The Research Of USM's Embedded Drive-Control System Based On ARM

Ultrasonic motor (abbr. USM) is a relatively new type of direct.drive motor. Its operating principle is quite different from the traditional electromagnetic motors. USM utilizes the mechanical vibration in the ultrasonic frequency scale that was generated by the converse piezoelectric effect of piezoelectric ceramics. It has the stator in direct contact with the rotor driven by a friction contact. USM has many excellent performances and features such as high torque at a low speed, compactness in size, high holding torque when power is off, insensitive to magnetic fields, fast response, and no noise and so on. It has more excellent performance than the electromagnetic motor in the field needing compact, efficient, intermittent motion and fine controls. USM has seen commercial application and the attractive prospects in areas such as automobile, office automation, robots, precise positioning device, miniaturized machines, etc. In recent years, USM has attracted considerable attention as a new type of actuator in servo.system and much more researches were carried out.This thesis object is mainly concentrated on the design of USM's embedded drive-control system. The design of this systerm is based on ARM embedded microcontrol chip. The whole thesis is devided into six parts. Chapt one introduced the developing status of USM's drive and control both at home and aboard, and the structure and principle of ARM. Chapt two shows the simulation result of USM's model which is based on others'study. Chapt three gives the scheme of the USM's embedded drive-control system Based on ARM. Chapt four introduces how to transplant the operation systerm of uC/OS-II into ARM, and the design of the systerm's sorftware. Chapt five introduces each subprogram's design of the systerm, the arithmetic design of speed and oriention's control, and gives the test results. Chapt six summarizes this paper's contribution, the existed problem, and the study direction of the extend thesis.