| 圆柱形多自由度超声波电动机运动控制的实验研究 |
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| 引用本文： | 李志荣. 圆柱形多自由度超声波电动机运动控制的实验研究[J]. 微特电机, 2007, 35(9): 51-54 |
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| 作者姓名： | 李志荣 |
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| 作者单位： | 苏州市职业大学,江苏,苏州,215104;南京航空航天大学,江苏,南京,210016 |
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| 摘 要： | 介绍了自行研制的圆柱形多自由度超声波电动机的结构、驱动原理和输出性能。对该电机进行了运动控制的实验研究,包括控制系统的组成、电机的基本控制特性、控制方法及轨迹跟踪控制,最后分析了造成控制误差的原因,提出了提高控制精度的措施。
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| 关 键 词： | 多自由度 超声波电动机 运动控制 轨迹跟踪 |
| 文章编号： | 1004-7018（2007）09-0051-04 |
| 修稿时间： | 2006-12-18 |
Study on the Motion Control of Cylinder Type Multi-DOF Ultrasonic Motor by Experiments |
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| LI Zhi-rong. Study on the Motion Control of Cylinder Type Multi-DOF Ultrasonic Motor by Experiments[J]. Small & Special Electrical Machines, 2007, 35(9): 51-54 |
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| Authors: | LI Zhi-rong |
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| Affiliation: | 1.Suzhou Vocational University,Suzhou 215104,China;2.Nanjing University of Aernautics and Astronautics,Nanjing 210016,China |
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| Abstract: | The construct,driving principle and output performances of the cylinder type ultrasonic motor with multi-degree of freedom were presented.The motion control of the motor was studied by experiments,which included the control system,the basic control characteristics of the motor,the control strategy and motion trajectory following control of the motor.The causations of trajectory following error were analyzed.The methods of improving control precision were suggested. |
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| Keywords: | multi-degree of freedom ultrasonic motor motion control trajectory following |
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