The development of Torque Mirror Control Method for Driving Ultrasonic Motor

驱动超声波电机的力矩镜控制方法的研制

基本信息

批准号：
13650269
负责人：
KYODO Yasumasa
金额：
$ 2.3万
依托单位：
The University of Tsukuba
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2001
资助国家：
日本
起止时间：
2001 至 2002
项目状态：
已结题

项目摘要

We have been involved in developing ultrasonic motors (USM) for more than 15 years. Our interest is, of course, not only to propose high-powered small disc motors, but also in the optimum control system as to the application for servomotor. By this time, USM was thought to be a tough actuator to drive, because it neither promised a long life nor kept a constant speed. We have started the research about the feet and found mat the methods of control, which are commonly adopted by almost all of the researchers and manufacturing companies, are unstable and incorrect. They failed to lock the motor to the correct state of resonance, which caused lack of stability and short life. In this study, we have developed perfect PLL (Current phase lock of the motor) driver, and realized constant current or voltage controller simultaneously. With the aid of this circuit, we were able to measure static characteristics of the USM prototype under constant current mode, and discovered the simple and strange phenomena of speed reduction under relative small load torque, which helped us to propose a new sliding theory of friction plate. We also found that, as for as operated in certain small range of torque load, the life of the motor is almost unlimited. In this report, me process of the study during the period of the grant is disclosed, and the theoretical backgrounds in our past papers are referred. It is also basically important, even if this technology is not applied to any motor products right now, to show how to design an excellent USM and actual control circuit board in detail. Finally, we hope it will help all the researchers to improve the motor efficiency and to build a perfect servo system by themselves.

我们从事超声波电机 (USM) 的开发已超过 15 年。当然，我们的兴趣不仅在于提出高功率小型盘式电机，还在于伺服电机应用的最佳控制系统。此时，USM 被认为是一种很难驱动的执行器，因为它既不能保证较长的使用寿命，也不能保持恒定的速度。我们开始了对脚的研究，发现几乎所有研究人员和制造公司普遍采用的控制方法都是不稳定和不正确的。他们未能将电机锁定在正确的共振状态，从而导致缺乏稳定性和寿命短。在本研究中，我们开发了完善的PLL（电机电流锁相）驱动器，并同时实现了恒流或恒压控制器。借助该电路，我们能够测量USM原型机在恒流模式下的静态特性，并发现在相对较小的负载扭矩下减速的简单而奇怪的现象，这有助于我们提出一种新的滑动摩擦理论盘子。我们还发现，对于在某些小范围的扭矩负载下运行，电机的寿命几乎是无限的。在这份报告中，披露了我在资助期间的研究过程，并参考了我们过去论文的理论背景。即使该技术目前尚未应用于任何电机产品，但详细展示如何设计出色的 USM 和实际控制电路板也是非常重要的。最后，我们希望它能帮助所有研究人员提高电机效率并自己构建一个完美的伺服系统。