Please wait a minute...
浙江大学学报(工学版)
浙江大学学报(工学版)
电气工程     
二自由度超声波电机位姿检测与控制
王剑1,胡锡幸2,郭吉丰1
1. 浙江大学 电气工程学院,浙江 杭州 310027;2. 国网浙江省电力公司杭州供电公司,浙江 杭州 310009
Attitude detection and control of two-degree-of-freedom ultrasonic motor
WANG Jian1, HU Xi-xing2, GUO Ji-feng1
1.College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China;
2. Hangzhou Power Supply Company of State Grid Zhejiang Electric Power Company, Hangzhou 310009, China
 全文: PDF(1048 KB)   HTML
摘要：

为了探索多自由度超声波电机在微型机器人等控制领域的应用,提出电机的位姿检测与控制方法.以基于三定子的二自由度球形超声波电机为研究对象,以定子角速度的极小范数为优化目标,结合角速度矢量合成原理和电机的相位差调速方式,建立电机的前馈模型；提出基于机械鼠标原理的位姿检测机构,反馈球转子的姿态量,并结合PID分段斜率比较的控制策略实现电机位姿控制.测试结果表明,电机闭环轨迹控制的误差率为13%,位姿检测与控制的效果较好,为二自由度球形超声波电机的推广打下扎实的基础.
Abstract:

In order to explore applications of the multi-degree-of-freedom ultrasonic motor in the field of micro-robot control, attitude detection and control method is proposed. The two-degree-of-freedom (2-DOF) spherical ultrasonic motor using three stators is research object for this study. Aimed at minimum norm solution of three stators angular velocity, the feedforward model of ultrasonic motor was established, combining the principle of angular velocity vector synthesis and phase difference control mode. The attitude detection mechanism based on mechanical mouse was put forward to provide the feedback of spherical rotor's attitude. Control strategy of segmented slope comparison PID was applied for attitude control of motor. Test results show that error rate of closed-loop control of the trajectory is about 1.3%. The 2-DOF spherical ultrasonic motor could be promoted applications due to its good performance in attitude detection and control．
出版日期: 2014-11-26
:     
基金资助:

国家自然科学基金资助项目（51107111）.
作者简介: 王剑（1981-），男，讲师，博士.从事压电驱动器、超声波电机和电机检测等的研究.
服务　　
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章　　

引用本文:

王剑,胡锡幸,郭吉丰. 二自由度超声波电机位姿检测与控制[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2014.05.017.

WANG Jian, HU Xi-xing, GUO Ji-feng. Attitude detection and control of two-degree-of-freedom ultrasonic motor. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2014.05.017.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2014.05.017    或    http://www.zjujournals.com/eng/CN/Y2014/V48/I5/871

［1］ 赵淳生. 超声电机技术与应用［M］. 北京: 科学出版社, 2007: 12．
［2］ 胡敏强, 金龙, 顾菊平. 超声波电机原理与设计［M］. 北京: 科学出版社, 2005: 1720．
［3］ 郭吉丰, 白洋, 王剑. 多自由度超声波电机的研究进展和展望［J］. 振动与冲击, 2013, 32(15): 17．
GUO Ji-feng, BAI Yang, WANG Jian. Recent development and prospect of multi-degree-of-freedom ultrasonic motors ［J］. Journal of Vibration and Shock, 2013, 32(15): 17．
［4］ TOYAMA S, SUGITANI S, ZHANG Guo-qiang, et al. Multi degree of freedom spherical ultrasonic motor ［C］∥Proceedings 1995 IEEE International Conference on Robotics and Automation. Nagoya: IEEE, 1995: 29352940．
［5］ LEE K-M, ROTH R, ZHOU Zhi. Dynamic modeling and control of a ball-joint-like variable-reluctance spherical motor ［J］. Journal of Dynamic Systems, Measurement, and Control, 1996, 118(1): 2940．
［6］ 徐志科, 金龙, 胡敏强, 等. 一种新型双定子三自由度超声波电机特性研究［J］. 微电机, 2009, 42(4): 2729．
XU Zhi-ke, JIN Long, HU Min-qiang, et al. Research on a novel 3-DOF ultrasonic motor with two cylinder stators ［J］. Micromotors,2009, 42(4): 2729．
［7］ 刘俊标, 陈志华, 赵淳生. 单定子三自由度超声电机的驱动及其位置控制［J］. 微特电机, 2003, 31(2): 4243．
LIU Jun-biao, CHEN Zhi-hua, ZHAO Chun-sheng. The driving of a single stator ultrasonic motor with three degrees of freedom and its position control ［J］. Small & Special Electrical Machines, 2003, 31(2): 4243．
［8］ MASHINO T, TOYAMA S, ISHIDA H. Design and implementation of spherical ultrasonic motor ［J］. IEEE Transactions on Ultrasonics, Ferroeeltrics, and Frequency Control, 2009, 56(11): 25142521．
［9］ 傅平, 郭吉丰, 沈润杰, 等. 二自由度行波型超声波电机的驱动和运动姿态控制［J］. 电工技术学报, 2008, 23(2): 2530．
FU Ping, GUO Ji-feng, SHEN Run-jie, et al. Driving circuit and position control system of two degree-of-freedom spherical traveling-wave type ultrasonic motor ［J］. Transactions of China Electrotechnical Society, 2008, 23(2): 2530．
［10］ GARNER H, KLEMENT M, LEE K-M. Design and analysis of an absolute non-contact orientation sensor for wrist motion control ［C］∥ Proceedings 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Como: IEEE, 2001: 6974．
［11］ PURWANTO E, TOYAMA S. Control method of a spherical ultrasonic motor［C］∥Proceedings of the 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Kobe: IEEE, 2003: 13211326．
［12］ MASHINO T, AWAGA K, TOYAMA S. Development of a spherical ultrasonic motor with an attitude sensing system using optical fibers ［C］∥ 2007 IEEE International Conference on Robotics and Automation. Roma: IEEE, 2007: 44664471．
［13］ 胡锡幸, 郭吉丰. 3个行波定子的2自由度球形超声波电机［J］. 中国电机工程学报,2010, 30(9): 6267．
HU Xi-xing, GUO Ji-feng. Two degree of freedom spherical ultrasonic motor with three traveling-wave stators ［J］. Proceedings of the CSEE, 2010, 30(9): 6267．
[1] 董凯, 赖俊英, 钱晓倩, 詹树林, 阮方. 夏热冬冷地区居住建筑水平式外遮阳节能效果[J]. 浙江大学学报(工学版), 2016, 50(8): 1431-1437.
[2] 李佳琦, 范利武, 俞自涛. 超亲水表面在淬火冷却过程中的沸腾传热特性[J]. 浙江大学学报(工学版), 2016, 50(8): 1493-1498.
[3] 江衍铭, 张建全, 明焱. 集合神经网络的洪水预报[J]. 浙江大学学报(工学版), 2016, 50(8): 1471-1478.
[4] 钟崴, 彭梁, 周永刚, 徐剑, 从飞云. 基于小波包分析和支持向量机的锅炉结渣诊断[J]. 浙江大学学报(工学版), 2016, 50(8): 1499-1506.
[5] 夏玉峰, 任莉, 叶彩红, 王力. 基于RSM的立柱加强板定位布局多目标优化[J]. 浙江大学学报(工学版), 2016, 50(8): 1600-1607.
[6] 李林玉, 吴张华, 余国瑶, 戴巍, 罗二仓. 直线压缩机电声转换特性的实验[J]. 浙江大学学报(工学版), 2016, 50(8): 1529-1536.
[7] 曲巍崴, 唐伟, 毕运波, 李少波, 罗水均. 避免强迫装配和提升效率的预连接工艺规划[J]. 浙江大学学报(工学版), 2016, 50(8): 1561-1569.
[8] 胡小东, 顾临怡, 张范蒙. 应用于数字变量马达的高速开关阀[J]. 浙江大学学报(工学版), 2016, 50(8): 1551-1560.
[9] 杨姝, 刘国平, 亓昌, 王大志. 金属空心球梯度泡沫结构抗冲击特性仿真与优化[J]. 浙江大学学报(工学版), 2016, 50(8): 1593-1599.
[10] 杨章, 童根树, 张磊. 对称布置2根单侧加劲肋的有效刚度[J]. 浙江大学学报(工学版), 2016, 50(8): 1446-1455.
[11] 蒋翔, 童根树, 张磊. 耐火钢-混凝土组合梁抗火性能试验[J]. 浙江大学学报(工学版), 2016, 50(8): 1463-1470.
[12] 单华峰, 夏唐代, 俞峰, 胡军华, 潘金龙. 地下增层开挖托换桩的屈曲稳定临界荷载分析[J]. 浙江大学学报(工学版), 2016, 50(8): 1425-1430.
[13] 辜天来,张帅,郑耀. 咽式进气道/等直隔离段的反压特性[J]. 浙江大学学报(工学版), 2016, 50(7): 1418-1424.
[14] 程时伟, 陆煜华, 蔡红刚. 移动设备眼动跟踪技术[J]. 浙江大学学报(工学版), 2016, 50(6): 1160-1166.
[15] 郑成志, 高金良, 何文杰. 基于FastICA算法的物理漏损流量分析模型[J]. 浙江大学学报(工学版), 2016, 50(6): 1031-1039.