1.      Platform Introduction

The ultrasonic motor (USM) is a new type of driver that realizes driving based on the vibration of ultrasonic frequency of functional ceramics. It departs from traditional motors that obtain revolving speeds and torques from electromagnetic effects. It has two remarkable characteristics: 1) low-speed large-moment output; 2) retention of large moments, which is microscopically embodied in good start/stop controllability.

This platform uses a two-dimensional USM as the controlled object and provides a fast control prototype verification platform based on Matlab Simulink design. This system is simple-structured, easy to operate, and particularly suitable for control-specialty postgraduates’ scientific research development and use. Common USM control policies include PID control, self-adaptation control, robust control, fuzzy control, neural network control, fuzzy self-adaptation control, neural network self-adaptation control, fuzzy neural network control, PI fuzzy control, etc., as well as the fusion of multiple control algorithms, with the purpose of obtaining better control performance.

2.      Platform Features

1. Modular Design: Adopts the idea of modular design with a clear system structure;
2. USM: As the controlled object, the USM utilizes the inverse piezoelectric effect of piezoelectric materials and ultrasonic vibration to obtain motion and moment capabilities. It can maintain good electromagnetic compatibility (free from external magnetic field disturbance and not generating magnetic fields) and realize low-speed large-torque output and good dynamic responses (ms-level response);
3. User-Friendly Development Environment: The system supports the design of USM control algorithms based on Matlab Simulink and supports the smooth transition from digital simulation to motor physical control;
4. Excellent Platform Timeliness: The controller adopts the solution of X86 hardware running on the VxWorks real-time system, and its timeliness can reach the 100us level;
5. Diverse Debugging Methods: During experiments, the platform provides various development debugging methods, such as online modification of any control parameter, online monitoring of any system variable, and real-time storage, offline playback and data export of all observation data.

3.      Experiment Contents 

• Motor Control System Equipment Knowledge Experiment: Knowledge about the motor/driver/simulator/power supply and other hardware equipment and system cable connections;
• USM Control Interface Test Experiment: Including analog output, position measurement, theoretical algorithm analysis, and actual verification
• USM Open/Closed-Loop Control Experiment;
• PID Parameter Debugging Experiment;
• Comprehensive Motor Position Experiment Based on PI Control: Sine position following, current waveform monitoring, etc.;
• Innovative Experiment: The platform allows users to develop their own complex control algorithms for verification experiments.

4.      Model Selection and Configuration