摘要
针对超声电机输出速度与驱动频率、相位差和电压幅值呈很强的非线性,很难建立完整而精确的控制数学模型并用于高精确控制的问题,将超声电机模型分解为一个稳态非线性环节和一个动态线性环节组成的Hammerstein模型。为了辨识驱动频率、相位差和电压幅值与超声电机稳态速度的关系,提出采用均匀设计进行实验设计,通过对电机稳态速度和阶跃响应的辨识,建立旋转超声电机多变量非线性Hammerstein模型,并验证该模型的有效性。基于超声电机Hammerstein模型提出了两步法广义预测控制算法,分别以驱动频率、相位差和电压幅值作为调节变量,对电机进行速度控制仿真,结果表明该算法能够准确地跟踪设定速度,证明所提出的超声电机的辨识建模方法和广义预测控制的可行性。
The speed of ultrasonic motor（USM） has strong nonlinearity which varies with the frequency,amplitude and phase difference of two-phase driving voltages.Consequently,it becomes a difficult problem to derive a complete and accurate dynamic mathematical control model for high precision control.To solve the issue,the USM model was divided into two parts,a steady nonlinear section and a dynamic linear section,as a Hammerstein model.In order to identify the relationship between the USM steady state speed and its driving voltages frequency,phase difference,and amplitude,the uniform design method was adopted for the experiment plan.After identifying the steady state speed and step response of the USM,a multivariate nonlinear Hammerstein model of a rotary USM was derived,whose accuracy has been proved by comparison the computed value of the proposed model and the measured value.A generalized predictive control（GPC） strategy for precise speed control of USM based on Hammerstein model is suggested,simulation results were obtained where the driving voltages frequency,phase difference and amplitude were used as controlled variable respectively.The simulation results indicate good performance for speed tracking and proved the feasibility of the proposed identification method and the GPC of USM.
出处
《电机与控制学报》
EI
CSCD
北大核心
2011年第6期50-56,共7页
Electric Machines and Control
基金
国家自然科学基金(60273065)
国家星火计划项目(2006EA780036)
广东省科技攻关项目(2006B11901002)
