行波型超声电机速度控制技术的研究.PDF

274 Vol.27 No.4 20058 PIEZOELECTRICS ACO ST OOPT ICS Aug. 2005 : 1004-2474(2005) 04-0427-04 1, 2 1 1 陈志华 , 赵淳生, 黄卫清 ( 1. , 210016; 2. , 410073) : , ; , ,, ,, : , , , : ;; :T M356:A - - Research on the Speed Control Techniques of a Traveling wave type Ultrasonic Motor 1, 2 1 1 CHEN Zhi-hua ,ZHA Chun-sheng ,HUANGWei-qing ( 1. Research Center of ltrasonic Motors N anjing niversity of Aeronautics and Astronautics Nanjing, , 210016, China; 2. Dept. of M echanical Electricity National niversity of Defense Technology, Changsha 410073, China) Abstract The relationship between the rotation speed of an ultrasonic motor: ( SM and its driving frequency) - , . , behaves nonlinearly with time variability and which limits its practical applications In this paper we show the research on the speed control techniques of a traveling-wave-type ultrasonic motor. At first, the relation between the rotation speed and feedback voltage from a sensor, which is a segment (isolated electrode) of the piezoelectric ceramic element bonded on the stator of the SM is derived And a speed controller for the SM is designed and, . manufactured Secondly aiming at losing balance between the CW and CCW rotation speed a balancing compen-. , , sation algorithm is put forward, and which is implemented with hardware. T he experimental results show that af- ter putting the controller and balancing compensation controller into the driv