【作者】 庞华山；

【导师】 刘兆魁；

【作者基本信息】 河南科技大学 ， 控制理论与控制工程， 2010， 硕士

【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。更多还原

【Abstract】 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.更多还原