步进电动机系统细分波形修正技术

分析了影响步进电机驱动系统速度稳定性的因素，给出了修正步进电机细分波形的算法和实验方案，以两相四拍512细分步进电机为例推导出理论波形修正值。实验结果说明，其速度稳定性提高了一个数量级，并对其他类型的步进电机驱动系统有一定的指导意义。     

The square bar-shaped multi-DOF ultrasonic motor

In this paper a multi-degree-of-freedom (multi-DOF) ultrasonic motor consisting of a square bar-shaped stator and a spherical or plate type rotor was developed. It can generate multi-DOF rotation of the rotor using “shaking beam” principle of linear motion formation based on previous researches. The multi-DOF rotation generated by four contacting points of a square bar-shaped actuator using four d₃₁ piezoelectric plates. The computer simulation by finite element analysis of proposed system is given. The authors used precision laser equipment for testing and measuring both contacting points and surfaces of square bar-shaped actuator.     

基于带PWM模块单片机的步进电机细分驱动技术

本文以两相双极式步进电机为例,介绍了一种利用单片机自带的PWM模块实现步进电机细分驱动的方法.该方法充分利用单片机的PWM硬件资源,通过配置硬件PWM模块,产生占空比不同的方波,在电机线圈内产生近似正弦波的阶梯型电流.与常用的恒频脉宽调制方式相比,该方法不需要D/A转换器和锯齿波发生器,不仅有利于简化电路和节约成本,而且能提高细分精度和电机运行平稳性,适用于需要精密控制的仪器仪表.     

Microcontroller based digitally controlled ultrasonic motor drive system

Piezoelectric driven ultrasonic motors have been attracted as considerable actuators for the servo speed and position applications in recent years. These motors have important features and advantages to be preferred in the special movement applications. Ultrasonic motors have different operating principles and different drive and control systems than the electromagnetic motors. In this study, microcontroller based digitally controlled drive system has been proposed for a travelling-wave ultrasonic motor. Drive system includes power circuit, interface electronics circuits and microcontroller parts. Power circuit is combined from half-bridge serial-resonance inverter to provide highfrequency two-phase voltages. Interface circuits include gate drive, direction control, opto-coupler and filter circuits. Microcontroller is programmed to generate required digital control signals for overall control of the motor. Related to the reference speed, the microcontroller generates control signal resulting proper driving frequency. Consequently, the actual motor speed tracks the reference speed precisely. The speed feedback is taken from optical encoder and transmitted to the controller as digital speed and position signals. The developed drive system has been tested experimentally. The obtained results show the effectiveness and reliability of the proposed system. The microcontroller based drive system can be applied easily and successfully to the ultrasonic motor.     

Modeling of a cylindrical ultrasonic motor based on the single crystals

A novel cylindrical ultrasonic motor based on Pb(Mg_1/3Nb_2/3)O₃–PbTiO₃ crystals is proposed. Timoshenko beam theory and Lagrange equation are used to analyze the dynamics behavior of the stator. The contact behavior between the hemispherical rotor and the cylindrical stator is simulated by Hertz theory. The general modeling is established to estimate the ultimate performance of the prototype motor. The numerical results and the mechanical measurements from the prototype motor validate the theoretical analysis.     

A study on driving characteristics of the cross type ultrasonic rotary motor

Ultrasonic rotary motor which has cross type stator was studied. The stator was consists of hollowed cross type metal which has four piezoelectric ceramics on the ends of cross bars. When two harmonic voltages which have 90^∘ phase difference were applied to ceramics, the symmetric and anti-symmetric displacements were generated at the inside tips to make the elliptical motion. The finite element analysis was used for optimizing the dimension and displacement of the stator. And the analyzed results were compared with the experimental results of the motor. As results, the speed of motors could be controlled by changing the applied voltages, and the rotational direction of motors could be changed by the phase change. Speed and torque of the motors were increased by increasing the width of cross bars, and the torque and displacement was increased by increasing angle of the cross bars.     

Dual excitation electrostatic stepping motor

Electrostatic motors have been believed to be weaker than electromagnetic motors which are typically used for mechatronic devices. However, electrostatic motors are preferable to electromagnetic ones for micromechanical applications since their force per volume ratios increase as their dimensions are reduced. It follows that a large output should be obtained if a large number of such small motors with high force per volume ratios are linked and their outputs are aggregated. This paper proposes an electrostatic drive technology which is applicable to such a large-output motor. The element motor, called the dual excitation electrostatic stepping motor, consists of a pair of plastic films, slider and stator. Both films have parallelly located electrodes embedded in them, and the slider moves along the surface of the stator when defined rectangular pulse voltages are applied to the electrodes both in the slider and the stator. The force generation characteristic of the electrostatic motor is calculated by the surface charge method. A prototype fabricated using flexible print board technology weighs 7 g and generates a thrust force of 1.9 N at an excitation of ± 1000 V. © 1997 Scripta Technica, Inc. Electr Eng Jpn, 119(3): 94–103 1997     

步进电动机的发展及建议

论述了我国步进电动机的发展历程、特点和存在问题,对步进电动机转矩指标的提高和驱动技术的发展提出了看法,对今后的继续发展作了展望。     

Analytical solution on the non-linear vibration of a traveling wave ultrasonic motor

A vibration model for the stator of traveling wave type ultrasonic motors has been presented using Kirchhoff plate theory. In this model, the vibration equation influenced by electric field is established based on the geometric equations, the constitutive equations and the balanced equations for the structure. This electric field distribution is assumed based on Maxwell equation. Shearing deformation, rotary inertia and damping of the piezoelectric ceramic are been taken into account. Firstly, the dynamics of the stator is discussed. The mode of the stator is derived and validated by comparing the resonant frequencies and modal shapes with those by finite element analysis. Then, the effect of the piezoelectric ceramic damping is also discussed. Finally, The friction layer is simplified as the axial spring. Using modal shapes as the weight function, the analytic solution under the forced vibration for the stator is computed by Galerkin method. The theoretical model and its analytic solution in this paper contribute to simplifying the model for the parametric study and understanding the vibration between the stator and the rotor.     

基于CPLD的步进电机控制器

介绍了目前常用的步进电机控制器,并采用VHDL语言设计了基于CPLD的控制器,实现了变频信号源与脉冲分配器的作用。     

步进电机的单片机控制设计分析

步进电机是一种将脉冲信号转换为相应角位移的执行元件,在工业控制领域应用广泛。本文介绍了步进电机的控制原理,详细论述了采用单片机的控制方法,并以35BY48L02步进电机为例,分析设计了单片机的硬件接口电路及步进电机的软件控制方法。该设计具有通用性,对于不同步进电机,可以通过修改相应的电路及相关程序实现,提高了系统控制的灵活性。     

用VHDL设计的步进电机脉冲分配器

首先介绍了几种常见的步进电机脉冲分配器 ,然后采用VHDL(超高速集成电路硬件描述语言 )语言设计了基于CPLD(复杂可编程逻辑器件 )的脉冲分配器 ,本文所采用的设计方法符合电子系统设计的发展方向。     

基于RTX的步进电机寿命实验

步进电机在现代控制中发挥着越来越重要的作用,为了保证产品的可靠性,步进电机的寿命的评估也变得尤为重要。基于Windows的评估系统能够很好的解决这个问题,但是由于Windows操作系统的实时性较差,而步进电机的控制需要精确的时序,所以由其产生的驱动信号时序无法满足要求。采用了Ardence公司的基于Windows的硬实时解决方案RTX ,并结合某项目步进电机寿命实验,总结出了Windows环境下RTX实时应用系统的设计方法与开发流程。实验证明基于RTX产生的驱动信号满足步进电机的运动要求,并且能够不受外部事件的干扰,重复性良好,说明该方法是实时的、稳定的、可靠的。     

Multi-degree-of-freedom ultrasonic motors for mass-consumer devices

New approach to design active kinematic pairs, transforming resonant non-harmonic periodical vibrations into continuous motion is presented. The specifics of a piezoelectric motor utilizing this approach is that it can be made with limited size of arbitrary cross-section. Some examples of this type of piezomotor are presented, allowing creating miniature in-plane positioning systems and angular scanning systems. Examples of multi-degree-of-freedom piezomotors in mass-consumer devices are shown by “smart” toy prototypes made from standard LEGO™ construction blocks and mini figures.     

多自由度球形超声波电机的研究进展

多自由度球形电机是电机研究领域的一个前沿课题.本文简要回顾了多自由度球形电机的发展历史和现状,重点分析探讨了四种典型的多自由度球形超声波电机的结构、机理、性能、特点,最后指出了多自由度球形超声波电机的一些研究重点.     

基于步进式电子变阻器的直流电机调速技术

介绍了多级电子分档调速技术。采用步进式电子变阻器和晶闸管研制成的新型直流电机调速电路能使速度逐级平缓地变化。电路设计闭环控制形式，能自动用多种条件完成对直流电动机的控制，并减少功耗。该技术已用在电瓶叉车上，能保证其起步平稳，有效地防止因速度跳变而对机械传动装置所产生的极大冲击力。失控保护电路，既保证安全运行，又能实现联锁及安全自保。该电路在电机控制技术中有较广阔的发展空间。     

基于步进式电子变阻器的直流电机调速技术

介绍了多级电子分档调速技术.采用步进式电子变阻器和晶闸管研制成的新型直流电机调速电路能使速度逐级平缓地变化.电路设计闭环控制形式,能自动用多种条件完成对直流电动机的控制,并减少功耗.该技术已用在电瓶叉车上,能保证其起步平稳,有效地防止因速度跳变而对机械传动装置所产生的极大冲击力.失控保护电路,既保证安全运行,又能实现联锁及安全自保.该电路在电机控制技术中有较广阔的发展空间.     

基于FPGA控制的步进电机驱动设计

随着微控制器技术的快速发展,特别是高性能可编程逻辑器件的出现,促进了步进电机控制技术的发展,使得步进电机驱动系统集成化设计的实现成为可能。本文根据设计要求进行了四相步进电机驱动系统的芯片选择和硬件电路设计,以FPGA为核心器件,集成了驱动和控制部分,大大简化了逻辑控制电路。设计过程采用模块化设计方法,用VHDL硬件描述语言对电路进行描述,采用Altera的QuartusII集成化工具进行了综合和布局布线,仿真,充分利用FPGA芯片的资源,优化程序,提高模块的工作频率,提高芯片的控制精度。文中对整个系统的架构及硬件电路和软件的实现都做了详细的介绍,最后通过仿真和实验分析验证了此控制方案的可行性。     

采用双CPU的混合式步进电动机速度控制系统

提出了一种基于磁阻变化的转子位置间接测量方法，采用80C196KC单片机对位置信号处理过程中产生的相移进行了补偿，以DSP作为主控单元，实现了混合式步进电动机速度，电流双闭环控制，结果表明，系统具有良好的静态和动态特性。     

基于SOPC的四相步进电机均匀细分驱动器的实现

常见的四相步进电机细分控制主要是通过控制步进电机相电流按阶梯波变化来实现的。这种细分控制方法存在步距角不均匀、步进电机转矩不是恒定变化等缺点。为了克服这种控制方法的缺点,只要同时控制四相步进电机的两相电流分按正余弦规律变化即可。设计在FPGA中构建了一个SOPC系统实现了该改进的控制算法。