基于DSP的压电电机的驱动系统性能测试与分析
Performance Test and Analysis of Piezoelectric Motor Drive System Based on DSP

针对高端制造装备对大行程、高精度直线运动机构的广泛需求，研究集宏微运动于一体的新型直线压电电机，提出交流宏驱动和直流微驱动两种工作模式，建立集宏微两种驱动方式于一体的驱动系统。驱动系统输出两相交流电压，相位-90~90°、频率10~60 kHz、电压幅值0~400V之间连续可调，输出直流电压在0~400 V动态可调，实现了交直流电压缝转换。系统以TI公司提供的DSP28335为主控芯片进行驱动控制，运放芯片PA85搭建线性直流式放大电路。同时，考虑受被控制对非线性、时变性和耦合性等因素的影响，通过采样电路对输出信号进行实时采样，采用模糊自适应增量式比例-积分-微分对控制系统修正调节。结果表明，经过模糊自适应修正后的驱动电路输出量得到明显改善，驱动系统输出信号的相位、频率控制精度分别为5°和0.5 kHz，能够稳定地驱动直线和旋转压电电机，具有较好的通用性。
In order to realize the large-stroke and high-resolution movement of advanced manufacturing industry, the new liner piezoelectric motor that composes with the ultrasonic motor and the piezoelectric ceramic drive in the structure is proposed. Therefore, the large-stoke and high-resolution drive system that achieve the integration of the macro and micro drive system is proposed. The system realizes the seamless switching between AC and DC voltage. When working in the macro-drive state, it can output two adjustable phase (－90°~90°) and adjustable frequency (10kHz~60kHz) AC voltage. When working in the micro-drive state, it outputs the adjust able DC voltage. The controller based on TMS320F28335 processes and controls the state of the drive system. The chip PA85 is used to form DC amplifier stabilization circuit which can output the adjustable high DC voltage for the system. According to the influences on the controlled object which has non-linear, time-varying and coupling characteristics, the control algorithm of fuzzy adaptive incremental PID is proposed. The experiments results show that the outputs of the drive system have been improved obviously by the modification of the regulator. Moreover, using the rotary ultrasonic motor and the new liner piezoelectric motor to test the drive system, the results show that the control accuracy of phase and frequency is 5°and 0.5 kHz, which can drive two types of piezoelectric motor in a good state, and has good generality.