Stepping Control Method of Linear Displacement Mechanism Driven by TRUM Based on PSoC  

作　　者：王军平 刘卫东 朱华 李亦君 李建军 

机构地区：[1]School of Mechanical Engineering,Northwestern Polytechnical University [2]China Airborne Missile Academy [3]State Key Laboratory of Mechanics and Control of Mechanical Structures,Nanjing University of Aeronautics and Astronautics

出　　处：《Transactions of Nanjing University of Aeronautics and Astronautics》2015年第2期226-231,共6页南京航空航天大学学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(Nos.50905085,91116020);the National Science Foundation for Post-Doctoral Scientists of China(No.2012M511263);the Aviation Science Foundation of China(No.20100112005)

摘　　要：A method based on programmable system-on-chip(PSoC)is proposed to realize high resolution stepping motion control of liner displacement mechanism driven by traveling wave rotary ultrasonic motors(TRUM).Intelligent controller of stepping ultrasonic motor consists of PSoC microprocessor.Continuous square wave signal is sent out by the pulse width modulator(PWM)module inside PSoC,and converted into sinusoidal signal which is essential to the motor′s normal working by power amplifier circuit.Subsequently,signal impulse transmission is realized by the counter control break,and the stepping motion of linear displacement mechanism based on TRUM is achieved.Running status of the ultrasonic motor is controlled by an upper computer.Control command is sent to PSoC through serial communication circuit of RS-232.Relative program and control interface are written in LabView.Finally the mechanism is tested by XL-80 laser interferometer.Test results show that the mechanism can provide a stable motion and a fixed step pitch with the displacement resolution of 6nm.A method based on programmable system-on-chip（PSoC）is proposed to realize high resolution stepping motion control of liner displacement mechanism driven by traveling wave rotary ultrasonic motors（TRUM）.Intelligent controller of stepping ultrasonic motor consists of PSoC microprocessor.Continuous square wave signal is sent out by the pulse width modulator（PWM）module inside PSoC,and converted into sinusoidal signal which is essential to the motor′s normal working by power amplifier circuit.Subsequently,signal impulse transmission is realized by the counter control break,and the stepping motion of linear displacement mechanism based on TRUM is achieved.Running status of the ultrasonic motor is controlled by an upper computer.Control command is sent to PSoC through serial communication circuit of RS-232.Relative program and control interface are written in LabView.Finally the mechanism is tested by XL-80 laser interferometer.Test results show that the mechanism can provide a stable motion and a fixed step pitch with the displacement resolution of 6nm.

关 键 词：programmable system-on-chip(PSoC) ultrasonic motor impulse transmission upper computer 

分 类 号：TM383.6[电气工程—电机]