南京航空航天大学学报（英文版）2004，Vol.21Issue(4)：272-276,5.
圆柱-球体三自由度超声电机及其控制
CYLINDER-SPHERE 3-DOF ULTRASONIC MOTOR AND ITS CONTROL
摘要
Abstract
A three degree-of-freedom (DOF) ultrasonic motor (USM) with a cylinder-shaped stator and a spherical rotor is introduced, which uses one first order longitudinal and two second order bending nature vibration modes of the cylinder. Control strategies for the two DOF trajectory following are studied and applied to the prototype USM. Vibration amplitude control is employed for speed regulation. The first trajectory following strategy is a step-by-step interpolation. The second strategy is vector decomposition control. Three pulse width modulation (PWM) methods for the exciting voltage regulation are investigated. These methods are compared and verified by several experiments. The key is to keep the phase differences of the three vibration constants and small exciting voltage distortion while the exciting voltages are changed for simplifing the control process and obtaining good control performance. The vector control method has advantages of small trajectory following error, smooth moving and low noise.关键词
多自由度/超声电机/控制Key words
multi-degree-of-freedom/ultrasonic motor/control分类
信息技术与安全科学引用本文复制引用
黄卫清,展凤江,赵淳生..圆柱-球体三自由度超声电机及其控制[J].南京航空航天大学学报（英文版）,2004,21(4):272-276,5.基金项目
国家自然科学基金(50005010)资助项目. （50005010）
