Torque control of traveling-wave-type ultrasonic motors using the friction contact model
Torque control of traveling-wave-type ultrasonic motors using the friction contact model
复制标题
使用摩擦接触模型的行波型超声波电机的扭矩控制
DOI：
10.1299/kikaic.72.441
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
T. Maeno
中科院分区：
文献类型：
--
作者：
Y. Ogahara;T. Maeno
作为电磁电机的一种替代方案，行波型超声电机（USM）已受到相当多的关注。在本文中，讨论了超声电机的转矩控制系统设计，以便将超声电机应用于机器人。提出了一种转矩控制方法，将摩擦接触模型用作超声电机的控制模型，并在内环中建立了振幅控制。实际上，使用所设计的系统进行了转矩控制。首先，将超声电机建模为3种模型：振动模型、摩擦接触模型和转子模型。摩擦接触模型是考虑到滑移的离散弹簧模型。由于弹簧模型假定振幅是已知的，所以提出并设计了振幅控制。其次，构建了使用现场可编程门阵列（FPGA）的控制装置，并进行了控制实验。测量转矩和转速之间的关系以验证摩擦接触模型。最后，使用所设计的振幅控制进行了转矩控制实验。实验结果表明，所设计的转矩控制优于以往的研究。
As an alternative to an electromagnetic motor, a traveling-wave-type ultrasonic motor (USM) has been attracted considerable attention. In this paper, torque control system design of the USM is discussed to implement the USM for a robot. The torque control method is proposed to apply the friction contact model as the control model of the USM and vibration amplitude control is built into the inner loop. Actually, torque control is conducted using the designed system. Firstly, the USM is modeled as the 3 models : the vibration model, the friction contact model and the rotor model. The friction contact model is the discrete spring model taking into account the slip. Vibration amplitude control is proposed and designed because the spring model assumed that the vibration amplitude is known. Secondly, the control apparatus using FPGA (Field Programming Gate Allay) is constructed and the control experiments are conducted. Relationship between torque and rotational speed is measured to verify the friction contact model. Finally, torque control experiment is conducted using the designed vibration amplitude control. Experimental results show that the designed torque control has an advantage over previous studies.