CAJ | 학술논문

研制了一种一阶纵振和二阶弯振模态组合的圆柱-球体三自由度超声电机.研究了其中两个自由度的运动轨迹跟踪控制策略,并将其应用于电机样机的控制.其中,运转速度的控制采用激励电压幅值调节法,针对位置控制提出了两种运动轨迹控制策略:一种是逐点比较控制,另一种是矢量分解控制.本文提出了调节激励电压幅值的3种脉冲宽度调制(PWM)方法,对这些方法作了比较,并通过一系列实验得到验证.结果表明:当改变激励电压幅值时,保持3个振动模态的相位差不变和激励电压信号不失真,是简化控制过程、提高控制性能的关键;矢量控制法效果较好,并有轨迹跟踪误差小、运动平稳和噪声小等优点.
연제료일충일계종진화이계만진모태조합적원주-구체삼자유도초성전궤.연구료기중량개자유도적운동궤적근종공제책략,병장기응용우전궤양궤적공제.기중,운전속도적공제채용격려전압폭치조절법,침대위치공제제출료량충운동궤적공제책략:일충시축점비교공제,령일충시시량분해공제.본문제출료조절격려전압폭치적3충맥충관도조제(PWM)방법,대저사방법작료비교,병통과일계렬실험득도험증.결과표명:당개변격려전압폭치시,보지3개진동모태적상위차불변화격려전압신호불실진,시간화공제과정、제고공제성능적관건;시량공제법효과교호,병유궤적근종오차소、운동평은화조성소등우점.
A three degree-of-freedom (DOF) ultrasonic motor (USM) with a cylinder-shaped stator and a spherical rotor is introduced, which uses one first order longitudinal and two second order bending nature vibration modes of the cylinder. Control strategies for the two DOF trajectory following are studied and applied to the prototype USM. Vibration amplitude control is employed for speed regulation. The first trajectory following strategy is a step-by-step interpolation. The second strategy is vector decomposition control. Three pulse width modulation (PWM) methods for the exciting voltage regulation are investigated. These methods are compared and verified by several experiments. The key is to keep the phase differences of the three vibration constants and small exciting voltage distortion while the exciting voltages are changed for simplifing the control process and obtaining good control performance. The vector control method has advantages of small trajectory following error, smooth moving and low noise.