基于TMS320C6701的超声波电机驱动控制系统设计

发布时间：2018-12-25 16:35

【摘要】：超声波电机是近二十年来发展起来的一种微型电机,其结构特点不同于传统的电磁电机,它是利用压电陶瓷的逆压电效应来激发超声振动,促使弹性体发生谐振,通过摩擦耦合作用使转子产生直线运动或者旋转运动。超声波电机具有电磁兼容性强、结构紧凑、设计灵活、转矩密度大、响应快和能够断电自锁等优点,故在微型机械、微型机器人、光学仪器、精密仪器、武器装备、汽车、航空航天等领域有着广泛的应用前景。随着超声波电机的应用范围越来越广,其驱动和控制技术的研究变的越发重要。本文为实现超声波电机在航天用辐射器上的应用,设计了一种新型的超声波电机驱动控制系统,该系统能够实现对三台超声波电机的高精度速度和位置的闭环控制。本文开展的主要工作内容和研究成果如下:1.介绍了该课题的研究意义以及课题的来源,总结了超声波电机及其驱动控制系统的发展历史及其发展现状。分析了行波型旋转超声波电机运行机理、驱动方法和控制方法以及本系统中驱动和控制方法的选择。2.根据工程应用实际需求,设计了一种以TMS320C6701型DSP为控制核心的超声波电机的控制系统,从系统总体设计、硬件设计和软件设计三个方面分别对该驱动控制系统进行设计和研究。总体设计部分包括系统的对外连接设计、工作模式设计以及功能设计等;硬件电路设计部分为系统各个模块的具体电路设计,包括系统的CPU控制核心模块设计、基于推挽逆变器的驱动电路设计、基于AD574的模拟量采集模块电路设计、旋转变压器解算电路设计以及422通信接口模块电路设计等。软件设计部分,包括DSP软件和FPGA软件设计,以及为解决电机启动可靠性问题的扫频启动方法设计和为解决电机速度稳定性问题的PID控制算法设计,优化了控制效果,增强了控制的精确性。3.最后,对本文中设计的驱动控制系统进行调试结果的分析,并对本设计进行了总结,对下一步进行了展望。
[Abstract]:Ultrasonic motor is a kind of micro motor developed in recent 20 years. Its structure is different from the traditional electromagnetic motor. It uses the inverse piezoelectric effect of piezoelectric ceramics to excite the ultrasonic vibration and promote the resonance of the elastic body. The rotor is subjected to linear or rotational motion by friction coupling. Ultrasonic motor has many advantages, such as strong electromagnetic compatibility, compact structure, flexible design, high torque density, fast response and the ability of self-locking. Therefore, in micro machinery, micro robot, optical instrument, precision instrument, weapon equipment, automobile, etc. Aerospace and other fields have a wide range of applications. With the wide application of ultrasonic motor, the research of its driving and control technology becomes more and more important. In order to realize the application of ultrasonic motor in space radiator, a new type of ultrasonic motor driving control system is designed in this paper. The system can realize the closed loop control of the high precision speed and position of three ultrasonic motors. The main contents and research results of this paper are as follows: 1. This paper introduces the research significance and source of this subject, and summarizes the development history and present situation of ultrasonic motor and its drive control system. The operating mechanism, driving method and control method of traveling wave type rotary ultrasonic motor and the selection of drive and control method in this system are analyzed. 2. According to the practical requirements of engineering application, a control system of ultrasonic motor based on TMS320C6701 type DSP is designed. The drive control system is designed and studied from three aspects: the overall design of the system, the hardware design and the software design. The overall design includes external connection design, work mode design and function design. The hardware circuit design includes the design of the CPU control core module, the drive circuit based on push-pull inverter and the analog signal acquisition module based on AD574. Resolvent circuit design and 422 communication interface module circuit design. The software design includes DSP software and FPGA software design, as well as the design of sweep start method to solve the reliability problem of motor startup and the design of PID control algorithm to solve the speed stability problem of motor. The control effect is optimized. Improved control accuracy. 3. Finally, the debugging results of the drive control system designed in this paper are analyzed, and the design is summarized, and the next step is prospected.
【学位授予单位】：西安电子科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM38

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