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使用自适应控制的超声波电机精密位置控制 被引量：4

Precise Position Control of Ultrasonic Motors Using Adaptive Control
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摘要 超声波电机具有很强的非线性和时变特性,它对控制输入还存在死区效应。为改善控制性能,必须解决这些问题。该文采用自适应和P控制相结合的方法,对超声波电机的相位差进行控制。在控制器中,使用带在线参数辨识的自适应控制策略来补偿电机的时变特性,采用比例控制器消除死区效应。模型阶数和控制延时由实验决定。实验结果表明这个控制方案是有效的。 The ultrasonic motor has strong nonlinearity and timevarying feature,which varies with driving conditions and possesses variable deadzone in the control input.These are problems as an accurate positioning actuator for industrical applications.Therefore,it is important to compensate the nonlinearity and timevarying characteristic and eliminate the deadzone in order to improve the control performance.In this paper,a precise position control scheme for ultrasonic motor using adaptive controller with deadzone compensation is presented.In the proposed controller,the adaptive control scheme compensates the timevarying characteristic of the motor with online parameter identification.In order to overcome the effect of deadzone,a P controller is adopted.The effectiveness of the proposed control scheme is demonstrated by experiments.Furthermore,the influence of model orders and control delay on the control performance is determined experimentally.Results show that quick and precise position control performance can be achieved.Key wrods:ultrasonic motors;position control;adaptive control
作者 李华峰 辜承林
机构地区 华中科技大学电气与电子工程学院
出处 《压电与声光》 CAS CSCD 北大核心 2003年第2期155-158,共4页 Piezoelectrics & Acoustooptics
基金 国家"八六三"高技术航天领域基金资助项目(863-2-2-4-6B) 高等学校博士学科点专项科研基金资助项目(2000048711)
关键词 超声波电机 位置控制 自适应控制 ultrasonic motors position control adaptive control
分类号 TM356 [电气工程—电机]
  • 相关文献

参考文献6

  • 1[1]SASHIDA T,KENJO T.An introd uction to ultrasonic motors [M].Oxford:Clarendon,1993.
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二级参考文献17

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共引文献7

同被引文献27

  • 1贺红林,赵淳生.超声电机驱动的机器人的模糊神经网络控制[J].压电与声光,2006,28(2):143-146. 被引量：3
  • 2傅平,郭吉丰,丁敬,周广睿,沈润杰.基于神经元自适应PID的超声波电机速度位置控制[J].电工技术学报,2007,22(2):28-33. 被引量：21
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  • 6Senjyu T, Kashiwagi T, Uezato K. Position control of ultrasonic motors using MRAC and dead-zone compensation with fuzzy in- ference [ J ]. IEEE Trans. on Power Electronlcs,2002,17 (2) : 265 -272.
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  • 9Senjyu T, Kashiwagi T, Uezato K. Position control of ultrasonic motors using MRAC and dead-zone compensation with fuzzy in-ferenee [ J ]. IEEE Trans. on Power Electronics, 2002,17 ( 2 ) : 265 -272.
  • 10Takemura K, Maeno T. Control of multi-DOF ultrasonic motor u- sing neural network based inverse model [ C ]//Proceedings of IEEE/RSJ International Conference on Intelligent Robots and System. 2002,3 : 2187-2192.

引证文献4

二级引证文献3

压电与声光
2003年 第2期

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