The Design Of Drive Control System For Ultrasonic Motor Based On TMS320c6701

The ultrasonic motor is a new type of motor that has been developed in recent twenty years. This kind of motor is different from the traditional electromagnetic motors in structure. It uses the converse piezoelectric effect of piezoelectric ceramic to excite ultrasonic vibration and then prompt resonance of the elastomer, produce linear motion or rotation through friction coupling rotor. Ultrasonic motor has the advantages of fast response, compact structure, high holding torque when Power is off, no electromagnetic and low speed high torque. For these reasons, The ultrasonic motor has a broad application prospect in micro machinery, robot, precision instruments, household appliances, automotive, aerospace, etc.With the rapid development of the Ultrasonic Motor and its applications, the driving technology and controlling method of ultrasonic motor have becoming more and more important. This thesis introduces a new type of ultrasonic motor driving and control system, for the realization of the ultrasonic motor used in radiator controller in space. The system can realize the control of three ultrasonic motor with high precision speed and position.In this paper, the main work and the research results are as follows:1.Summarizing the development history and characteristic of ultrasonic motor, the research status of its driving technology and controlling method and then analyze the background and significance of the research. Introducing the principle and the driving and controlling method of rotary traveling wave type ultrasonic motor, and illustrates which driving and controlling method are is chose in this thesis.2. Designed a control system of ultrasonic motor according to the actual demand for engineering applications. The system uses TMS320C6701 as control core. This thesis makes a analysis of the drive control system from the aspects of system overall design, hardware circuit design and software design. In the system overall design part, This thesis mainly analyzes the connection between various modules, the principle block diagram and the working mode of the system. In the hardware circuit design part, the CPU of the system, driving module, analog acquisition module and communication module are analyzed in detail. In the software design part, in addition to analyze the function of DSP software and FPGA software, the thesis analyzes a boot method ofFrequency sweeping to solve problem of the ultrasonic motor startup reliability. At the same time, to solve the problem of the speed stability, a kind of PID control algorithm is designed, which optimized the effect of control, enhanced the accuracy of control.3. Finally, this paper makes analysis of the debugging results of the driving and control system, and has carried on the summary and the outlook for next step.