电机技术

针对超声波电机运行时的频率-转速迟滞现象及其对控制性能的影响，开展迟滞特性辨识与补偿策略研究，深入分析不同负载条件与驱动频率下电机频率-转速的复杂迟滞非线性关系。基于普朗特-伊什林斯基（Prandtl-Ishlinskii,PI）迟滞算子建立表征该特性的数学模型，并利用该算子实现频率-转速迟滞的精确辨识，通过辨识结果验证模型的有效性。在此基础上，通过实时采集电机运行时的频率-转速数据，设计前馈补偿器。试验结果表明：该补偿方案可有效抑制迟滞效应导致的速度误差，最大速度误差由12%降至0.85%。

Aiming at the frequency-speed hysteresis phenomenon of ultrasonic motor during operation and its influence on control performance, the hysteresis characteristic identification and compensation strategy are studied, and the complex hysteresis nonlinear relationship of motor frequency-speed under different load conditions and driving frequencies is thoroughly analyzed. Based on the Prandtl-Ishlinskii(PI) hysteresis operator, a mathematical model characterizing this characteristic is established, and the operator is used to realize the accurate identification of frequency-speed hysteresis. The effectiveness of the model is verif ied by the identif ication results. On this basis, a feedforward compensator is designed by collecting the frequency-speed data of the motor during operation in real time. The test results show that the compensation scheme can effectively suppress the speed error caused by the hysteresis effect, and the maximum speed error is reduced from 12% to 0.85%.