新进展[J].振动、测试与诊断,2004,26(1),2-5
[9]赵淳生.对发展我国超声电机技术的若干建议[J].微电机,2006,39(2):64-67
[10]金龙,朱美玲,赵淳生.旋转型压电行波超声马达的驱动与控制技术[J].1997,17(3):8-12
[11]陈超,赵淳生.行波超声电机理论建模及优化设计的研究进展[J].机械科学与技术,2005,24(12):1413-1415
[12]陈永校,郭吉丰.超声波电动机[M].杭州,浙江大学出版社.1994,6-8
[13] N.Hagood,J.Andrew.Modeling of a Piezoelectric Rotary Ultrasonic Motor [J].IEEE Trans. Ultras-on Ferroelectr.Frequency Control,1995,42(2),210-224.
[14] Norddin EI Ghouti. Hybr idModeling of TravelingWave Pie2zoelectr icMotor[D ]. PhD Thesis. Dep of Control EngineeringAalborg University, 2000
[15] Hagedorn P, Scattel T, Speziari D, Schmidt J, Diana G. Theimportance of rotor flexibility in ultrasonic traveling wave motors[J].SmartMa ter ia ls and Structures,1998,7:352～368
[16]朱美玲.压电行波超声马达的研究[R].南京:南京航空航天大学博士后研究报告,1996
[17]赵向东.旋转型行波超声电机动力学模型及性能仿真的研究[D].南京航空航天大学博士学位论文, 2000, 9-11
[18]雷伏容等.超声马达数学建模研究现状与展望[J].压电与声光,2003,(1):64-67.
[19]雷伏容,钟宜生.行波型超声马达的数学模型[J].压电与声光,2003,(8):329-332.
[20]夏长亮,郑尧行.波接触型超声波电机定子振动有限元分析[J].中国电机工程报,2001,(2):25-28
[21]黄青华.超声电机的模型仿真和驱动控制技术[D].山东大学硕士论文,2004,19-23
[22] T.Maeno, T.Tsukimoto, A.Miyake. Finite element Analysis of the Rotor/Stator Contact in a Ring-typeUltrasonicMotor[J].IEEE Trans.on Ultrason.Ferroelec.Freq.Control.1998,39(6),668-674.
[23]董迎晖等.杆状弯曲行波超声电机定子和转子的优化设计[J].振动、测试与诊断, 2002,(3):175-178
[24]施一峰.超声波电机仿真及其测试系统[D].东南大学硕士学位论文,2005,3-15
[25]黄茹楠,陈在礼.行波超声电机动态控制模型的研究[J].燕山大学学报,2004,28(6):528-533
[26] Gugr Bal.CHARACTERISTICS ESTIMATION OF TRAVELLINGWAVEULTRASONIC MOTOR USING EQUIVALENT CIRCUITMODEL[C].Eleco 2001 International Conference on Electrical and Ectronics Engineering,Bursa,2001,62 - 66.
[27]刘锦波.超声波电机的数学模型及其驱动系统的研究[D].浙江大学博士学位论文. 1998
[28]韩西京.薄型压电超声电机的研究[R].南京航空航天大学博士后报告.1999
[29]周广睿.行波型超声波电机定转子摩擦模型及瞬态特性的研究[D].浙江大学硕士学位论文,2006,1-13
[30] T. Senjyu, H. Miyazato, S. Yokoda, and K. Uezato,“Speed control ofultrasonic motors using neural network,”IEEE Trans. Power Electron.,, May 1998 vol.13, pp. 381–387
[31] J.Maas,T. Schulte,and H. Grotstollen,“Optimized drive control for inverter-fed ultrasonic motors”in Conf.Rec.IEEE-IAS Annu. Meeting,vol. 1, New Orleans,LA,Oct.1997,pp.690–698.
[32] J. Maas and H. Grotstollen,“Averaging model for inverter-fed ultrasonic motors,”in Proc. IEEE PESC’97, vol. 1, St. Louis, MO, June 1997, pp.740–746.
[33]胡敏强.超声电动机模型分析的研究[J].微电机,2002,35(1):6-10
[34]刘锦波,艾兴.行波型超声波电机定子振动模型及驱动设计.机械工程学报,2004,40(10):129-133
[35]夏长亮,史婷娜,陈永校.环形超声波电机定子振动固有频率.微特电机,1995,25(4):370-375
[36] SENJYUT,YO KODA S, UEZATOK. Speed control of ultrasonic motors by adaptive control with a simplified mathematical model [J]. Electric Power Applications, 1998, 145 (3) 180-184.
[37] P. Hagedom,J.Wallaschek: Travelling wave ultrasonic motors, part I:Working principle and mathematical modelling of the stator. Journal of Sound and Vibration (1992), 155(1), pp. 31-46
[38] J. Wallaschek: Piezoelectric ultrasonic motors. Joumal of Intelligent Material Systems andStructures, Vo1.6, January. 1995, pp. 71-83.
[39] X.Cao, J. Wallaschek: Estimation of the tangential stresses in the stator/rotor-contact of travelling wave ultrasonic motors using visco-elasticfoundation models, accepted for 2nd Intemat. Conf. CONTACT MECHANICS 95, Ferrara, Italy, July 1995
[40]陈超,曾劲松,赵淳生.行波型旋转超声电机理论模型的仿真研究.振动与冲击,2006,25(2):129-133
[41] Chen Chao,Chunsheng,Zhao.Theoretical analysis of the traveling wave rotary ultrasonic motor.IPPMA2005.Germany:University of Paderborn,2005:325-337
[42] J. Maas, P. Ide, and H. Grotstollen,“Characteristics of inverter-fed ultrasonicmotors—Optimization of stator/rotor-interface,”in Proc. 5th Int.Conf. New Actuators, Bremen, Germany, June 1996, pp. 241–244.
[43] Giraud, Frédéric; Semail, Betty. Analysis and Phase Control of a Piezoelectric Traveling-Wave Ultrasonic Motor for Haptic Stick Application[C]. IEEE Transactions on Industry Applications, 2004,225-226.
[44] Simone Pirrotta, Rosario Sinatra . Alberto Meschini. A novel simulation model for ring type ultrasonic motor.Meccanica, 2006,(7):127-139
[45] J.Maas, P. Ide,N.Fr?hleke,and H. Grotstollen, Simulation model for ultrasonic motors powered by resonant converters in Conf. Rec.IEEE-IAS Annu. Meeting, vol. 1, Lake Buena Vista, FL, Oct. 1995, pp.111–120.
[46] J. Maas and T. Schulte, High performance speed control for ultrasonic motors in Proc. IEEE /ASME Int. Conf. Advanced Intelligent Mechatronics,vol. 1, Atlanta, GA, Sept. 1999, pp. 91–96.
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