超声电机基于模糊-PI技术的位置控制.pdf

DOI牶牨牥牣牨牫牬牫牫牤j牣cnki牣牨牥牥牫牠牳牱牪牳牣牪牥牥牰牣牥牭牣牥牪牰 25 5 Vo.l 25 No. 5 2006 5 MECHANICAL SC IENCE AND TECHNOLOGY M ay 2006 　　:1003-8728(2006)05-0603-05 -PI 1, 2 1 1 贺红林 , 朱　华 , 赵淳生 1 2 ( , 　210016; , 　330034) 　:通过超声电机的工作原理分析, 选定驱动频率作为其速度 制变量。 将模糊-PI技术用于超声电机的 制。 其中, PI 制在于减小稳态误差, 模糊 制旨在实现电机快速定位。 为设计模糊 制器, 选定位置偏差和转速为其 输入变量、驱动频率为其输出变量, 并分别以三角、高斯型函数定义了输入、输出变量的模糊子集;根据电机手动操 作经验, 建立了超声电机模糊 制规则;基于 GO-400 制卡构建 制系统, 实现了电机 制;实验结果表明模糊-PI 技术可实现超声电机快速高精度(偏差≤ 0. 17°)定位。 　　:超声电机;位置 制;模糊 制;PI 制;驱动系统 :TM 35　　　:A PositionControlof an UltrasonicMotorUsingFuzzy-PI Technique 1, 2 1 1 He Honglin , Z u Hua , Z ao C uns eng 1 ( Researc Center of UltrasonicMotors, Nanjing University ofAeronautics andA stronautics, Nanjing 210016; 2 N anc ang Institute of Aeronautical Tec nology, N anc ang 330034)) Abstract:In order to control an u ltrason ic motor (USM ), t e paper presents a ybrid controller t at is composed of a fuzzy logic controller (FLC)and a PI sub-controller. T e working principle of t e USM as been studied for selecting a drive frequency to regu late its speed. T e PI controller is used to offset t e USM ′s stable position error. T e FLC, ami ed atmak ing t e motor run to a desired position as fast aspos- sible, is designed to be one w it t e position error and speed of t e USM as its input and t eman ipu lated value of drive frequency as its output. In designing t e FLC, G auss