CN108377108B - Ultrasonic motor driving controller based on audio power amplifier - Google Patents

Abstract

The invention discloses an ultrasonic motor driving controller based on an audio power amplifier, which comprises a crystal oscillator, an embedded microprocessor, a sinusoidal signal generator, a power amplifier matching circuit, a forward/reverse rotation switch, a speed regulating switch, a current feedback circuit, a voltage feedback circuit, an encoder and a power supply module, wherein clock signals sent by the crystal oscillator are respectively distributed to three ePWM modules through ePWM clock units in the embedded microprocessor. The control system realizes continuous real-time frequency signal adjustment through the internal module of the microprocessor, achieves the control target of high performance and high stability of the ultrasonic motor, and realizes the communication between the motor driving controller and the upper computer through the programming of the embedded microprocessor, thereby realizing the receiving of remote control instructions and the real-time monitoring of the running state of the motor. The motor driver has higher energy conversion efficiency, the control circuit has relatively simple structure and lower cost, and is more beneficial to the integration and miniaturization of the driving circuit.

Description

An ultrasonic motor drive controller based on audio power amplifier

Technical field

The present invention relates to the field of ultrasonic motor drive control, and in particular to an ultrasonic motor drive controller based on an audio power amplifier, which can realize hardware configuration of high performance, high precision speed stability and a matching control method.

Background technique

The ultrasonic motor is a new type of motor that utilizes the inverse piezoelectric effect of piezoelectric materials. It applies an AC signal to the piezoelectric material to generate an alternating electric field, thereby stimulating the vibration of the piezoelectric material in the ultrasonic frequency band and converting this The vibration is amplified and converted into motion of the motor rotor through friction, which is output as power and drives other loads. Compared with traditional motors, ultrasonic motors have the advantages of low speed, high torque, fast response speed, self-locking when power is turned off, and no electromagnetic interference. Therefore, ultrasonic motors are widely used in aerospace, bionic machinery, medical equipment and other fields.

The response speed and response accuracy of ultrasonic motors are also greatly improved compared to electromagnetic motors. Due to the special driving mechanism, the response time of ultrasonic motors is greatly improved compared to electromagnetic motors, and the response speed can be increased to within 0.01s. , and due to the existence of friction, the position accuracy of the ultrasonic motor is also greatly improved compared to the electromagnetic motor.

The ultrasonic motor needs to be driven by two AC signals in the ultrasonic frequency band with orthogonal phases. The current mainstream ultrasonic motor drive solution is the PWM inverter drive solution. This solution generates orthogonal high-voltage square wave signals through frequency division and phase division circuits and power amplifier circuits, and generates two orthogonal sinusoidal signals through matching circuit filtering. The PWM inverter drive solution has problems such as large harmonic components and difficulty in voltage regulation.

Contents of the invention

The technical problem to be solved by the present invention is to provide an ultrasonic motor drive controller based on an audio power amplifier to address the defects involved in the background technology.

The present invention adopts the following technical solutions to solve the above technical problems:

An ultrasonic motor drive controller based on an audio power amplifier, including a forward and reverse switch, a speed adjustment switch, a current feedback circuit, a voltage feedback circuit, an encoder, a crystal oscillator, an embedded microprocessor, a sine signal generator, a power amplifier matching circuit and a power supply Module, the embedded microprocessor is electrically connected to the forward and reverse switch, the speed adjustment switch, the current feedback circuit, the voltage feedback circuit, the encoder, the crystal oscillator, and the input side of the sine signal generator. The sine signal generator The output side is connected to the ultrasonic motor to be driven through the power amplifier matching circuit; the crystal oscillator is used to provide a clock signal to the embedded microprocessor;

The embedded microprocessor includes a first ePWM module, a second ePWM module, a third ePWM module, an arithmetic unit, a GPIO unit, an ADC unit and an eQEP unit;

The first ePWM module is used to generate a sinusoidal signal generator clock signal according to the clock signal provided by the crystal oscillator and the received first frequency and transfer it to the sinusoidal signal generator;

The second ePWM module is used to generate a first PWM wave signal according to the clock signal provided by the crystal oscillator and the received second frequency and transfer it to the sine signal generator. The frequency of the first PWM wave signal is consistent with the sine signal. The frequency ratio of the generator clock signal is 1:50;

The third ePWM module is used to generate a second PWM wave signal according to the clock signal provided by the crystal oscillator and the received third frequency and transfer it to the sine signal generator. The frequency of the second PWM wave signal is the same as that of the sine signal. The frequency ratio of the generator clock signal is 1:50, and the phase difference between the second PWM wave signal and the first PWM wave signal is 90°;

The forward and reverse rotation switch is used to input an analog signal of forward rotation, reverse rotation or stop rotation to the embedded microprocessor;

The current feedback circuit is used to measure the analog signal of the operating current of the ultrasonic motor and transfer it to the embedded microprocessor;

The voltage feedback circuit is used to measure the analog signal of the operating voltage of the ultrasonic motor and transfer it to the embedded microprocessor;

The encoder is used to measure the rotation angle of the ultrasonic motor rotor or the displacement of the mover, generate a corresponding pulse signal, and transmit it to the embedded microprocessor;

The speed adjustment switch is used to input a speed adjustment analog signal to the embedded microprocessor;

The GPIO unit is used to convert the analog signal input by the forward and reverse switch into a digital signal and then transmit it to the operation unit;

The ADC unit is used to convert the analog signals input by the current feedback circuit and the voltage feedback circuit into digital signals and then transmit them to the operation unit;

The eQEP unit is used to convert the pulse signal input by the encoder into a digital signal and then transmit it to the operation unit;

The computing unit is used to calculate the first frequency, the second frequency, and the third frequency based on the converted digital signals of the forward and reverse switches, speed adjustment switches, current feedback circuits, voltage feedback circuits, and encoders, and calculate the first frequency, the second frequency, and the third frequency respectively. The first frequency, the second frequency, and the third frequency are transmitted to the first ePWM module, the second ePWM module, and the third ePWM module; the operation unit does not receive the forward and reverse rotation switch, the speed adjustment switch, the current feedback circuit, When the voltage feedback circuit and the encoder convert the digital signals, the preset first frequency threshold, second frequency threshold, and third frequency threshold are respectively transmitted to the first frequency, the second frequency, and the third frequency as the first frequency, the second frequency, and the third frequency. ePWM module, second ePWM module, third ePWM module;

The sine signal generator is used to generate a first sine wave signal and a second sine wave signal according to the received sine signal generator clock signal, the first PWM wave signal and the second PWM wave signal, and transfer them to the power amplifier Matching circuit, the phase difference between the first sine wave signal and the second sine wave signal is 90°;

The power amplifier matching circuit is used to generate a first drive signal and a second drive signal according to the received first sine wave signal and second sine wave signal. The phase difference between the first drive signal and the second drive signal is 90°. Used to drive the ultrasonic motor to be controlled.

As a further optimization solution of the ultrasonic motor drive controller based on audio power amplifier of the present invention, the sine signal generator includes a DC power supply, a first active filter, a second active filter, first to second resistors, and first to third capacitors;

The models of the first active filter and the second active filter are both MAX295;

The DC power supply is a 5V power supply, and its positive pole is connected to one end of the first capacitor, one end of the second capacitor, one end of the first resistor, the V+ pin of the first active filter, and the V+ pin of the second active filter. pins are connected, and the negative electrode is connected to the other end of the first capacitor, the other end of the second capacitor, one end of the second resistor, one end of the third capacitor, the V- pin of the first active filter, and the second active filter The V- pin is connected to ground;

The other end of the first resistor is connected to the other end of the second resistor, the other end of the third capacitor, the GND pin of the first active filter, and the GND pin of the second active filter respectively;

The CLK pin of the first active filter and the CLK pin of the second active filter are both connected to the first ePWM module;

The IN pin of the first active filter and the IN pin of the second active filter are respectively connected to the second ePWM module and the third ePWM module;

The OP IN pin of the first active filter is connected to its OP OUT pin, and the OP IN pin of the second active filter is connected to its OP OUT pin;

The OUT pin of the first active filter and the OUT pin of the second active filter are both connected to the power amplifier matching circuit.

As a further optimization solution of the present invention's ultrasonic motor drive controller based on audio power amplifier, the power amplifier matching circuit includes a Class D audio power amplifier chip, first to second step-up transformers, and first to second parallel inductors;

The Class D audio power amplifier chip is respectively connected to the sinusoidal signal generator, the input end of the first step-up transformer, and the input end of the second step-up transformer; the input ends of the first and second step-up transformers are respectively connected to the first step-up transformer. , one end of the second parallel inductor is connected, and the other ends of the first and second parallel inductors are respectively connected to the two driving ends of the ultrasonic motor to be controlled;

The Class D audio power amplifier chip is used to generate SPWM wave signals SinA and SinB according to the received first sine wave signal and then input them to the first step-up transformer, and generate SPWM wave signals CosA and CosB according to the received second sine wave signal. and then input to the second step-up transformer, where the SinA signal and the SinB signal are a set of differential signals, and the CosA signal and the CosB signal are a set of differential signals;

The SinA signal and SinB signal are boosted by the first step-up transformer and then matched with the first parallel inductor to generate the first drive signal;

The CosA signal and CosB signal are boosted by the second boosting transformer and then matched with the second parallel inductor to generate the second driving signal;

The phase difference between the first driving signal and the second driving signal is 90° and is used to drive the ultrasonic motor to be controlled.

As a further optimization solution of the ultrasonic motor drive controller based on the audio power amplifier of the present invention, a pulse absorption circuit is provided between the Class D audio power amplifier chip and the first and second step-up transformers.

As a further optimization solution of the ultrasonic motor drive controller based on the audio power amplifier of the present invention, the model of the embedded microprocessor is TMS320F28335.

As a further optimization solution of the ultrasonic motor drive controller based on the audio power amplifier of the present invention, the forward and reverse switch adopts a single-pole three-throw switch.

As a further optimization solution of the ultrasonic motor drive controller based on the audio power amplifier of the present invention, the embedded microprocessor also includes an SCI unit, which is used to combine the current feedback circuit, the voltage feedback circuit, and the encoder. The converted digital signal is transmitted to the host computer.

Compared with the existing technology, the present invention adopts the above technical solution and has the following technical effects:

The present invention applies the Class D audio power amplifier to the power amplifier circuit of the ultrasonic motor driver, and combines the needs of the ultrasonic motor drive to bring out the advantages of the Class D audio power amplifier with high efficiency, low heat generation and small harmonic components; the control circuit structure is simple and the cost is low Low, which is more conducive to the integration and miniaturization of the drive circuit.

The drive core adopts a DSP chip with powerful computing function, model number TMS320F28335, which can adjust the frequency, phase and amplitude of the motor's drive signal in real time through the internal module of the DSP chip according to the working status and working requirements of the stable platform to realize the control of the ultrasonic motor. High performance and high stability control objectives.

The drive controller can communicate with the host computer in real time to realize the acceptance of remote control instructions and real-time monitoring of the motor operating status.

Description of the drawings

Figure 1 is the schematic block diagram of the ultrasonic motor drive controller;

Figure 2 is the schematic diagram of the sinusoidal signal generator circuit;

Figure 3 is a waveform change diagram of the drive controller circuit.

Detailed ways

The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings:

The invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.

As shown in Figure 1, the present invention discloses an ultrasonic motor drive controller based on an audio power amplifier, including a crystal oscillator, an embedded microprocessor, a sine signal generator, a power amplifier matching circuit, a forward and reverse switch, a speed adjustment switch, and a current feedback circuit, voltage feedback circuit, encoder and power module, the embedded microprocessor is electrically connected to the forward and reverse switch, speed adjustment switch, current feedback circuit, voltage feedback circuit, encoder, crystal oscillator, and the input side of the sine signal generator. The output side of the signal generator is connected to the ultrasonic motor to be driven through a power amplifier matching circuit;

The crystal oscillator is used to provide clock signals to the embedded microprocessor;

The embedded microprocessor includes a first ePWM module, a second ePWM module, a third ePWM module, an arithmetic unit, a GPIO unit, an ADC unit and an eQEP unit;

The first ePWM module is used to generate a sinusoidal signal generator clock signal according to the clock signal provided by the crystal oscillator and the received first frequency and transfer it to the sinusoidal signal generator;

The second ePWM module is used to generate a first PWM wave signal according to the clock signal provided by the crystal oscillator and the received second frequency and transfer it to the sine signal generator. The frequency of the first PWM wave signal is the same as the frequency of the sine signal generator clock signal. The ratio is 1:50;

The third ePWM module is used to generate a second PWM wave signal based on the clock signal provided by the crystal oscillator and the received third frequency and transfer it to the sine signal generator. The frequency of the second PWM wave signal is the same as the frequency of the sine signal generator clock signal. The ratio is 1:50, and the phase difference between the second PWM wave signal and the first PWM wave signal is 90°;

The forward and reverse switch is used to input the analog signal of forward, reverse or stop rotation to the embedded microprocessor;

The current feedback circuit is used to measure the analog signal of the ultrasonic motor operating current and transmit it to the embedded microprocessor;

The voltage feedback circuit is used to measure the analog signal of the operating voltage of the ultrasonic motor and transmit it to the embedded microprocessor;

The encoder is used to measure the rotation angle of the ultrasonic motor rotor or the displacement of the mover, generate the corresponding pulse signal, and transmit it to the embedded microprocessor;

The speed adjustment switch is used to input the speed adjustment analog signal to the embedded microprocessor;

The GPIO unit is used to convert the analog signal input by the forward and reverse switch into a digital signal and then transmit it to the computing unit;

The ADC unit is used to convert the analog signals input by the current feedback circuit and voltage feedback circuit into digital signals and then pass them to the computing unit;

The eQEP unit is used to convert the pulse signal input by the encoder into a digital signal and then transmit it to the computing unit;

The arithmetic unit is used to calculate the first frequency, the second frequency, and the third frequency based on the converted digital signals of the forward and reverse switches, the speed adjustment switch, the current feedback circuit, the voltage feedback circuit, and the encoder, and convert the first frequency to the first frequency respectively. , the second frequency, and the third frequency are transmitted to the first ePWM module, the second ePWM module, and the third ePWM module; the computing unit does not receive the forward and reverse switches, speed adjustment switches, current feedback circuits, voltage feedback circuits, and encoders. When converting the digital signal, the preset first frequency threshold, second frequency threshold, and third frequency threshold are respectively transmitted to the first ePWM module and the second ePWM as the first frequency, the second frequency, and the third frequency. module, third ePWM module;

The sine signal generator is used to generate the first sine wave signal and the second sine wave signal according to the received sine signal generator clock signal, the first PWM wave signal and the second PWM wave signal, and transfer them to the power amplifier matching circuit, and The phase difference between the first sine wave signal and the second sine wave signal is 90°;

The power amplifier matching circuit is used to generate the first driving signal and the second driving signal according to the received first sine wave signal and the second sine wave signal. The phase difference between the first driving signal and the second driving signal is 90°, and is used to drive the waiting signal. Controlled ultrasonic motor.

The power amplifier matching circuit includes a Class D audio power amplifier chip, the first to second step-up transformers, and the first to second parallel inductors;

The Class D audio power amplifier chip is respectively connected to the sinusoidal signal generator, the input terminal of the first step-up transformer, and the input terminal of the second step-up transformer; the input terminals of the first and second step-up transformers are connected in parallel with the first and second step-up transformers respectively. One end of the inductor is connected, and the other ends of the first and second parallel inductors are respectively connected to the two driving ends of the ultrasonic motor to be controlled;

The Class D audio power amplifier chip is used to generate SPWM wave signals SinA and SinB according to the received first sine wave signal and then input them to the first step-up transformer, and to generate SPWM wave signals CosA and CosB according to the received second sine wave signal and then input them. to the second step-up transformer, where the SinA signal and the SinB signal are a set of differential signals, and the CosA signal and the CosB signal are a set of differential signals;

The SinA signal and the SinB signal are boosted by the first step-up transformer and then matched with the first parallel inductor to generate the first drive signal;

The CosA signal and the CosB signal are boosted by the second step-up transformer and matched through the second parallel inductor to generate the second drive signal;

The phase difference between the first driving signal and the second driving signal is 90°, and is used to drive the ultrasonic motor to be controlled.

There are pulse absorption circuits between the Class D audio power amplifier chip and the first and second step-up transformers.

The embedded microprocessor model is preferred to be TMS320F28335.

The forward and reverse switch adopts a single-pole three-throw switch.

The embedded microprocessor can further include an SCI unit, which is used to transmit the converted digital signals of the current feedback circuit, voltage feedback circuit, and encoder to the host computer.

As shown in Figure 2, the sine signal generator includes a DC power supply, a first active filter, a second active filter, first to second resistors, and first to third capacitors. The models of the first active filter and the second active filter are both MAX295.

The DC power supply is a 5V power supply, and its positive pole is connected to one end of the first capacitor, one end of the second capacitor, one end of the first resistor, the V+ pin of the first active filter, and the V+ pin of the second active filter. , the negative electrode is respectively connected to the other end of the first capacitor, the other end of the second capacitor, one end of the second resistor, one end of the third capacitor, the V- pin of the first active filter, and the V-pin of the second active filter. -The pins are connected to ground.

The other end of the first resistor is connected to the other end of the second resistor, the other end of the third capacitor, the GND pin of the first active filter, and the GND pin of the second active filter respectively; the first active filter The CLK pin of the filter and the CLK pin of the second active filter are both connected to the first ePWM module; the IN pin of the first active filter and the IN pin of the second active filter are respectively connected to the second ePWM module. module and the third ePWM module are connected correspondingly; the OP IN pin of the first active filter is connected to its OP OUT pin, and the OP IN pin of the second active filter is connected to its OP OUT pin; the first active filter has The OUT pin of the source filter and the OUT pin of the second active filter are both connected to the power amplifier matching circuit. The DC power supply and voltage dividing resistors R1 and R2 supply power to the active filter of the dual power supply; the capacitors C1 and C2 are bypass capacitors and decoupling capacitors; the sliding rheostat R3 and the resistor R4 are used to adjust the amplitude of the sinusoidal signal; active filtering The device receives signals output from the first ePWM module, the second ePWM module and the third ePWM module of the embedded microprocessor, and generates two sine waves with a phase difference of 90°.

As shown in Figure 3, the clock signal of the external crystal oscillator unit is input to the embedded microprocessor. The ePWM module of the embedded microprocessor outputs a sinusoidal signal generator clock signal and two PWM waves with a phase difference of 90° and an amplitude of 3.3V. The active filter generates two sine waves with a phase difference of 90° and a peak-to-peak value of 3.3V, and then passes through the power amplifier circuit based on the audio power amplifier to generate two sets of differential SPWM waves. Finally, the amplification\matching circuit generates two sets of sine waves with a phase difference of 90°. A sine waveform with a peak-to-peak value of 300V~400V drives the ultrasonic motor.

It can be understood by one of ordinary skill in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It should also be understood that terms such as those defined in general dictionaries are to be understood to have meanings consistent with their meaning in the context of the prior art, and are not to be taken in an idealized or overly formal sense unless defined as herein. explain.

The above-mentioned specific embodiments further describe the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above-mentioned are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims (6)

1. The ultrasonic motor driving controller based on the audio power amplifier is characterized by comprising a crystal oscillator, an embedded microprocessor, a sinusoidal signal generator, a power amplifier matching circuit, a forward and reverse rotation switch, a speed regulating switch, a current feedback circuit, a voltage feedback circuit, an encoder and a power module, wherein the embedded microprocessor is respectively and electrically connected with the power module, the forward and reverse rotation switch, the speed regulating switch, the current feedback circuit, the voltage feedback circuit, the encoder, the crystal oscillator and the input side of the sinusoidal signal generator, and the output side of the sinusoidal signal generator is connected with an ultrasonic motor to be driven through the power amplifier matching circuit;

the crystal oscillator is used for providing a clock signal for the embedded microprocessor;

the embedded microprocessor comprises a first ePWM module, a second ePWM module, a third ePWM module, an operation unit, a GPIO unit, an ADC unit and an eQEP unit;

the first ePWM module is used for generating a clock signal of a sinusoidal signal generator according to a clock signal provided by the crystal oscillator and the received first frequency and transmitting the clock signal to the sinusoidal signal generator;

the second ePWM module is used for generating a first PWM wave signal according to a clock signal provided by the crystal oscillator and a received second frequency and transmitting the first PWM wave signal to the sinusoidal signal generator, and the frequency ratio of the first PWM wave signal frequency to the sinusoidal signal generator clock signal is 1:50;

the third ePWM module is used for generating a second PWM wave signal according to a clock signal provided by the crystal oscillator and a received third frequency and transmitting the second PWM wave signal to the sinusoidal signal generator, the frequency ratio of the frequency of the second PWM wave signal to the clock signal of the sinusoidal signal generator is 1:50, and the phase difference of the second PWM wave signal and the first PWM wave signal is 90 degrees;

the positive and negative rotation switch is used for inputting a positive rotation or reverse rotation or stopping analog signal to the embedded microprocessor;

the current feedback circuit is used for measuring an analog signal of the working current of the ultrasonic motor and transmitting the analog signal to the embedded microprocessor;

the voltage feedback circuit is used for measuring an analog signal of the working voltage of the ultrasonic motor and transmitting the analog signal to the embedded microprocessor;

the encoder is used for measuring the rotation angle of the rotor of the ultrasonic motor or the displacement of the rotor, generating corresponding pulse signals and transmitting the pulse signals to the embedded microprocessor;

the speed regulation switch is used for inputting a speed regulation analog signal to the embedded microprocessor;

the GPIO unit is used for converting the analog signal input by the forward and reverse switch into a digital signal and transmitting the digital signal to the operation unit;

the ADC unit is used for converting analog signals input by the current feedback circuit and the voltage feedback circuit into digital signals and transmitting the digital signals to the operation unit;

the eQEP unit is used for converting the pulse signal input by the encoder into a digital signal and transmitting the digital signal to the operation unit;

the operation unit is used for calculating a first frequency, a second frequency and a third frequency according to the digital signals converted by the forward and reverse rotation switch, the speed regulating switch, the current feedback circuit, the voltage feedback circuit and the encoder, and transmitting the first frequency, the second frequency and the third frequency to the first ePWM module, the second ePWM module and the third ePWM module respectively; when the arithmetic unit does not receive the digital signals converted by the forward and reverse rotation switch, the speed regulating switch, the current feedback circuit, the voltage feedback circuit and the encoder, the arithmetic unit respectively transmits a preset first frequency threshold value, a preset second frequency threshold value and a preset third frequency threshold value to the first ePWM module, the second ePWM module and the preset third frequency threshold value as the first frequency, the preset second frequency and the preset third frequency;

the sine signal generator is used for generating a first sine wave signal and a second sine wave signal according to the received sine signal generator clock signal, the first PWM wave signal and the second PWM wave signal, and transmitting the first sine wave signal and the second sine wave signal to the power amplifier matching circuit, and the phase difference between the first sine wave signal and the second sine wave signal is 90 degrees;

the power amplifier matching circuit is used for generating a first driving signal and a second driving signal according to the received first sine wave signal and the received second sine wave signal, and the phase difference of the first driving signal and the second driving signal is 90 degrees and is used for driving an ultrasonic motor to be controlled;

the power amplifier matching circuit comprises a Class D audio power amplifier chip, first to second step-up transformers and first to second parallel inductors;

the Class D audio power amplifier chip is respectively connected with the sinusoidal signal generator, the input end of the first step-up transformer and the input end of the second step-up transformer; the input ends of the first step-up transformer and the second step-up transformer are respectively connected with one ends of the first parallel inductor and the second parallel inductor, and the other ends of the first parallel inductor and the second parallel inductor are respectively connected with two driving ends of an ultrasonic motor to be controlled;

the Class D audio power amplifier chip is used for generating SPWM wave signals SinA and SinB according to the received first sine wave signals, inputting the SPWM wave signals SinA and SinB to the first step-up transformer, generating SPWM wave signals CosA and CosB according to the received second sine wave signals, and inputting the SPWM wave signals CosA and CosB to the second step-up transformer, wherein the SinA signal and the SinB signal are a group of differential signals, and the CosA signal and the CosB signal are a group of differential signals;

the SinA signal and the SinB signal are boosted by a first boosting transformer and then are matched through a first parallel inductor to generate a first driving signal;

the CosA signal and the CosB signal are boosted by a second boosting transformer and then are matched through a second parallel inductor to generate a second driving signal;

the phase difference between the first driving signal and the second driving signal is 90 degrees, and the first driving signal and the second driving signal are used for driving the ultrasonic motor to be controlled.

2. The audio power amplifier-based ultrasonic motor drive controller of claim 1, wherein the sinusoidal signal generator comprises a dc power source, a first active filter, a second active filter, first to second resistors, and first to third capacitors;

the models of the first active filter and the second active filter are MAX295;

the direct current power supply is a 5V power supply, the positive electrode of the direct current power supply is respectively connected with one end of a first capacitor, one end of a second capacitor, one end of a first resistor, a V+ pin of a first active filter and a V+ pin of a second active filter, and the negative electrode of the direct current power supply is respectively connected with the other end of the first capacitor, the other end of the second capacitor, one end of a second resistor, one end of a third capacitor, the V-pin of the first active filter and the V-pin of the second active filter and then grounded;

the other end of the first resistor is respectively connected with the other end of the second resistor, the other end of the third capacitor, the GND pin of the first active filter and the GND pin of the second active filter;

the CLK pin of the first active filter and the CLK pin of the second active filter are connected with the first ePWM module;

the IN pin of the first active filter and the IN pin of the second active filter are correspondingly connected with the second ePWM module and the third ePWM module respectively;

the OP IN pin of the first active filter is connected with the OP OUT pin of the first active filter, and the OP IN pin of the second active filter is connected with the OP OUT pin of the second active filter;

and the OUT pin of the first active filter and the OUT pin of the second active filter are connected with the power amplifier matching circuit.

3. The ultrasonic motor driving controller based on the audio power amplifier according to claim 2, wherein a pulse absorption circuit is arranged between the Class D audio power amplifier chip and the first step-up transformer and the second step-up transformer.

4. The ultrasonic motor drive controller based on an audio power amplifier of claim 1, wherein the embedded microprocessor is model TMS320F28335.

5. The ultrasonic motor drive controller based on an audio power amplifier according to claim 1, wherein the forward and reverse rotation switch is a single pole three throw switch.

6. The ultrasonic motor drive controller based on the audio power amplifier according to claim 1, wherein the embedded microprocessor further comprises an SCI unit, and the SCI unit is used for transmitting the digital signals converted by the current feedback circuit, the voltage feedback circuit and the encoder to an upper computer.