中文摘要：

为了探索多自由度超声波电机在微型机器人等控制领域的应用，提出电机的位姿检测与控制方法．以基于三定子的二自由度球形超声波电机为研究对象，以定子角速度的极小范数为优化目标，结合角速度矢量合成原理和电机的相位差调速方式，建立电机的前馈模型；提出基于机械鼠标原理的位姿检测机构，反馈球转子的姿态量，并结合PID分段斜率比较的控制策略实现电机位姿控制．测试结果表明，电机闭环轨迹控制的误差率为1．3％，位姿检测与控制的效果较好，为二自由度球形超声波电机的推广打下扎实的基础．

英文摘要：

In order to explore applications of the multi-degree-of-freedom ultrasonic motor in the field of micro-robot control, attitude detection and control method is proposed. The two-degree-of-freedom （2-DOF） spherical ultrasonic motor using three stators is research object for this study. Aimed at minimum norm solution of three stators＇ angular velocity, the feedforward model of ultrasonic motor was established, combining the principle of angular velocity vector synthesis and phase difference control mode. The attitude detection mechanism based on mechanical mouse was put forward to provide the feedback of spherical rotor＇s attitude. Control strategy of segmented slope comparison PID was applied for attitude control of motor. Test results show that error rate of closed-loop control of the trajectory is about 1.3%. The 2-DOF spherical ultrasonic motor could be promoted applications due to its good performance in attitude detection and control.