摘要
超声电机的性能与幅值、频率、相位差3个输入参数以及输出信号波形精度等因素密切相关。目前的商用驱动器多采用线性放大或推挽电路,既缺乏三参数调控的灵活性,且体积较大,笔者提出了一种基于现场可编程门阵列(field programmable gate array,简称FPGA)和ARM微处理器,可实现多参数在线调整的小型化驱动器方案,主要聚焦多参数驱动和总线式控制。首先,从控制信号生成和驱动架构设计提出了总体方案,驱动架构选择H桥驱动方式;其次,介绍了功率电路及传感检测电路的设计过程,通过输出波形失真度比较了推挽及H桥驱动的波形质量,经测试H桥方案的电机端输出波形失真度较小(5.25%);最后,应用所设计的多参数驱动器对超声电机进行基本的性能测试,涵盖变参数转速测试、输出力矩测试以及微步进响应测试等内容。结果表明:所设计的超声电机驱动器不仅实现小型化(85 mm×54 mm×23 mm),而且能够兼顾参数在线快速调整和多传感量检测,有利于电机性能的快速分析及检验,应用该驱动器的测试结果与电机性能参数基本一致,验证了驱动器方案的有效性,为超声电机的多参数耦合控制奠定硬件基础。
The performance of ultrasonic motor is closely related to the input parameters of amplitude,frequency,phase difference and the accuracy of the output signal waveform. The current commercial drivers mainly use linear amplification or push-pull circuits,which not only lack the flexibility of three-parameter control,but are also relatively large. This paper proposes a field programmable gate array based on field programmable gate array(FPGA)and advanced RISC machines(ARM)microprocessor. Mainly focusing on multi-parameter drive and bus control,a miniaturized driver solution can realize online adjustment of multiple parameters. First,the overall plan is proposed from two parts:control signal generation and drive architecture design. the drive architecture selects the H-bridge drive mode. Then the design process of power circuit and sensing detection circuit is introduced in detail. Comparing with the waveform qualities of push-pull and H-bridge drive through the output waveform distortion,the output waveform distortion of the motor end of the tested H-bridge solution is smaller(5.25%). Finally,the designed multi-parameter driver is used to perform basic performance tests on the ultrasonic motor,including variable parameter speed test,output torque test and micro-step response test,etc. The results show that the designed ultrasonic motor driver not only achieves miniaturization(85 mm×54 mm×23 mm),but also it can take into account the online rapid adjustment of parameters and the detection of multisensing quantities,which is conducive to rapid analysis and inspection of motor performance. The test results of applying the driver are basically consistent with the motor performance parameters,verifying the effectiveness of the driver scheme,and laying the hardware foundation for the multi-parameter coupling control of the ultrasonic motor.
作者
焦西凯
陈宁
陈凌宇
郑杰基
范大鹏
JIAO Xikai;CHEN Ning;CHEN Lingyu;ZHENG Jieji;FAN Dapeng(National University of Defense Technology,College of Intelligence Science and Technology Changsha,410072,China)
出处
《振动．测试与诊断》
EI
CSCD
北大核心
2021年第5期897-903,1032,共8页
Journal of Vibration,Measurement & Diagnosis
基金
国家重点基础研究发展计划(“九七三”计划)资助项目(2015CB057503)。
关键词
超声电机
波形失真度
微步进
多参数驱动
ultrasonic motor
waveform distortion
micro-stepping
multi-parameter drive
