CN101373937A - Ultrasound motor drive controller based on embedded system level chip - Google Patents
Ultrasound motor drive controller based on embedded system level chip Download PDFInfo
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Abstract
The invention relates to an ultrasonic motor drive controller based on an embedded type system level chip, which belongs to the ultrasonic motor drive controller and comprises a manual coder regulating circuit, a PSoC, a push-pull boosted circuit, a half-bridge drive circuit, a half-bridge inverter circuit, an inductive matching circuit, an LCD display circuit, an output voltage sample circuit and a single-electrode voltage sample circuit, wherein, the output terminals of the manual coder regulating circuit, the single-electrode voltage sample circuit and the output voltage sample circuit are connected with the input terminal of the PSoC; the output terminal of the PSoC is connected with the input terminals of the LCD display circuit, the push-pull boosted circuit and the half-bridge drive circuit; the input terminal of the output voltage sample circuit is connected with the output terminal of the push-pull boosted circuit; the output terminals of the push-pull boosted circuit and the half-bridge drive circuit are connected with the input terminal of the half-bridge inverter circuit, the output terminal of which is connected with an ultrasonic motor. The input terminal of the single-electrode voltage sample circuit is connected with a single-electrode area of the ultrasonic motor. The ultrasonic motor drive controller can realize the independent regulation of frequency, phase separation and voltage.
Description
Technical field
The present invention relates to a kind of ultrasound motor drive controller, relate in particular to a kind of ultrasound motor drive controller based on embedded system level chip.
Background technology
Ultrasound electric machine (Ultrasonic Motor, USM) be a kind of New-type electric machine that utilizes functional material to constitute, it utilizes the inverse piezoelectric effect and the ultrasonic vibration of piezoelectric ceramic, (piezoelectric ceramic, microdeformation PZT) convert the macroscopic motion of rotor or slide block to by resonance amplification and friction coupling with elastomeric material.Because its unique operation mechanism, USM has the advantage that traditional electromagnetic motor does not possess: simple and compact for structure, low speed high torque, do not need reducing gear, form versatile and flexible etc., thereby be subjected to extensive concern, show huge application potential and advantage in fields such as MEMS (micro electro mechanical system) (MEMS), nanometer technology, military project, robot, biology, medical machinery, Aero-Space, office automations.
The match circuit of Driven by Ultrasonic Motors device series inductance commonly used realizes now, make that the change in voltage that is added on the ultrasound electric machine is bigger in frequency modulation, if frequency modulation will guarantee that simultaneously electric moter voltage is constant, must regulate input voltage after adjusting frequency, this just makes the control of motor become complicated again.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of ultrasound motor drive controller based on embedded system level chip.
A kind of ultrasound motor drive controller based on embedded system level chip, comprise hand-coding device regulating circuit, the PSoC chip, the inductance match circuit, the LCD display circuit, wherein hand-coding device regulating circuit is exported the input of termination PSoC chip, the input of the output termination LCD display circuit of PSoC chip, the output termination ultrasound electric machine of inductance match circuit, it is characterized in that also comprising and recommend booster circuit, half-bridge drive circuit, half-bridge inversion circuit, output voltage sampling circuit, lonely pole tension sample circuit, wherein recommend the input of booster circuit, the input of half-bridge drive circuit connects the output of PSoC chip respectively, the output of recommending booster circuit and half-bridge drive circuit connects the input of half-bridge inversion circuit respectively, the input of the output termination inductance match circuit of half-bridge inversion circuit, the input termination of output voltage sampling circuit is recommended the output of booster circuit, the input of the output termination PSoC chip of output voltage sampling circuit, the input signal of lonely pole tension sample circuit is taken from the lonely polar region of ultrasound electric machine, the input of the output termination PSoC chip of lonely pole tension sample circuit.
The present invention utilizes three pairs of PWM modules of PSoC chip directly to produce six road square-wave signals, wherein a pair of process push-pull driver circuit driven MOS pipe is finished DC boosting, finish dc inversion through half-bridge drive circuit driven MOS pipe for other two pairs, having replaced traditional frequency takes place, frequency division phase-splitting and part drive circuit and control circuit, and adopt lonely pole tension feedback transmitter to realize the frequency-tracking of ultrasound electric machine is reached the purpose of stablizing motor speed, adopt the shunt inductance matching technique that the capacitive ultrasound electric machine is carried out Circuit Matching, utilize the dynamic recombination function of PSoC can regulate electric moter voltage easily, frequency and phase place.Circuit has according to motor operating state automatic frequency adjustment, phase modulation and voltage regulation function.
Description of drawings
Fig. 1: overall structure figure of the present invention;
Fig. 2: circuit theory diagrams of the present invention.
Main designation among the figure:
U1 PSoC chip U2 push-pull circuit driver
U3 A phase bridge driver U4 B phase bridge driver
U5 optical coupling isolator U6 LCD display circuit
U7 hand-coding device regulating circuit T step-up transformer
The lonely utmost point filter capacitor of C3 R1 potentiometer
L1, L2 filter inductance M travelling wave supersonic motor
The L3 A inductance L 4 B inductance that is complementary that is complementary
D1～D8 rectifier diode R2 output voltage sampling resistor
Embodiment
As shown in Figure 1, a kind of ultrasound motor drive controller based on embedded system level chip, comprise hand-coding device regulating circuit 1, PSoC chip 2, inductance match circuit 6, LCD display circuit 7, wherein hand-coding device regulating circuit 1 is exported the input of termination PSoC chip 2, the input of the output termination LCD display circuit 7 of PSoC chip 2, the output termination ultrasound electric machine M of inductance match circuit 6, it is characterized in that also comprising and recommend booster circuit 3, half-bridge drive circuit 4, half-bridge inversion circuit 5, output voltage sampling circuit 8, lonely pole tension sample circuit 9, wherein recommend the input of booster circuit 3, the input of half-bridge drive circuit 4 connects the output of PSoC chip 2 respectively, the output of recommending booster circuit 3 and half-bridge drive circuit 4 connects the input of half-bridge inversion circuit 5 respectively, the input of the output termination inductance match circuit 6 of half-bridge inversion circuit 5, the input termination of voltage sampling circuit 8 is recommended the output of booster circuit 3, the input of the output termination PSoC chip 2 of sample circuit 8, the input signal of lonely pole tension sample circuit 9 is taken from the lonely polar region of ultrasound electric machine M, the input of the output termination PSoC chip 2 of lonely pole tension sample circuit 9.
16 the PWM module in three bands of described PSoC chip 2 internal configurations dead band, one of them is used for driving recommends booster circuit 3, two other PWM module produces four tunnel square-wave signals in the band dead band of phase difference of pi/4 each other, and this square wave letter obtains drive signal through half-bridge drive circuit 4, and described drive signal promotes half-bridge inversion circuit 5 and finishes dc inversion.
Accompanying drawing as shown in Figure 2 comprises hand-coding device regulating circuit 1, PSoC chip 2, recommends booster circuit 3, half-bridge drive circuit 4, half-bridge inversion circuit 5, inductance match circuit 6, LCD display circuit 7, output voltage sampling circuit 8, lonely pole tension sample circuit 9, U1 is a PSoC chip 2 among the figure, U6 is a LCD display circuit 7, and U7 is a hand-coding device regulating circuit 1.
The described booster circuit 3 of recommending is by push-pull circuit driver U2, DC power supply DC, the first switching tube Q1, second switch pipe Q2, step-up transformer T, four rectifier diodes are the first rectifier diode D1 to the, four rectifier diode D4, the first filter inductance L1, the second filter inductance L2, the first filter capacitor C1, the second filter capacitor C2, the first body diode D9, the second body diode D10 forms, wherein the HIN of push-pull circuit driver U2 end is connected with the P16 end of PSoC chip 2, the LIN end of push-pull circuit driver U2 is connected with the P14 end of PSoC chip 2, the HO end of push-pull circuit driver U2 is connected with the grid of second switch pipe Q2, the LO end of push-pull circuit driver U2 is connected with the grid of the first switching tube Q1, the drain electrode of the positive pole of DC power supply DC and the first switching tube Q1 and second switch pipe Q2, the negative electrode of the first body diode D9 and the second body diode D10 is connected, the anode of the source electrode of the first switching tube Q1 and the first body diode D9 is connected the back and is connected with the end of the same name of the former limit winding of step-up transformer T, the source electrode of second switch pipe Q2 is connected the back and is connected with the different name end of the former limit winding of step-up transformer T with the anode of the second body diode D10, the negative pole of DC power supply DC is connected with the intermediate ends of the former limit winding of step-up transformer T, the negative electrode of the first rectifier diode D1 and the end of the same name that connects the secondary winding of step-up transformer T after the anode of the 3rd rectifier diode D3 is connected, the negative electrode of the second rectifier diode D2 and the different name end that connects the secondary winding of step-up transformer T after the anode of the 4th rectifier diode D4 is connected, the anode of the first rectifier diode D1 and the output that meets the second filter inductance L2 after the anode of the second rectifier diode D2 is connected, the input of the second filter inductance L2 respectively with the output of the second filter capacitor C2, the input of half-bridge inversion circuit 5 connects, the negative electrode of the 3rd rectifier diode D3 and the input that meets the first filter inductance L1 after the negative electrode of the 4th rectifier diode D4 is connected, the output of the first filter inductance L1 respectively with the input of output voltage sampling circuit 8, the input of the first filter capacitor C1, the input of half-bridge inversion circuit 5 connects, and the input of the output of the first filter capacitor C1 and the second filter capacitor C2 is connected the back and is connected with the output of inductance match circuit 6.
Described half-bridge drive circuit 4 by A phase bridge driver U3 and B mutually bridge driver U4 form, wherein the HO of A phase bridge driver U3 end, LO end are connected with half-bridge inversion circuit 5 respectively, the HIN end of A phase bridge driver U3 is connected with the P17 end of PSoC chip 2, and the LIN end of A phase bridge driver U3 is connected with the P15 end of PSoC chip 2; HO end, the LO end of B phase bridge driver U4 are connected with half-bridge inversion circuit 5 respectively, and the HIN end of B phase bridge driver U4 is connected with the P13 end of PSoC chip 2, and the LIN end of B phase bridge driver U4 is connected with the P11 end of PSoC chip 2.
Described half-bridge inversion circuit (5) is the 3rd switching tube Q3 by two switching tubes of A phase, the 4th switching tube Q4, two switching tubes of B phase i.e. the 5th switching tube Q5, the 6th switching tube Q6 and four individual diodes i.e. the 3rd body diode D11 to the hexasomic diode D16 are formed, the 3rd switching tube Q3 wherein, the 4th switching tube Q4, the 5th switching tube Q5, the grid of the 6th switching tube Q6 is connected with the output of half-bridge drive circuit 4 respectively, the negative electrode of the drain electrode of the 3rd switching tube Q3 and the 3rd body diode D11, the drain electrode of the 5th switching tube Q5, the negative electrode of five body constituents diode D13 connects the output of recommending booster circuit 3 after connecting, the anode of the source electrode of the 4th switching tube Q4 and limbs diode D12, the source electrode of the 6th switching tube Q6, the anode of hexasomic diode D14 connects the output of recommending booster circuit 3 after connecting, the source electrode of the 3rd switching tube Q3 respectively with the anode of the 3rd body diode D11, the drain electrode of the 4th switching tube Q4, the negative electrode of limbs diode D12 is connected with the input of inductance match circuit 6, the source electrode of the 5th switching tube Q5 respectively with the anode of five body constituents diode D13, the drain electrode of the 6th switching tube Q6, the negative electrode of hexasomic diode D14 is connected with the input of inductance match circuit 6.
Described inductance match circuit 6 is made up of A inductance L 3 and the B inductance L 4 that is complementary that is complementary, wherein A the be complementary output of inductance L 4 of inductance L 3 and B that is complementary connects the two-phase input of ultrasound electric machine M respectively, A the be complementary input of inductance L 4 of inductance L 3 and B that is complementary connects the output of half-bridge inversion circuit 5 respectively, A the be complementary input of output termination ultrasound electric machine (M) of inductance L 4 of the output of inductance L 3 and B that is complementary.
Described lonely pole tension sample circuit 9 comprises i.e. the 5th rectifier diode D5 to the eight rectifier diode D8 of four rectifier diodes, lonely utmost point filter capacitor C3, potentiometer R1 and optical coupling isolator U5 form, the wherein negative electrode of the 6th rectifier diode D6 and the input that meets lonely utmost point filter capacitor C3 after the 7th rectifier diode D7 negative electrode is connected, the input of the output termination potentiometer R1 of lonely utmost point filter capacitor C3, the intermediate ends of potentiometer R1 and output connect the input of optical coupling isolator U5 respectively, optical coupling isolator output connects the P00 end of PSoC chip 2, after being connected, the anode of the negative electrode of the 5th rectifier diode D5 and the 6th rectifier diode D6 connects the lonely polar region of ultrasound electric machine M, connect the output of lonely utmost point filter capacitor C3 after the anode of the anode of the 5th rectifier diode D5 and the 8th rectifier diode D8 is connected, connect the output of inductance match circuit 6 after the negative electrode of the anode of the 7th rectification two utmost point D7 and the 8th rectification two utmost point D8 is connected.
Described step-up transformer T is made by the ferrite magnetic core material.
Described output voltage sampling circuit adopts divider resistance R2.
The present invention is based on the ultrasound motor drive controller of embedded system level chip, the core of control section is the PSoC chip, it is by controlling the running status of motor to the change of frequency, phase place and the duty ratio of pwm signal, and adopt lonely pole tension feedback transmitter to realize the frequency-tracking of ultrasound electric machine is reached the purpose of stablizing motor speed, adopt the shunt inductance matching technique that the capacitive ultrasound electric machine is carried out idle coupling, make Electric Machine Control easier.
It is two cross streams triangular waves, square wave or sine wave that the driving voltage of traveling wave type ultrasonic motor requires, this driver is output as ac square-wave voltage, make voltage waveform be approximately sinusoidal wave through the series connection small inductor, in order to reach the purpose of available multiple means control, require two-phase phase difference, amplitude and frequency all adjustable, and have the speed feedback function.The PSoC chip uses the micro-processor kernel (M8CCPU CORE) of 8 Harvard structures of powerful 4MIPS, has programmable digital system, analogue system and abundant system resource, and this makes the PSoC chip can be competent at this task well.
The PWM module in three band dead bands of PSoC chip internal configuration produces and promotes six road required pwm signals of metal-oxide-semiconductor, wherein a pair of is the push-pull circuit drive signal, through push-pull driver circuit U2 the pwm signal of PSoC output is zoomed into first, second metal-oxide-semiconductor of push-pull circuit Q1, the required drive signal of Q2, recently reach the purpose of regulation voltage by the adjusting duty.
The half-bridge inversion circuit drive signal is provided by other two pairs of pwm signals, process half-bridge drive circuit U3 and U4 circuit make two pairs of pwm signals satisfy four metal-oxide-semiconductor Q3～Q6 of half-bridge inversion circuit and drive requirement, frequency modulation and phase modulation potential difference realize by frequency and the phase difference of regulating these two pairs of pwm signals, the adjusting of parameter is finished by the hand-coding device, provides the software support by the encoder operation program.
Low-voltage dc power supply DC generates the motor necessary high voltages after recommending booster circuit, the dc bus input that its output high pressure is a half-bridge inversion circuit, generate the alternating voltage that ultrasound electric machine needs through half-bridge inversion circuit, in the middle of two brachium pontis outputs and first, second dc filter capacitor C1, C2, be connected two coupling inductance L 3, L4, finish coupling the ultrasound electric machine capacitive.
For stablizing push-pull circuit output voltage and motor speed, use VD feedback and two voltage close loops of lonely pole tension feedback.VD feeds back to PSoC to sampled voltage through bleeder circuit.Owing to adopt semi-bridge inversion, lonely pole tension of motor and supply voltage must could feed back to PSoC with sampled voltage through light-coupled isolation after lonely pole tension process rectifying and wave-filtering and the dividing potential drop not altogether.In PSoC inside, the two-way feedback signal is amplified the PGA module through two programmable-gains and is carried out giving the double-channel analog/digital conversion module after the ratio adjustment, the two-way sampled voltage is regulated duty ratio, frequency or the phase difference of corresponding pwm signal with the set point of inside respectively more accordingly through module converts, realize the purpose of voltage stabilizing and speed stabilizing, thereby guarantee that electric machine operation state is stable.
The motor operating state parameter is shown by LCD as driving voltage, operating frequency, phase difference etc.
Claims (8)
1. ultrasound motor drive controller based on embedded system level chip, comprise hand-coding device regulating circuit (1), PSoC chip (2), inductance match circuit (6), LCD display circuit (7), wherein hand-coding device regulating circuit (1) is exported the input of termination PSoC chip (2), the input of the output termination LCD display circuit (7) of PSoC chip (2), the output termination ultrasound electric machine (M) of inductance match circuit (6), it is characterized in that also comprising and recommend booster circuit (3), half-bridge drive circuit (4), half-bridge inversion circuit (5), output voltage sampling circuit (8), lonely pole tension sample circuit (9), wherein recommend the input of booster circuit (3), the input of half-bridge drive circuit (4) connects the output of PSoC chip (2) respectively, the output of recommending booster circuit (3) and half-bridge drive circuit (4) connects the input of half-bridge inversion circuit (5) respectively, the input of the output termination inductance match circuit (6) of half-bridge inversion circuit (5), the input termination of output voltage sampling circuit (8) is recommended the output of booster circuit (3), the input of the output termination PSoC chip (2) of output voltage sampling circuit (8), the input signal of lonely pole tension sample circuit (9) is taken from the lonely polar region of ultrasound electric machine (M), the input of the output termination PSoC chip (2) of lonely pole tension sample circuit (9).
2. the ultrasound motor drive controller based on embedded system level chip according to claim 1,16 the PWM module that it is characterized in that three bands of described PSoC chip (2) internal configurations dead band, one of them is used for driving recommends booster circuit (3), two other PWM module produces four tunnel square-wave signals in the band dead band of phase difference of pi/4 each other, and this square wave letter obtains drive signal through half-bridge drive circuit (4), and described drive signal promotes half-bridge inversion circuit (5) and finishes dc inversion.
3. the ultrasound motor drive controller based on embedded system level chip according to claim 1, it is characterized in that the described booster circuit (3) of recommending is by push-pull circuit driver (U2), DC power supply (DC), first switching tube (Q1), second switch pipe (Q2), step-up transformer (T), four rectifier diodes are that first rectifier diode (D1) is to the 4th rectifier diode (D4), first filter inductance (L1), second filter inductance (L2), first filter capacitor (C1), second filter capacitor (C2), first body diode (D9), second body diode (D10) is formed, wherein the HIN of push-pull circuit driver (U2) end is connected with the P16 end of PSoC chip (2), the LIN end of push-pull circuit driver (U2) is connected with the P14 end of PSoC chip (2), the HO end of push-pull circuit driver (U2) is connected with the grid of second switch pipe (Q2), the LO end of push-pull circuit driver (U2) is connected with the grid of first switching tube (Q1), the drain electrode of the positive pole of DC power supply (DC) and first switching tube (Q1) and second switch pipe (Q2), first body diode (D9) is connected with the negative electrode of second body diode (D10), the anode of the source electrode of first switching tube (Q1) and first body diode (D9) is connected the back and is connected with the end of the same name of the former limit winding of step-up transformer (T), the anode of the source electrode of second switch pipe (Q2) and second body diode (D10) is connected the back and is connected with the different name end of the former limit winding of step-up transformer (T), the negative pole of DC power supply (DC) is connected with the intermediate ends of the former limit winding of step-up transformer (T), the negative electrode of first rectifier diode (D1) and the end of the same name that connects the secondary winding of step-up transformer (T) after the anode of the 3rd rectifier diode (D3) is connected, the negative electrode of second rectifier diode (D2) and the different name end that connects the secondary winding of step-up transformer (T) after the anode of the 4th rectifier diode (D4) is connected, the anode of first rectifier diode (D1) and the output that meets second filter inductance (L2) after the anode of second rectifier diode (D2) is connected, the input of second filter inductance (L2) respectively with the output of second filter capacitor (C2), the input of half-bridge inversion circuit (5) connects, the negative electrode of the 3rd rectifier diode (D3) and the input that meets first filter inductance (L1) after the negative electrode of the 4th rectifier diode (D4) is connected, the output of first filter inductance (L1) respectively with the input of output voltage sampling circuit (8), the input of first filter capacitor (C1), the input of half-bridge inversion circuit (5) connects, and the input of the output of first filter capacitor (C1) and second filter capacitor (C2) is connected the back and is connected with the output of inductance match circuit (6).
4. the ultrasound motor drive controller based on embedded system level chip according to claim 1, it is characterized in that described half-bridge drive circuit (4) by A phase bridge driver (U3) and B mutually bridge driver (U4) form, wherein the HO of A phase bridge driver (U3) end, LO end are connected with the input of half-bridge inversion circuit (5) respectively, the HIN end of A phase bridge driver (U3) is connected with the P17 end of PSoC chip (2), and the LIN end of A phase bridge driver (U3) is connected with the P15 end of PSoC chip (2); HO end, the LO end of B phase bridge driver (U4) are connected with the input of half-bridge inversion circuit (5) respectively, the HIN end of B phase bridge driver (U4) is connected with the P13 end of PSoC chip (2), and the LIN end of B phase bridge driver (U4) is connected with the P11 end of PSoC chip (2).
5. the ultrasound motor drive controller based on embedded system level chip according to claim 1, it is characterized in that described half-bridge inversion circuit (5) is the 3rd switching tube (Q3) by two switching tubes of A phase, the 4th switching tube (Q4), two switching tubes of B phase i.e. the 5th switching tube (Q5), the 6th switching tube (Q6) and four individual diodes i.e. the 3rd body diode (D11) to hexasomic diode (D16) are formed, the 3rd switching tube (Q3) wherein, the 4th switching tube (Q4), the 5th switching tube (Q5), the grid of the 6th switching tube (Q6) is connected with the output of half-bridge drive circuit (4) respectively, the negative electrode of the drain electrode of the 3rd switching tube (Q3) and the 3rd body diode (D11), the drain electrode of the 5th switching tube (Q5), the negative electrode of five body constituents diode (D13) connects the output of recommending booster circuit (3) after connecting, the source electrode of the 4th switching tube (Q4) and the anode of limbs diode (D12), the source electrode of the 6th switching tube (Q6), the anode of hexasomic diode (D14) connects the output of recommending booster circuit (3) after connecting, the source electrode of the 3rd switching tube (Q3) respectively with the anode of the 3rd body diode (D11), the drain electrode of the 4th switching tube (Q4), the negative electrode of limbs diode (D12) is connected with the input of inductance match circuit (6), the source electrode of the 5th switching tube (Q5) respectively with the anode of five body constituents diode (D13), the drain electrode of the 6th switching tube (Q6), the negative electrode of hexasomic diode (D14) is connected with the input of inductance match circuit (6).
6. the ultrasound motor drive controller based on embedded system level chip according to claim 1, it is characterized in that described inductance match circuit (6) is made up of A inductance (L3) and the B inductance (L4) that is complementary that is complementary, wherein A the be complementary input of inductance (L4) of inductance (L3) and B that is complementary connects the output of half-bridge inversion circuit (5) respectively, A the be complementary input of output termination ultrasound electric machine (M) of inductance (L4) of the output of inductance (L3) and B that is complementary.
7. the ultrasound motor drive controller based on embedded system level chip according to claim 1, it is characterized in that described lonely pole tension sample circuit (9) comprises that four rectifier diodes are that the 5th rectifier diode (D5) is to the 8th rectifier diode (D8), lonely utmost point filter capacitor (C3), potentiometer (R1) and optical coupling isolator (U5) are formed, the wherein negative electrode of the 6th rectifier diode (D6) and the input that connects lonely utmost point filter capacitor (C3) after the 7th rectifier diode (D7) negative electrode is connected, the input of the output termination potentiometer (R1) of lonely utmost point filter capacitor (C3), the intermediate ends of potentiometer (R1) and output connect the input of optical coupling isolator (U5) respectively, optical coupling isolator output connects the P00 end of PSoC chip (2), after being connected, the anode of the negative electrode of the 5th rectifier diode (D5) and the 6th rectifier diode (D6) connects the lonely polar region of ultrasound electric machine (M), connect the output of lonely utmost point filter capacitor (C3) after the anode of the anode of the 5th rectifier diode (D5) and the 8th rectifier diode (D8) is connected, connect the output of inductance match circuit (6) after the negative electrode of the anode of the 7th rectification two utmost points (D7) and the 8th rectification two utmost points (D8) is connected.
8. the ultrasound motor drive controller based on embedded system level chip according to claim 3 is characterized in that described step-up transformer (T) made by the ferrite magnetic core material.
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| CN101795078A (en) * | 2010-03-31 | 2010-08-04 | 华南农业大学 | Ultrasonic power driving power supply with novel topological structure |
| CN102437785A (en) * | 2011-10-10 | 2012-05-02 | 闽江学院 | LCC-based half-bridge driving circuit for ultrasonic motor |
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| CN101795078A (en) * | 2010-03-31 | 2010-08-04 | 华南农业大学 | Ultrasonic power driving power supply with novel topological structure |
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