超声波电动机非线性全系数自适应转速控制

摘要

针对超声波电动机转速控制的特点,基于超声波电动机的特征模型,设计了非线性全系数自适应转速控制策略.该控制策略由三个控制分量组合而成,通过特征模型参数的在线辨识实现控制器参数的在线自适应调节.不同转速给定值及空载、加载情况下的实验结果表明了控制策略的有效性.%Aiming at the characteristics of ultrasonic motor's speed control system,the nonlinear entire coefficient adaptive (NECA) speed control strategy was designed based on the characteristic model. This strategy was composed of three components. The corresponding parameters of NECA controller were modulated by the online identification of characteristic model's parameters. The experimental results under different speed references, no load and load conditions, indicate the a-vailability of the proposed control strategy.