CN102049772A - Integral drive power supply and method for miniature piezoelectricity-driven electromagnetic robot - Google Patents
Integral drive power supply and method for miniature piezoelectricity-driven electromagnetic robot Download PDFInfo
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- CN102049772A CN102049772A CN 201010527282 CN201010527282A CN102049772A CN 102049772 A CN102049772 A CN 102049772A CN 201010527282 CN201010527282 CN 201010527282 CN 201010527282 A CN201010527282 A CN 201010527282A CN 102049772 A CN102049772 A CN 102049772A
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Abstract
The invention provides an integral drive power supply and method for a miniature piezoelectricity-driven electromagnetic robot. The drive power supply comprises a power supply source, a display unit, a microprocessor, a timer, a multi-channel D/A (Digital/Analog) converter, a power amplification unit and a coil current amplification unit, wherein the power supply source is respectively connected with the display unit, the microprocessor, the timer, the multi-channel D/A converter, the power amplification unit and the coil current amplification unit; and the microprocessor is respectively connected with the display unit, the timer and the multi-channel D/A converter, the multi-channel D/A converter is respectively connected with the power amplification unit and the coil current amplification unit, a piezoelectric ceramic actuator arranged inside the miniature piezoelectricity-driven electromagnetic robot is connected to the outside of the power amplification unit, and a coil element arranged inside the miniature piezoelectricity-driven electromagnetic robot is connected to the outside of the coil current amplification unit. The integral drive power supply has the advantages of reasonable design, reliability for operation, convenience for carrying, and the like.
Description
Technical field
The invention belongs to robot actuation techniques field, the integral type driving power and the method for particularly a kind of driving type piezoelectric actuator micro electromagnetic robot.
Background technology
Development of modern science and technology makes human research field expand to microcosmos, and is more and more higher to the requirement of precision positioning, micro-displacement.The microrobot technology is that human the exploration surrounded and watched the important technology in the world.The driving type piezoelectric actuator microrobot is a kind of microrobot that utilizes piezoelectric ceramic actuator (PZT) to realize micro-displacement as main driving original paper.Piezoelectric actuator has that volume is little, displacement resolution is high, frequency response is high, noiseless, heating less, big, the conversion efficiency advantages of higher of power output, be applied to the microrobot field more and more.Piezoelectric ceramics is a high tension apparatus, needs the special driving power supply to drive.General driving power only has electric current and voltage amplification function, need user's optional equipment signal source (signal generator or signal block) in the use, bring inconvenience such as wiring complexity, cost height, not portable, real-time adjustment difficulty, this has limited the practical application at microrobot greatly.
Summary of the invention
Primary and foremost purpose of the present invention is to overcome the shortcoming and deficiency of above-mentioned prior art, the integral type driving power of the driving type piezoelectric actuator micro electromagnetic robot that provide a kind of simple and reasonable for structure, easy to adjust, control is flexible, is easy to carry about with one.
Another object of the present invention also is to provide the driving method of being realized by above-mentioned power supply.
For reaching above-mentioned purpose, the present invention adopts following technical scheme:
The integral type driving power of driving type piezoelectric actuator micro electromagnetic robot, comprise power supply, display unit, microprocessor, timer, multichannel D/A converter, power amplification unit and coil current amplifying unit, described power supply is connected with display unit, microprocessor, timer, multichannel D/A converter, power amplification unit and coil current amplifying unit respectively; Described microprocessor is connected with display unit, timer, multichannel D/A converter respectively, described multichannel D/A converter is connected with power amplification unit, coil current amplifying unit respectively, the piezoelectric actuator of the external driving type piezoelectric actuator micro electromagnetic of described power amplification unit robot interior, the coil part of the external driving type piezoelectric actuator micro electromagnetic of described coil current amplifying unit robot interior.
Described power amplification unit comprises signal-adjusting module, the proportional-plus-integral controller module, multistage amplification module, main circuit current limliting module, feedback compensation module and overcurrent protection module, described multichannel D/A converter is connected with signal-adjusting module, described signal-adjusting module, the proportional-plus-integral controller module, multistage amplification module, main circuit current limliting module, overcurrent protection module connects successively, described feedback compensation module is connected with the proportional-plus-integral controller module, described feedback compensation module, main circuit current limliting module, the piezoelectric actuator of the external respectively driving type piezoelectric actuator micro electromagnetic of multistage amplification module robot interior; Described multistage amplification module, overcurrent protection module all are connected with power supply.
Described signal-adjusting module comprises first operational amplifier, first electric capacity, second operational amplifier, first resistance, second resistance, the 3rd resistance, the 4th resistance, the 5th resistance and the 6th resistance, described the 3rd resistance and the 4th resistance are adjustable resistance, one end of described the 4th resistance is connected with first output of multichannel D/A converter, its other end ground connection, and its sliding end is connected with the in-phase input end of second operational amplifier, the inverting input of second operational amplifier is connected with its output, one end of first resistance is connected with the output of second operational amplifier, the other end is connected with an end of second resistance, the other end of second resistance is connected with the output of first operational amplifier, and the inverting input of first operational amplifier is connected with its output; One end of first electric capacity is connected other end ground connection with the in-phase input end of first operational amplifier; One end ground connection of the 3rd resistance, the DC reference voltage output of the external power supply of the other end; One end of the 6th resistance is connected with the in-phase input end of first operational amplifier, and its other end is connected with the sliding end of the 3rd resistance; Described proportional-plus-integral controller module is connected the common port of first resistance and second resistance.
Described proportional-plus-integral controller module comprises the 3rd operational amplifier, the 7th resistance, the 8th resistance, the 9th resistance and second electric capacity, and described the 9th resistance is adjustable resistance; One end ground connection of described the 9th resistance, the other end is connected with an end of the 8th resistance, its sliding end ground connection; The other end of described the 8th resistance is connected with the inverting input of the 3rd operational amplifier; The in-phase input end of described the 3rd operational amplifier is connected between first resistance and second resistance of signal-adjusting module; The output of described the 3rd operational amplifier is connected with multistage amplification module; One end of described the 7th resistance is connected with the inverting input of the 3rd operational amplifier, and its other end is connected with an end of second electric capacity, and the other end of described second electric capacity is connected with the output of the 3rd operational amplifier; The inverting input of described the 3rd operational amplifier is connected with the feedback compensation module.
Described multistage amplification module comprises the tenth resistance, the 5th electric power FET, the 12 resistance, the 13 resistance, the 11 resistance, the 3rd electric power FET, the 16 resistance, triode, the 15 resistance, the 14 resistance, the 17 resistance, the 4th electric power FET and the 29 resistance, one end of described the tenth resistance is connected with the output of the 3rd operational amplifier of proportional-plus-integral controller module, its other end is connected with the gate pole of the 5th electric power FET, the drain electrode of the 5th electric power FET is connected with main circuit current limliting module, and the source electrode of the 5th electric power FET is connected with the source electrode of the 3rd electric power FET; One end of the 12 resistance is connected with the source electrode of the 3rd electric power FET, and its other end is connected with the negative pole low-voltage dc voltage output of power supply; One end of the 13 resistance is connected with the gate pole of the 3rd electric power FET, and its other end is connected with the negative pole low-voltage dc voltage output of power supply; One end of the 11 resistance is connected with the gate pole of the 3rd electric power FET, its other end ground connection; The drain electrode of the 3rd electric power FET is connected with the base stage of triode, main circuit current limliting module; One end of the 16 resistance is connected with the colelctor electrode of triode, and the other end is connected with the negative pole low-voltage dc voltage output of power supply; One end of the 15 resistance is connected with the colelctor electrode of triode, and the other end is connected with the gate pole of the 4th electric power FET; One end of the 14 resistance is connected with the emitter stage of triode, and the other end is connected with the drain electrode of the 4th electric power FET; One end of the 17 resistance is connected with the source electrode of the 4th electric power FET, and the other end is connected with the drain electrode of the 4th electric power FET; One end ground connection of the 29 resistance, the other end are connected with drain electrode, the main circuit current limliting module of the 4th electric power FET respectively, and the piezoelectric actuator of the external driving type piezoelectric actuator micro electromagnetic of described other end robot interior.
Described main circuit current limliting module comprises second voltage-stabiliser tube, the second electric power FET, the 19 resistance, the 18 resistance and the 3rd electric capacity, the drain electrode of the 3rd electric power FET in the anode of described second voltage-stabiliser tube and the multistage amplification module is connected, its negative electrode is connected with an end of the 19 resistance, and the other end of the 19 resistance is connected with the gate pole of the second electric power FET; One end of the 18 resistance is connected with the other end of described the 19 resistance, and its other end is connected with drain electrode, the overcurrent protection module of the 5th electric power FET of multistage amplification module; One end of the 3rd electric capacity is connected with the drain electrode of the second electric power FET, and the source electrode of the second electric power FET is connected with the other end of the 29 resistance of multistage amplification module, and the piezoelectric actuator of external driving type piezoelectric actuator micro electromagnetic robot interior.
Described feedback compensation module comprises the 20 resistance, the 21 resistance and the 4th electric capacity, one end of described the 21 resistance is connected with the inverting input of the 3rd operational amplifier of proportional-plus-integral controller module, its other end is connected with an end of the 4th electric capacity, the piezoelectric actuator of the external driving type piezoelectric actuator micro electromagnetic of the other end of the 4th electric capacity robot interior; One end of the 20 resistance is connected with the inverting input of the 3rd operational amplifier of proportional-plus-integral controller module, the piezoelectric actuator of the external driving type piezoelectric actuator micro electromagnetic of its other end robot interior.
Described overcurrent protection module comprises the first electric power FET, the 26 resistance, first voltage-stabiliser tube, the 6th electric capacity, the 27 resistance, second optocoupler, the 28 resistance, IGCT, the 25 resistance, the 24 resistance, first optocoupler, the 5th electric capacity, the 23 resistance and the 22 resistance, and the drain electrode of the described first electric power FET is connected with the monopolar high-voltage dc voltage output end of power supply; One end of the 26 resistance is connected with the gate pole of the first electric power FET, and its other end is connected with the drain electrode of the first electric power FET; The anode of first voltage-stabiliser tube is connected with the source electrode of the first electric power FET, and its negative electrode is connected with the gate pole of the first electric power FET; One end of the 6th electric capacity is connected with the negative electrode of first voltage-stabiliser tube, and its other end is connected with an end of the 27 resistance, and the other end of the 27 resistance is connected with the anode of first voltage-stabiliser tube; The reception input of second optocoupler is connected with the negative electrode of first voltage-stabiliser tube, and it receives output and is connected with the anode of first voltage-stabiliser tube; The emission input of second optocoupler is connected with the anodal low-voltage dc voltage output of power supply, and its emission output is connected with an end of the 28 resistance; The other end of the 28 resistance is connected with the anode of IGCT; The minus earth of IGCT; One end ground connection of the 25 resistance, the other end is connected with the gate pole of IGCT; One end of the 24 resistance is connected with the gate pole of IGCT, and its other end is connected with the reception output of first optocoupler, and the reception input of first optocoupler is connected with the anodal low-voltage dc voltage output of power supply; One end of the 5th electric capacity is connected with the emission input of first optocoupler, and its other end is connected with the emission output of first optocoupler; One end of the 23 resistance is connected with the emission input of first optocoupler, and the other end is connected with the source electrode of the first electric power FET; One end of the 22 resistance is connected with the emission output of first optocoupler, and its other end is connected with the source electrode of the first electric power FET; The emission output of described first optocoupler is connected with the other end of the 18 resistance of described main circuit current limliting module.
Described coil current amplifying unit comprises the 30 resistance, four-operational amplifier, the 7th electric capacity, the 31 resistance, the 32 resistance, the 3rd voltage-stabiliser tube, the 6th electric power FET, the 34 resistance, the 8th electric capacity, diode, the 33 resistance, the 35 resistance, the 5th operational amplifier, the 36 resistance, the 37 resistance, the 38 resistance, the 4th voltage-stabiliser tube and the 39 resistance, and described the 30 resistance and the 36 resistance are adjustable resistance; One end of described the 30 resistance is connected with second output of multichannel D/A converter, other end ground connection, and its sliding end is connected with the in-phase input end of four-operational amplifier; The gate pole of the output of four-operational amplifier, the 31 resistance, the 6th electric power FET connects successively; The two ends of described the 7th electric capacity are connected with the output of four-operational amplifier, the gate pole of the 6th electric power FET respectively; One end of the 32 resistance is connected with the gate pole of the 6th electric power FET, its other end ground connection; The negative electrode of the 3rd voltage-stabiliser tube is connected with the gate pole of the 6th electric power FET, its plus earth; The coil part of the external driving type piezoelectric actuator micro electromagnetic of the drain electrode of the 6th electric power FET robot interior; One end of the 34 resistance is connected with the drain electrode of the 6th electric power FET, and its other end is connected with the anode of diode, and the negative electrode of diode is connected with an end of the 33 resistance, the other end ground connection of the 33 resistance; One end of the 8th electric capacity is connected with the drain electrode of the 6th electric power FET, and its other end is connected with the anode of diode; One end of the 35 resistance is connected with the output of the 5th operational amplifier, the inverting input of four-operational amplifier; The in-phase input end of the 5th operational amplifier is connected with the source electrode of the 6th electric power FET; One end of the 39 resistance is connected with the source electrode of the 6th electric power FET, its other end ground connection; The 36 resistance, the 37 resistance, the 38 resistance connect successively, and the other end of the 38 resistance is connected with the anodal low-voltage dc voltage output of power supply; The other end ground connection of the 36 resistance; The sliding end of the 36 resistance is connected with the inverting input of the 5th operational amplifier; The plus earth of the 4th voltage-stabiliser tube, its negative electrode is connected between the 37 resistance and the 38 resistance.
Method by above-mentioned power supply is realized comprises the steps:
(1) driving of driving type piezoelectric actuator micro electromagnetic robot needs high pressure sine voltage signal and square wave current signal, is respectively applied for piezoelectric actuator and coil part.This power supply can provide monopolar high-voltage sine voltage signal and unidirectional square wave current signal.
(2) microprocessor shows and accepts user's parameter input by display unit, generates the amplitude data sequence of respective waveforms, and adjusts the interval of sampled point with the mode of timer hardware interrupts, exports the multi-path digital signal of respective cycle.
(3) the multi-path digital signal is converted into four tunnel analog signals through the multichannel D/A converter, is respectively the sinusoidal wave and two-way square wave of two-way that frequency equates, wherein sine wave signal is a bipolarity, and square-wave signal is a unipolarity.
(4) described sine wave signal input is sent to power amplification unit by first output of multichannel D/A converter, after its signal-adjusting module is handled, become unipolar sine wave signal, input to the in-phase input end of the 3rd operational amplifier in the proportional-plus-integral controller module; The feedback signal of the piezoelectric actuator of driving type piezoelectric actuator micro electromagnetic robot interior inputs to the inverting input of the 3rd operational amplifier through the feedback compensation module, the result produces control signal inputs to the 5th electric power FET through the tenth resistance of multistage amplification module gate pole after being the effect of error signal through the proportional-plus-integral controller module; By controlling the gate voltage of the 5th field of electric force effect, control its drain current, when the drain current of the 5th field of electric force effect increases, the source voltage of the 3rd electric power FET increases, the gate pole of the 3rd electric power FET and the voltage difference of source electrode reduce, the drain current of the 3rd electric power FET reduces, cause the base stage of triode and the drain current of the 4th electric power FET all to reduce, the electric current that flows through the 29 resistance increases, and the source voltage of the second electric power FET increases in the main circuit current limliting module; When the drain current of the 5th electric power FET reduces, the source voltage of the 3rd electric power FET reduces, the gate pole of the 3rd electric power FET and the voltage difference of source electrode increase, the drain current of the 3rd electric power FET increases, cause the base stage of triode and the drain current of the 3rd electric power FET all to increase, the electric current that flows through the 29 resistance reduces, and the source voltage of the second electric power FET reduces; When the drain current of the second electric power FET is excessive, in the overcurrent protection module, the voltage at the 22 resistance two ends increases to and makes the first optocoupler conducting, the dividing potential drop effect of the 25 resistance, the 24 resistance makes IGCT open-minded, and then make the second optocoupler conducting, the gate pole of the first electric power FET and source voltage difference are reduced to it is ended, and then the drain current of the second electric power FET is ended;
Simultaneously, square-wave signal is by the second output input coil current amplification unit of multichannel D/A converter, through four-operational amplifier carry out voltage ratio after, export the 6th electric power FET to through the 31 resistance, the 7th electric capacity successively, control its conducting or end, and then control the drain current of the 6th electric power FET; When the drain current of the 6th electric power FET increased to certain threshold value, when the voltage comparator that the 5th operational amplifier constitutes was output as negative voltage, four-operational amplifier output negative voltage ended the 6th electric power FET; When current cut-off, the electric current of the coil part of driving type piezoelectric actuator micro electromagnetic robot interior discharges by the 34 resistance, diode and the 8th electric capacity.
Compared with prior art, the present invention has following advantage and beneficial effect: each several part of the present invention is that integral type is connected, be convenient for carrying, the present invention simultaneously have for easy to adjust, control flexibly, be easy to carry about with one, low cost and other advantages.Can be used for driving type piezoelectric actuator micro electromagnetic robot, make microrobot not need the special driving power supply, only need drive by power supply of the present invention and get final product, and are very easy to use.
Description of drawings
Fig. 1 is the general structure schematic diagram of power supply of the present invention.
Fig. 2 is the structural representation of power amplification unit shown in Figure 1.
Fig. 3 is the structural representation of coil current amplifying unit shown in Figure 1.
The specific embodiment
The present invention is described in further detail below in conjunction with embodiment and accompanying drawing, but embodiments of the present invention are not limited thereto.
Embodiment
As shown in Figure 1, the integral type driving power of driving type piezoelectric actuator micro electromagnetic robot, comprise power supply, display unit, microprocessor, timer, multichannel D/A converter, power amplification unit and coil current amplifying unit, described power supply is connected with display unit, microprocessor, timer, multichannel D/A converter, power amplification unit and coil current amplifying unit respectively; Described microprocessor is connected with display unit, timer, multichannel D/A converter respectively, described multichannel D/A converter is connected with power amplification unit, coil current amplifying unit respectively, the piezoelectric actuator 50 of the external driving type piezoelectric actuator micro electromagnetic of described power amplification unit robot interior, the coil part 67 of the external driving type piezoelectric actuator micro electromagnetic of described coil current amplifying unit robot interior.
Display unit is a touch display screen; The external 220 volts of alternating currents of power supply, its DC reference voltage output, monopolar high-voltage dc voltage output end, anodal low-voltage dc voltage output, negative pole low-voltage dc voltage output are exported DC reference voltage, monopolar high-voltage DC voltage, anodal low-voltage dc voltage, negative pole low-voltage dc voltage respectively.
As shown in Figure 2, described power amplification unit comprises signal-adjusting module, the proportional-plus-integral controller module, multistage amplification module, main circuit current limliting module, feedback compensation module and overcurrent protection module, described multichannel D/A converter is connected with signal-adjusting module, described signal-adjusting module, the proportional-plus-integral controller module, multistage amplification module, main circuit current limliting module, overcurrent protection module connects successively, described feedback compensation module is connected with the proportional-plus-integral controller module, described feedback compensation module, main circuit current limliting module, the piezoelectric actuator 50 of the external respectively driving type piezoelectric actuator micro electromagnetic of multistage amplification module robot interior; Described multistage amplification module, overcurrent protection module all are connected with power supply.
As shown in Figure 2, described signal-adjusting module comprises first operational amplifier 6, first electric capacity 8, second operational amplifier 3, first resistance 4, second resistance 5, the 3rd resistance 9, the 4th resistance 1, the 5th resistance 2 and the 6th resistance 7, described the 3rd resistance 9 and the 4th resistance 1 are adjustable resistance, one end of described the 4th resistance 1 is connected with first output 55 of multichannel D/A converter, its other end ground connection, and its sliding end is connected with the in-phase input end of second operational amplifier 3, the inverting input of second operational amplifier 3 is connected with its output, one end of first resistance 4 is connected with the output of second operational amplifier 3, the other end is connected with an end of second resistance 5, the other end of second resistance 5 is connected with the output of first operational amplifier 6, and the inverting input of first operational amplifier 6 is connected with its output; One end of first electric capacity 8 is connected other end ground connection with the in-phase input end of first operational amplifier 6; One end ground connection of the 3rd resistance 9, the DC reference voltage output 54 of the external power supply of the other end; One end of the 6th resistance 7 is connected with the in-phase input end of first operational amplifier 6, and its other end is connected with the sliding end of the 3rd resistance 9; Described proportional-plus-integral controller module is connected the common port of first resistance 4 and second resistance 5.
As shown in Figure 2, described proportional-plus-integral controller module comprises the 3rd operational amplifier 12, the 7th resistance 13, the 8th resistance 11, the 9th resistance 10 and second electric capacity 14, and described the 9th resistance 10 is adjustable resistance; One end ground connection of described the 9th resistance 10, the other end is connected with an end of the 8th resistance 11, its sliding end ground connection; The other end of described the 8th resistance 11 is connected with the inverting input of the 3rd operational amplifier 12; The in-phase input end of described the 3rd operational amplifier 12 is connected between first resistance 4 and second resistance 5 of signal-adjusting module; The output of described the 3rd operational amplifier 12 is connected with multistage amplification module; One end of described the 7th resistance 13 is connected with the inverting input of the 3rd operational amplifier 12, and its other end is connected with an end of second electric capacity 14, and the other end of described second electric capacity 14 is connected with the output of the 3rd operational amplifier 12; The inverting input of described the 3rd operational amplifier 12 is connected with the feedback compensation module.
As shown in Figure 2, described multistage amplification module comprises the tenth resistance 15, the 5th electric power FET 16, the 12 resistance 17, the 13 resistance 18, the 11 resistance 19, the 3rd electric power FET 20, the 16 resistance 22, triode 21, the 15 resistance 23, the 14 resistance 26, the 17 resistance 24, the 4th electric power FET 25 and the 29 resistance 27, one end of described the tenth resistance 15 is connected with the output of the 3rd operational amplifier 12 of proportional-plus-integral controller module, its other end is connected with the gate pole of the 5th electric power FET 16, the drain electrode of the 5th electric power FET 16 is connected with main circuit current limliting module, and the source electrode of the 5th electric power FET 16 is connected with the source electrode of the 3rd electric power FET 20; One end of the 12 resistance is connected with the source electrode of the 3rd electric power FET 20, and its other end is connected with the negative pole low-voltage dc voltage output 53 of power supply; One end of the 13 resistance 18 is connected with the gate pole of the 3rd electric power FET 20, and its other end is connected with the negative pole low-voltage dc voltage output 53 of power supply; One end of the 11 resistance 19 is connected with the gate pole of the 3rd electric power FET 20, its other end ground connection; The drain electrode of the 3rd electric power FET 20 is connected with base stage, the main circuit current limliting module of triode 21; One end of the 16 resistance 22 is connected with the colelctor electrode of triode 21, and the other end is connected with the negative pole low-voltage dc voltage output 53 of power supply; One end of the 15 resistance 23 is connected with the colelctor electrode of triode 21, and the other end is connected with the gate pole of the 4th electric power FET 25; One end of the 14 resistance 26 is connected with the emitter stage of triode 21, and the other end is connected with the drain electrode of the 4th electric power FET 25; One end of the 17 resistance 24 is connected with the source electrode of the 4th electric power FET 25, and the other end is connected with the drain electrode of the 4th electric power FET 25; One end ground connection of the 29 resistance 27, the other end are connected with drain electrode, the main circuit current limliting module of the 4th electric power FET 25 respectively, and the piezoelectric actuator 50 of the external driving type piezoelectric actuator micro electromagnetic of described other end robot interior.
As shown in Figure 2, described main circuit current limliting module comprises second voltage-stabiliser tube 32, second electric power FET the 31, the 19 resistance the 30, the 18 resistance 28 and the 3rd electric capacity 29, the drain electrode of the 3rd electric power FET 20 in the anode of described second voltage-stabiliser tube 32 and the multistage amplification module is connected, its negative electrode is connected with an end of the 19 resistance 30, and the other end of the 19 resistance 30 is connected with the gate pole of the second electric power FET 31; One end of the 18 resistance 28 is connected with the other end of described the 19 resistance 30, and its other end is connected with drain electrode, the overcurrent protection module of the 5th electric power FET 16 of multistage amplification module; One end of the 3rd electric capacity 29 is connected with the drain electrode of the second electric power FET 31, the source electrode of the second electric power FET 31 is connected with the other end of the 29 resistance 27 of multistage amplification module, and the piezoelectric actuator 50 of external driving type piezoelectric actuator micro electromagnetic robot interior.
As shown in Figure 2, described feedback compensation module comprises the 20 resistance the 35, the 21 resistance 33 and the 4th electric capacity 34, one end of described the 21 resistance 33 is connected with the inverting input of the 3rd operational amplifier 12 of proportional-plus-integral controller module, its other end is connected with an end of the 4th electric capacity 34, the piezoelectric actuator 50 of the external driving type piezoelectric actuator micro electromagnetic of the other end of the 4th electric capacity 34 robot interior; One end of the 20 resistance is connected with the inverting input of the 3rd operational amplifier 12 of proportional-plus-integral controller module, the piezoelectric actuator 50 of the external driving type piezoelectric actuator micro electromagnetic of its other end robot interior.
As shown in Figure 2, described overcurrent protection module comprises the first electric power FET the 36, the 26 resistance 37, first voltage-stabiliser tube 38, the 6th electric capacity the 39, the 27 resistance 40, second optocoupler the 41, the 28 resistance 42, IGCT the 43, the 25 resistance the 44, the 24 resistance 45, first optocoupler 46, the 5th electric capacity the 47, the 23 resistance 48 and the 22 resistance 49, and the drain electrode of the described first electric power FET 36 is connected with the monopolar high-voltage dc voltage output end 52 of power supply; One end of the 26 resistance 37 is connected with the gate pole of the first electric power FET 36, and its other end is connected with the drain electrode of the first electric power FET 36; The anode of first voltage-stabiliser tube 38 is connected with the source electrode of the first electric power FET 36, and its negative electrode is connected with the gate pole of the first electric power FET 36; One end of the 6th electric capacity 39 is connected with the negative electrode of first voltage-stabiliser tube 38, and its other end is connected with an end of the 27 resistance 40, and the other end of the 27 resistance 40 is connected with the anode of first voltage-stabiliser tube 38; The reception input 78 of second optocoupler 41 is connected with the negative electrode of first voltage-stabiliser tube 38, and it receives output 79 and is connected with the anode of first voltage-stabiliser tube 38; The emission input 76 of second optocoupler 41 is connected with the anodal low-voltage dc voltage output 51 of power supply, and its emission output 77 is connected with an end of the 28 resistance 42; The other end of the 28 resistance 42 is connected with the anode of IGCT 43; The minus earth of IGCT 43; One end ground connection of the 25 resistance 44, the other end is connected with the gate pole of IGCT 43; One end of the 24 resistance 45 is connected with the gate pole of IGCT 43, and its other end is connected with the reception output 83 of first optocoupler 46, and the reception input 82 of first optocoupler 46 is connected with the anodal low-voltage dc voltage output 51 of power supply; One end of the 5th electric capacity 47 is connected with the emission input 80 of first optocoupler 46, and its other end is connected with the emission output 81 of first optocoupler 46; One end of the 23 resistance 48 is connected with the emission input 80 of first optocoupler 46, and the other end is connected with the source electrode of the first electric power FET 36; One end of the 22 resistance 49 is connected with the emission output 81 of first optocoupler 46, and its other end is connected with the source electrode of the first electric power FET 36; The emission output 81 of described first optocoupler 46 is connected with the other end of the 18 resistance 28 of described main circuit current limliting module.
As shown in Figure 3, described coil current amplifying unit comprises the 30 resistance 57, four-operational amplifier 58, the 7th electric capacity 60, the 31 resistance 59, the 32 resistance 61, the 3rd voltage-stabiliser tube 62, the 6th electric power FET 71, the 34 resistance 72, the 8th electric capacity 73, diode 74, the 33 resistance 75, the 35 resistance 63, the 5th operational amplifier 64, the 36 resistance 65, the 37 resistance 66, the 38 resistance 68, the 4th voltage-stabiliser tube 69 and the 39 resistance 70, described the 30 resistance 57 and the 36 resistance 65 are adjustable resistance; One end of described the 30 resistance 57 is connected with second output 84 of multichannel D/A converter, other end ground connection, and its sliding end is connected with the in-phase input end of four-operational amplifier 58; The gate pole of the output of four-operational amplifier 58, the 31 resistance 59, the 6th electric power FET 71 connects successively; The two ends of described the 7th electric capacity 60 are connected with the output of four-operational amplifier 58, the gate pole of the 6th electric power FET 71 respectively; One end of the 32 resistance 61 is connected with the gate pole of the 6th electric power FET 71, its other end ground connection; The negative electrode of the 3rd voltage-stabiliser tube 62 is connected with the gate pole of the 6th electric power FET 71, its plus earth; The coil part 67 of the external driving type piezoelectric actuator micro electromagnetic of the drain electrode of the 6th electric power FET 71 robot interior; One end of the 34 resistance 72 is connected with the drain electrode of the 6th electric power FET 71, and its other end is connected with the anode of diode 74, and the negative electrode of diode 74 is connected with an end of the 33 resistance 75, the other end ground connection of the 33 resistance 75; One end of the 8th electric capacity 73 is connected with the drain electrode of the 6th electric power FET 71, and its other end is connected with the anode of diode 74; One end of the 35 resistance 63 is connected with the output of the 5th operational amplifier 64, the inverting input of four-operational amplifier 58; The in-phase input end of the 5th operational amplifier 64 is connected with the source electrode of the 6th electric power FET 71; One end of the 39 resistance 70 is connected with the source electrode of the 6th electric power FET 71, its other end ground connection; The 36 resistance the 65, the 37 resistance the 66, the 38 resistance 68 connects successively, and the other end of the 38 resistance 68 is connected with the anodal low-voltage dc voltage output 51 of power supply; The other end ground connection of the 36 resistance 65; The sliding end of the 36 resistance 65 is connected with the inverting input of the 5th operational amplifier 64; The plus earth of the 4th voltage-stabiliser tube 69, its negative electrode is connected between the 37 resistance 66 and the 38 resistance 68.
Method by above-mentioned power supply is realized comprises the steps:
(1) driving of driving type piezoelectric actuator micro electromagnetic robot needs high pressure sine voltage signal and square wave current signal, is respectively applied for piezoelectric actuator 50 and coil part 67.This power supply can provide monopolar high-voltage sine voltage signal and unidirectional square wave current signal.
(2) microprocessor shows and accepts user's parameter input by display unit, generates the amplitude data sequence of respective waveforms, and adjusts the interval of sampled point with the mode of timer hardware interrupts, exports the multi-path digital signal of respective cycle.
(3) the multi-path digital signal is converted into four tunnel analog signals through the multichannel D/A converter, is respectively the sinusoidal wave and two-way square wave of two-way that frequency equates, wherein sine wave signal is a bipolarity, and square-wave signal is a unipolarity.
(4) described sine wave signal input is sent to power amplification unit by first output 55 of multichannel D/A converter, after its signal-adjusting module is handled, become unipolar sine wave signal, input to the in-phase input end of the 3rd operational amplifier 12 in the proportional-plus-integral controller module; The feedback signal of the piezoelectric actuator 50 of driving type piezoelectric actuator micro electromagnetic robot interior inputs to the inverting input of the 3rd operational amplifier 12 through the feedback compensation module, the result produces control signal inputs to the 5th electric power FET 16 through the tenth resistance 15 of multistage amplification module gate pole after being the effect of error signal through the proportional-plus-integral controller module; By controlling the gate voltage of the 5th field of electric force effect, control its drain current, when the drain current of the 5th field of electric force effect increases, the source voltage of the 3rd electric power FET 20 increases, the gate pole of the 3rd electric power FET 20 and the voltage difference of source electrode reduce, the drain current of the 3rd electric power FET 20 reduces, cause the base stage of triode 21 and the drain current of the 4th electric power FET 25 all to reduce, the electric current that flows through the 29 resistance 27 increases, and the source voltage of the second electric power FET 31 increases in the main circuit current limliting module; When the drain current of the 5th electric power FET 16 reduces, the source voltage of the 3rd electric power FET 20 reduces, the gate pole of the 3rd electric power FET 20 and the voltage difference of source electrode increase, the drain current of the 3rd electric power FET 20 increases, cause the base stage of triode 21 and the drain current of the 3rd electric power FET 20 all to increase, the electric current that flows through the 29 resistance 27 reduces, and the source voltage of the second electric power FET 31 reduces; When the drain current of the second electric power FET 31 is excessive, in the overcurrent protection module, the voltage at the 22 resistance 49 two ends increases to and makes 46 conductings of first optocoupler, the dividing potential drop effect of the 25 resistance the 44, the 24 resistance 45 makes IGCT 43 open-minded, and then make 41 conductings of second optocoupler, the gate pole of the first electric power FET 36 and source voltage difference are reduced to it is ended, and then the drain current of the second electric power FET 31 is ended;
Simultaneously, square-wave signal is by second output, the 84 input coil current amplification units of multichannel D/A converter, through four-operational amplifier 58 carry out voltage ratio after, export the 6th electric power FET 71 to through the 31 resistance 59, the 7th electric capacity 60 successively, control its conducting or end, and then control the drain current of the 6th electric power FET 71; When the drain current of the 6th electric power FET 71 increased to certain threshold value, when the voltage comparator that the 5th operational amplifier 64 constitutes was output as negative voltage, four-operational amplifier 58 output negative voltages ended the 6th electric power FET 71; When current cut-off, the electric current of the coil part 67 of driving type piezoelectric actuator micro electromagnetic robot interior discharges by the 34 resistance 72, diode 74 and the 8th electric capacity 73.
The foregoing description is a preferred implementation of the present invention; but embodiments of the present invention are not restricted to the described embodiments; other any do not deviate from change, the modification done under spiritual essence of the present invention and the principle, substitutes, combination, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (10)
1. the integral type driving power of driving type piezoelectric actuator micro electromagnetic robot, it is characterized in that: comprise power supply, display unit, microprocessor, timer, multichannel D/A converter, power amplification unit and coil current amplifying unit, described power supply is connected with display unit, microprocessor, timer, multichannel D/A converter, power amplification unit and coil current amplifying unit respectively; Described microprocessor is connected with display unit, timer, multichannel D/A converter respectively, described multichannel D/A converter is connected with power amplification unit, coil current amplifying unit respectively, the piezoelectric actuator of the external driving type piezoelectric actuator micro electromagnetic of described power amplification unit robot interior, the coil part of the external driving type piezoelectric actuator micro electromagnetic of described coil current amplifying unit robot interior.
2. the integral type driving power of driving type piezoelectric actuator micro electromagnetic according to claim 1 robot, it is characterized in that: described power amplification unit comprises signal-adjusting module, the proportional-plus-integral controller module, multistage amplification module, main circuit current limliting module, feedback compensation module and overcurrent protection module, described multichannel D/A converter is connected with signal-adjusting module, described signal-adjusting module, the proportional-plus-integral controller module, multistage amplification module, main circuit current limliting module, overcurrent protection module connects successively, described feedback compensation module is connected with the proportional-plus-integral controller module, described feedback compensation module, main circuit current limliting module, the piezoelectric actuator of the external respectively driving type piezoelectric actuator micro electromagnetic of multistage amplification module robot interior; Described multistage amplification module, overcurrent protection module all are connected with power supply.
3. the integral type driving power of driving type piezoelectric actuator micro electromagnetic according to claim 2 robot, it is characterized in that: described signal-adjusting module comprises first operational amplifier, first electric capacity, second operational amplifier, first resistance, second resistance, the 3rd resistance, the 4th resistance, the 5th resistance and the 6th resistance, described the 3rd resistance and the 4th resistance are adjustable resistance, one end of described the 4th resistance is connected with first output of multichannel D/A converter, its other end ground connection, and its sliding end is connected with the in-phase input end of second operational amplifier, the inverting input of second operational amplifier is connected with its output, one end of first resistance is connected with the output of second operational amplifier, the other end is connected with an end of second resistance, the other end of second resistance is connected with the output of first operational amplifier, and the inverting input of first operational amplifier is connected with its output; One end of first electric capacity is connected other end ground connection with the in-phase input end of first operational amplifier; One end ground connection of the 3rd resistance, the DC reference voltage output of the external power supply of the other end; One end of the 6th resistance is connected with the in-phase input end of first operational amplifier, and its other end is connected with the sliding end of the 3rd resistance; Described proportional-plus-integral controller module is connected the common port of first resistance and second resistance.
4. the integral type driving power of driving type piezoelectric actuator micro electromagnetic according to claim 3 robot, it is characterized in that: described proportional-plus-integral controller module comprises the 3rd operational amplifier, the 7th resistance, the 8th resistance, the 9th resistance and second electric capacity, and described the 9th resistance is adjustable resistance; One end ground connection of described the 9th resistance, the other end is connected with an end of the 8th resistance, its sliding end ground connection; The other end of described the 8th resistance is connected with the inverting input of the 3rd operational amplifier; The in-phase input end of described the 3rd operational amplifier is connected between first resistance and second resistance of signal-adjusting module; The output of described the 3rd operational amplifier is connected with multistage amplification module; One end of described the 7th resistance is connected with the inverting input of the 3rd operational amplifier, and its other end is connected with an end of second electric capacity, and the other end of described second electric capacity is connected with the output of the 3rd operational amplifier; The inverting input of described the 3rd operational amplifier is connected with the feedback compensation module.
5. the integral type driving power of driving type piezoelectric actuator micro electromagnetic according to claim 4 robot, it is characterized in that: described multistage amplification module comprises the tenth resistance, the 5th electric power FET, the 12 resistance, the 13 resistance, the 11 resistance, the 3rd electric power FET, the 16 resistance, triode, the 15 resistance, the 14 resistance, the 17 resistance, the 4th electric power FET and the 29 resistance, one end of described the tenth resistance is connected with the output of the 3rd operational amplifier of proportional-plus-integral controller module, its other end is connected with the gate pole of the 5th electric power FET, the drain electrode of the 5th electric power FET is connected with main circuit current limliting module, and the source electrode of the 5th electric power FET is connected with the source electrode of the 3rd electric power FET; One end of the 12 resistance is connected with the source electrode of the 3rd electric power FET, and its other end is connected with the negative pole low-voltage dc voltage output of power supply; One end of the 13 resistance is connected with the gate pole of the 3rd electric power FET, and its other end is connected with the negative pole low-voltage dc voltage output of power supply; One end of the 11 resistance is connected with the gate pole of the 3rd electric power FET, its other end ground connection; The drain electrode of the 3rd electric power FET is connected with the base stage of triode, main circuit current limliting module; One end of the 16 resistance is connected with the colelctor electrode of triode, and the other end is connected with the negative pole low-voltage dc voltage output of power supply; One end of the 15 resistance is connected with the colelctor electrode of triode, and the other end is connected with the gate pole of the 4th electric power FET; One end of the 14 resistance is connected with the emitter stage of triode, and the other end is connected with the drain electrode of the 4th electric power FET; One end of the 17 resistance is connected with the source electrode of the 4th electric power FET, and the other end is connected with the drain electrode of the 4th electric power FET; One end ground connection of the 29 resistance, the other end are connected with drain electrode, the main circuit current limliting module of the 4th electric power FET respectively, and the piezoelectric actuator of the external driving type piezoelectric actuator micro electromagnetic of described other end robot interior.
6. the integral type driving power of driving type piezoelectric actuator micro electromagnetic according to claim 5 robot, it is characterized in that: described main circuit current limliting module comprises second voltage-stabiliser tube, the second electric power FET, the 19 resistance, the 18 resistance and the 3rd electric capacity, the drain electrode of the 3rd electric power FET in the anode of described second voltage-stabiliser tube and the multistage amplification module is connected, its negative electrode is connected with an end of the 19 resistance, and the other end of the 19 resistance is connected with the gate pole of the second electric power FET; One end of the 18 resistance is connected with the other end of described the 19 resistance, and its other end is connected with drain electrode, the overcurrent protection module of the 5th electric power FET of multistage amplification module; One end of the 3rd electric capacity is connected with the drain electrode of the second electric power FET, and the source electrode of the second electric power FET is connected with the other end of the 29 resistance of multistage amplification module, and the piezoelectric actuator of external driving type piezoelectric actuator micro electromagnetic robot interior.
7. the integral type driving power of driving type piezoelectric actuator micro electromagnetic according to claim 6 robot, it is characterized in that: described feedback compensation module comprises the 20 resistance, the 21 resistance and the 4th electric capacity, one end of described the 21 resistance is connected with the inverting input of the 3rd operational amplifier of proportional-plus-integral controller module, its other end is connected with an end of the 4th electric capacity, the piezoelectric actuator of the external driving type piezoelectric actuator micro electromagnetic of the other end of the 4th electric capacity robot interior; One end of the 20 resistance is connected with the inverting input of the 3rd operational amplifier of proportional-plus-integral controller module, the piezoelectric actuator of the external driving type piezoelectric actuator micro electromagnetic of its other end robot interior.
8. the integral type driving power of driving type piezoelectric actuator micro electromagnetic according to claim 7 robot, it is characterized in that: described overcurrent protection module comprises the first electric power FET, the 26 resistance, first voltage-stabiliser tube, the 6th electric capacity, the 27 resistance, second optocoupler, the 28 resistance, IGCT, the 25 resistance, the 24 resistance, first optocoupler, the 5th electric capacity, the 23 resistance and the 22 resistance, and the drain electrode of the described first electric power FET is connected with the monopolar high-voltage dc voltage output end of power supply; One end of the 26 resistance is connected with the gate pole of the first electric power FET, and its other end is connected with the drain electrode of the first electric power FET; The anode of first voltage-stabiliser tube is connected with the source electrode of the first electric power FET, and its negative electrode is connected with the gate pole of the first electric power FET; One end of the 6th electric capacity is connected with the negative electrode of first voltage-stabiliser tube, and its other end is connected with an end of the 27 resistance, and the other end of the 27 resistance is connected with the anode of first voltage-stabiliser tube; The reception input of second optocoupler is connected with the negative electrode of first voltage-stabiliser tube, and it receives output and is connected with the anode of first voltage-stabiliser tube; The emission input of second optocoupler is connected with the anodal low-voltage dc voltage output of power supply, and its emission output is connected with an end of the 28 resistance; The other end of the 28 resistance is connected with the anode of IGCT; The minus earth of IGCT; One end ground connection of the 25 resistance, the other end is connected with the gate pole of IGCT; One end of the 24 resistance is connected with the gate pole of IGCT, and its other end is connected with the reception output of first optocoupler, and the reception input of first optocoupler is connected with the anodal low-voltage dc voltage output of power supply; One end of the 5th electric capacity is connected with the emission input of first optocoupler, and its other end is connected with the emission output of first optocoupler; One end of the 23 resistance is connected with the emission input of first optocoupler, and the other end is connected with the source electrode of the first electric power FET; One end of the 22 resistance is connected with the emission output of first optocoupler, and its other end is connected with the source electrode of the first electric power FET; The emission output of described first optocoupler is connected with the other end of the 18 resistance of described main circuit current limliting module.
9. the integral type driving power of driving type piezoelectric actuator micro electromagnetic according to claim 1 robot, it is characterized in that: described coil current amplifying unit comprises the 30 resistance, four-operational amplifier, the 7th electric capacity, the 31 resistance, the 32 resistance, the 3rd voltage-stabiliser tube, the 6th electric power FET, the 34 resistance, the 8th electric capacity, diode, the 33 resistance, the 35 resistance, the 5th operational amplifier, the 36 resistance, the 37 resistance, the 38 resistance, the 4th voltage-stabiliser tube and the 39 resistance, described the 30 resistance and the 36 resistance are adjustable resistance; One end of described the 30 resistance is connected with second output of multichannel D/A converter, other end ground connection, and its sliding end is connected with the in-phase input end of four-operational amplifier; The gate pole of the output of four-operational amplifier, the 31 resistance, the 6th electric power FET connects successively; The two ends of described the 7th electric capacity are connected with the output of four-operational amplifier, the gate pole of the 6th electric power FET respectively; One end of the 32 resistance is connected with the gate pole of the 6th electric power FET, its other end ground connection; The negative electrode of the 3rd voltage-stabiliser tube is connected with the gate pole of the 6th electric power FET, its plus earth; The coil part of the external driving type piezoelectric actuator micro electromagnetic of the drain electrode of the 6th electric power FET robot interior; One end of the 34 resistance is connected with the drain electrode of the 6th electric power FET, and its other end is connected with the anode of diode, and the negative electrode of diode is connected with an end of the 33 resistance, the other end ground connection of the 33 resistance; One end of the 8th electric capacity is connected with the drain electrode of the 6th electric power FET, and its other end is connected with the anode of diode; One end of the 35 resistance is connected with the output of the 5th operational amplifier, the inverting input of four-operational amplifier; The in-phase input end of the 5th operational amplifier is connected with the source electrode of the 6th electric power FET; One end of the 39 resistance is connected with the source electrode of the 6th electric power FET, its other end ground connection; The 36 resistance, the 37 resistance, the 38 resistance connect successively, and the other end of the 38 resistance is connected with the anodal low-voltage dc voltage output of power supply; The other end ground connection of the 36 resistance; The sliding end of the 36 resistance is connected with the inverting input of the 5th operational amplifier; The plus earth of the 4th voltage-stabiliser tube, its negative electrode is connected between the 37 resistance and the 38 resistance.
10. the method that is realized by each described power supply of claim 1～9 is characterized in that, comprises the steps:
(1) driving of driving type piezoelectric actuator micro electromagnetic robot needs high pressure sine voltage signal and square wave current signal, is respectively applied for piezoelectric actuator and coil part.This power supply can provide monopolar high-voltage sine voltage signal and unidirectional square wave current signal.
(2) microprocessor shows and accepts user's parameter input by display unit, generates the amplitude data sequence of respective waveforms, and adjusts the interval of sampled point with the mode of timer hardware interrupts, exports the multi-path digital signal of respective cycle.
(3) the multi-path digital signal is converted into four tunnel analog signals through the multichannel D/A converter, is respectively the sinusoidal wave and two-way square wave of two-way that frequency equates, wherein sine wave signal is a bipolarity, and square-wave signal is a unipolarity.
(4) described sine wave signal input is sent to power amplification unit by first output of multichannel D/A converter, after its signal-adjusting module is handled, become unipolar sine wave signal, input to the in-phase input end of the 3rd operational amplifier in the proportional-plus-integral controller module; The feedback signal of the piezoelectric actuator of driving type piezoelectric actuator micro electromagnetic robot interior inputs to the inverting input of the 3rd operational amplifier through the feedback compensation module, the result produces control signal inputs to the 5th electric power FET through the tenth resistance of multistage amplification module gate pole after being the effect of error signal through the proportional-plus-integral controller module; By controlling the gate voltage of the 5th field of electric force effect, control its drain current, when the drain current of the 5th field of electric force effect increases, the source voltage of the 3rd electric power FET increases, the gate pole of the 3rd electric power FET and the voltage difference of source electrode reduce, the drain current of the 3rd electric power FET reduces, cause the base stage of triode and the drain current of the 4th electric power FET all to reduce, the electric current that flows through the 29 resistance increases, and the source voltage of the second electric power FET increases in the main circuit current limliting module; When the drain current of the 5th electric power FET reduces, the source voltage of the 3rd electric power FET reduces, the gate pole of the 3rd electric power FET and the voltage difference of source electrode increase, the drain current of the 3rd electric power FET increases, cause the base stage of triode and the drain current of the 3rd electric power FET all to increase, the electric current that flows through the 29 resistance reduces, and the source voltage of the second electric power FET reduces; When the drain current of the second electric power FET is excessive, in the overcurrent protection module, the voltage at the 22 resistance two ends increases to and makes the first optocoupler conducting, the dividing potential drop effect of the 25 resistance, the 24 resistance makes IGCT open-minded, and then make the second optocoupler conducting, the gate pole of the first electric power FET and source voltage difference are reduced to it is ended, and then the drain current of the second electric power FET is ended;
Simultaneously, square-wave signal is by the second output input coil current amplification unit of multichannel D/A converter, through four-operational amplifier carry out voltage ratio after, export the 6th electric power FET to through the 31 resistance, the 7th electric capacity successively, control its conducting or end, and then control the drain current of the 6th electric power FET; When the drain current of the 6th electric power FET increased to certain threshold value, when the voltage comparator that the 5th operational amplifier constitutes was output as negative voltage, four-operational amplifier output negative voltage ended the 6th electric power FET; When current cut-off, the electric current of the coil part of driving type piezoelectric actuator micro electromagnetic robot interior discharges by the 34 resistance, diode and the 8th electric capacity.
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| CN102331724A (en) * | 2011-06-02 | 2012-01-25 | 西南大学 | Driving combined mechanism |
| CN110286630A (en) * | 2019-07-26 | 2019-09-27 | 厦门理工学院 | Magnetic drives robot system fault tolerant control method, device, equipment and storage medium |
| CN113556055A (en) * | 2021-07-27 | 2021-10-26 | 盐城工学院 | Bipolar piezoelectric ceramic driving power supply |
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| CN113556055B (en) * | 2021-07-27 | 2024-01-26 | 盐城工学院 | Bipolar piezoelectric ceramic driving power supply |
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| CN102049772B (en) | 2012-08-08 |
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