Driving Mechanism and Control of Ultrasonic Motor

超声波电机驱动机构及控制

• 批准号: 07650280
• 负责人: YANABE Shigeo
• 金额: $ 1.54万
• 依托单位: Nagaoka University of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1995
• 资助国家: 日本
• 起止时间: 1995 至 1996
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-07650280/
• 关键词: Ultrasonic Motor; Driving Model; Elastic Deformation; Squeal; Speed Fluctuation; Speed Control; H_* Control; Repetitive Control; H∞制御; ロータ弾性変形量; ロータ速度; 歯先端の周方向速度; 歯先端の面外方向速度

The estimated driving torque is compared with the actual load torque. The estimation is based on a primitive driving model. The detailed studies, considering warp of both surfaces of rotor and stator, have not been developed yet. Moreover, it is well known that a squealing sound occurs while the motor is driving.Elastic deformation of the rotor, vertical and horizontal vibrations of teeth and rotary speed were measured precisely by using a newly developed measuring system. The experiment shows the followings :(a) Each tooth of the stator comes into contact with the rotor in order of proximity as the preloaded force becomes larger.(b) The elastic deformation measured on the teeth near the rotor, is greater than it is away from the rotor.(c) The circumferential speeds of thye teeth are almost the same.(d) The squeal vibration with a frequency of 4.9 kHz is measured on the specific teeth.USM has two problems for constant speed drive, one is the influence of temperature rise during operation, and the other is the influence of initial deformations of the stator and the rotor. The adaptive control method has been applied to achieve constant speed drive, however, it is difficult to design a controller systematically.In this study H_* repetitive control method is applied as follows :(a) H_* speed control system is designed for robust stability against the influence of the temperature fluctuation.(b) A repetitive compensator is attached to improve the characteristic of disturbance rejection.The efficiency of the repetitive compensator is also confirmed by the control experiment.

将估计的驱动扭矩与实际负载扭矩进行比较。这一估计是基于原始的驾驶模型。考虑转子和定子表面翘曲的详细研究尚未展开。此外，众所周知，电机在驱动时会发出尖叫声，利用新开发的测量系统可以精确测量转子的弹性变形、齿的垂直和水平振动以及转速。实验表明：(A)随着预紧力的增大，定子的每个齿与转子按接近的顺序接触。(B)在靠近转子的齿上测得的弹性变形大于远离转子的齿上的弹性变形。(C)齿的周向速度几乎相同。(D)在特定的齿上测得了4.9 kHz的尖叫振动。超声波电机在恒速传动中存在两个问题，一个是运行过程中温升的影响，另一个是定子和转子初始变形的影响。自适应控制方法已被用于实现恒速驱动，但难以系统地设计控制器。本研究采用H_*重复控制方法：(A)设计H_*速度控制系统以保证对温度波动的鲁棒稳定性；(B)附加重复补偿器以改善干扰抑制特性。控制实验也证实了重复补偿器的有效性。

项目成果

Y.Kobayashi, T.Kimura and S.Yanabe: ""Speed Control of Ultrasonic Motor using H_* Repetitive Control"" The 2nd Asian Control Conference '97. (1997)

Y.Kobayashi、T.Kimura 和 S.Yanabe：““使用 H_* 重复控制的超声波电机速度控制””第二届亚洲控制会议 97。

小林泰秀・矢鍋重夫: "ゲインスケジューリングに基づく超音波モータの速度制御" 日本機械学会第74期通常総会・講演会講演論文集. (1997)

小林康秀和柳边茂夫：《基于增益调度的超声波电机速度控制》日本机械工程学会第74届普通大会论文集及演讲（1997年）。

小林泰秀・木村哲也・矢鍋重夫: "Speed Control of Ultrasonic Motor using H∞ Repetitive Control" Proceedings of the Asian Control Conference '97. (1997)

Yasuhide Kobayashi、Tetsuya Kimura、Shigeo Yanabe：“使用 H∞ 重复控制的超声波电机速度控制”亚洲控制会议 97 论文集（1997 年）。