CN107070301B - The space phase modulation annular Traveling Ultrasonic Motor and its control method of asymmetric ceramics subregion - Google Patents
The space phase modulation annular Traveling Ultrasonic Motor and its control method of asymmetric ceramics subregion Download PDFInfo
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- CN107070301B CN107070301B CN201610971719.9A CN201610971719A CN107070301B CN 107070301 B CN107070301 B CN 107070301B CN 201610971719 A CN201610971719 A CN 201610971719A CN 107070301 B CN107070301 B CN 107070301B
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- 239000000919 ceramic Substances 0.000 title claims abstract description 139
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000010287 polarization Effects 0.000 claims abstract description 29
- 230000015572 biosynthetic process Effects 0.000 description 4
- 238000003786 synthesis reaction Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005192 partition Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 229910052573 porcelain Inorganic materials 0.000 description 1
- 230000010356 wave oscillation Effects 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/16—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors using travelling waves, i.e. Rayleigh surface waves
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/12—Constructional details
Abstract
The present invention provides the space phase modulation annular Traveling Ultrasonic Motor and its control method of a kind of asymmetric ceramic subregion, piezoelectric ceramics includes the area A1 piezoelectric ceramics, the area A2 piezoelectric ceramics, the area B3 piezoelectric ceramics and the area B4 piezoelectric ceramics, each area's ceramics spatially respectively occupy two wavelength, A1, the area B4 piezoelectric ceramics space phase having the same, A2, the area B3 piezoelectric ceramics space phase having the same, the width of each polarization subregion of piezoelectric ceramics is half wavelength, counterclockwise, the polarization direction of any three piezoelectric ceramics subregions successively presses "+-+- " arrangement, the polarization direction of another piezoelectric ceramics subregion successively presses " -+-+" arrangement；The electric motor and controller method have the advantages that the repertoire of the space phase modulation annular Traveling Ultrasonic Motor of traditional subdivision ceramic structure and, and each polarization subregion of piezoelectric ceramics is wider, all polarization subregions of each area's piezoelectric ceramics spatially keep continuously, processing and making and is more convenient and accurate.
Description
Technical field
The present invention relates to the space phase modulation annular Traveling Ultrasonic Motors and its control method of a kind of asymmetric ceramic subregion.
Background technique
Space phase modulation annular Traveling Ultrasonic Motor is a kind of annular row for being adjusted by voltage and realizing space phase control
Wave supersonic motor, this new control amount of space phase are that the control of annular traveling wave motor provides more choices.
The piezoelectric ceramics of space phase modulation annular Traveling Ultrasonic Motor traditional at present uses subdivision ceramic structure, each of which
Ceramic subregion is the half of traditional endless Traveling Ultrasonic Motor, and number of partitions then doubles, this can generate following problems:
1. the gross area of each by stages insulation increases, cause to cover silver-colored area reduction, power of motor decline；2. each phase subregion apart from one another by,
Cause the wiring of motor complicated and difficult；3. ceramic Division area reduces, lead to the difficulty of Ceramic manufacturing, and is helpless to ceramics and adds
The raising of work precision.
Summary of the invention
The object of the present invention is to provide a kind of space phase modulation annular Traveling Ultrasonic Motor of asymmetric ceramic subregion and its
Control method has completely new ceramic partitioned organization, simplifies the production of space phase modulation annular travelling wave motor, improves the processing of motor
Precision, and cooperate corresponding power source design, solve the above-mentioned problems in the prior art.
The technical solution of the invention is as follows:
A kind of space phase modulation annular Traveling Ultrasonic Motor of asymmetric ceramic subregion, including piezoelectric ceramics, the piezoelectricity
Ceramics include the area A1 piezoelectric ceramics, the area A2 piezoelectric ceramics, the area B3 piezoelectric ceramics and the area B4 piezoelectric ceramics, and each area's ceramics are spatially
Respectively occupy two wavelength, the area A1 piezoelectric ceramics and the area B4 piezoelectric ceramics space phase having the same, the area A2 piezoelectric ceramics and B3
Area's piezoelectric ceramics space phase having the same, the area A1 piezoelectric ceramics and the area A2 piezoelectric ceramics spatially differ quarter-wave
Long, the area B3 piezoelectric ceramics and the area B4 piezoelectric ceramics spatially differ quarter-wave, each polarization subregion of piezoelectric ceramics
Width be half wavelength, counterclockwise, the polarization direction of any three piezoelectric ceramics subregions successively press "+-
+-" arrangement, the polarization direction of another piezoelectric ceramics subregion successively press " -+-+" arrangement, and "+" indicates positive polarization, "-"
It indicates reverse polarization, polarized positive direction can be defined freely, require nothing more than it perpendicular to ceramic flat surface.
A kind of control method of the space phase modulation annular Traveling Ultrasonic Motor of above-mentioned asymmetric ceramic subregion, the area A1, A2
Apply same time phase, power supply one, the power supply two of different amplitudes on piezoelectric ceramics；Apply on the area B3, B4 piezoelectric ceramics identical
Time phase, power supply three, the power supply four of different amplitudes；The power supply and the area B3, B4 piezoelectric ceramics applied on the area A1, A2 piezoelectric ceramics
It is constant that the power supply of upper application differs pi/2 on time phase；The power supply applied on the area A1, B4 piezoelectric ceramics has identical amplitude；
The power supply applied on the area A2, B3 piezoelectric ceramics has identical amplitude.
Further, a is set as the voltage magnitude of power supply one and power supply four, b is the voltage magnitude of power supply two and power supply three,
θ reacts angle of the standing wave in space " movement " of two different time phases, related with power supply amplitude a, b, meets:
Change the size relation of power supply amplitude a, b, realizes the standing wave for changing two different time phases in space " movement "
Angle, θ, and then change motor stator in traveling-wave component and standing wave ratio relation, realize space phase modulation control.
The beneficial effects of the present invention are: the space phase modulation annular Traveling Ultrasonic Motor of this kind of asymmetric ceramic subregion and its
Control method has the advantage that
One, in the present invention, the area A1 piezoelectric ceramics, the area A2 piezoelectric ceramics, the area B3 piezoelectric ceramics and the area B4 piezoelectric ceramics are in machine
Tool is spatially independent mutually, and all potsherds of single subregion keep spatially continuous, compared with traditional subdivision ceramic structure
Space phase modulation annular Traveling Ultrasonic Motor wiring it is more simplified；
Two, the polarization zoned width of piezoelectric ceramics is the space phase modulation annular Traveling Ultrasonic electricity of tradition subdivision ceramic structure
Twice of machine piezoelectric ceramics polarization width, with the equivalent width of tradition annular traveling wave supersonic motor, makes pottery compared with traditional subdivision
The space phase modulation annular Traveling Ultrasonic Motor of porcelain structure, will not there is power loss, and Ceramic manufacturing precision also can be with traditional ring
Shape Traveling Ultrasonic Motor is consistent.
Detailed description of the invention
Fig. 1 is the structural representation of the space phase modulation annular Traveling Ultrasonic Motor of the asymmetric ceramic subregion of the embodiment of the present invention
Figure.
Fig. 2 is piezoelectric ceramics polarization partition scheme one and power supply connection scheme schematic diagram of the invention.
Wherein: 1- end cap, 2- bearing one, 3- bearing two, 4- shaft, 5- rotor, 6- stator, 7- pedestal, the area 8-A1 piezoelectricity
Ceramics, the area 9-A2 piezoelectric ceramics, the area 10-B3 piezoelectric ceramics, the area 11-B4 piezoelectric ceramics, 12- power supply one, 13- power supply two, 14- electricity
Source three, 15- power supply four.
Specific embodiment
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings.
Embodiment
As shown in Figure 1, a kind of space phase modulation annular Traveling Ultrasonic Motor of asymmetric ceramic subregion includes end cap 1, axis
Hold one 2, bearing 23, shaft 4, rotor 5, stator 6, pedestal 7 and piezoelectric ceramics.Except the subregion and polarization square partition of piezoelectric ceramics
Outside formula, other structures, material and the assembling scheme and traditional endless Traveling Ultrasonic Motor of motor are completely the same.
The piezoelectric ceramics of the space phase modulation annular Traveling Ultrasonic Motor of this kind of asymmetric ceramic subregion is divided into the area A1 piezoelectricity
Ceramics 8, the area A2 piezoelectric ceramics 9, the area B3 piezoelectric ceramics 10 and the area B4 piezoelectric ceramics 11.As shown in Fig. 2, when motor works, fixed
The space traveling wave of nine wavelength is distributed on sub- circumference, such as each traveling wave wavelength is calculated as 2 π of space phase, and whole circumference can be calculated as
18 π of space phase.Counterclockwise, the initial position for defining the area A1 piezoelectric ceramics 8 is initial position, then 4 areas Chu Wei A1 π press
The end position of electroceramics 8, the initial position of 5.5 area π Chu Wei B3 piezoelectric ceramics 10 are initial position, 9.5 area π Chu Wei B3 piezoelectricity
The end position of ceramics 10, the initial position of 9.5 area π Chu Wei A2 piezoelectric ceramics 9 are initial position, 13.5 area π Chu Wei A2 piezoelectricity
The end position of ceramics 9, the initial position of 14 area π Chu Wei B4 piezoelectric ceramics 11 are initial position, 18 area π Chu Wei B4 piezoelectric ceramics
11 end position.Respectively contain in the area A1 piezoelectric ceramics 8, the area A2 piezoelectric ceramics 9, the area B3 piezoelectric ceramics 10 and the area B4 piezoelectric ceramics 11
It polarizing subregion there are four piezoelectric ceramics, the width of the subregion that polarizes is space phase length π namely half fundamental wavelength, with
Traditional endless Traveling Ultrasonic Motor is the same, is the two of the space phase modulation annular Traveling Ultrasonic Motor of tradition subdivision ceramic structure
Times.In the area A1 piezoelectric ceramics 8, the area A2 piezoelectric ceramics 9, the area B3 piezoelectric ceramics 10 and the area B4 piezoelectric ceramics 11, in any three areas
The polarization subregion in portion is polarized by "+-+- " direction in the counterclockwise direction, the polarization subregion edge inside another area
It is then counterclockwise to polarize by " -+-+" direction, therefore there are four types of schemes altogether for ceramic structure, as shown in Figure 2."+" table
Show positive polarization, "-" indicates reverse polarization, can freely define to polarized positive direction, requires nothing more than it perpendicular to ceramic flat surface i.e.
It can.
The space phase modulation annular Traveling Ultrasonic Motor of the asymmetric ceramic subregion of embodiment has tradition subdivision ceramic junction
The repertoire and advantage of the space phase modulation annular Traveling Ultrasonic Motor of structure, and each polarization subregion of piezoelectric ceramics is wider,
All polarization subregions of each area's piezoelectric ceramics spatially keep continuously, processing and making and is more convenient and accurate.
The space phase modulation annular Traveling Ultrasonic Motor of asymmetric ceramics subregion must cooperate new power source design real
Existing spatial Phase-shifting Method control.New power source design uses four power supplys: power supply 1, power supply 2 13, power supply 3 14, power supply four
15.Power supply 1 and all polarization piecewise connections of the area A1 piezoelectric ceramics 8, power supply 2 13 and all pole of the area A2 piezoelectric ceramics 9
Change piecewise connection, power supply 3 14 and all polarization piecewise connections of the area B3 piezoelectric ceramics 10, power supply 4 15 and the area B4 piezoelectric ceramics
11 all polarization piecewise connections.Power supply 1 and the time phase having the same of power supply 2 13.Power supply 3 14 and power supply 4 15
Time phase having the same, and pi/2 is differed in time phase with power supply 1 and power supply 3 14.Power supply 1 and power supply 4 15
Voltage magnitude having the same, power supply 2 13 and the voltage magnitude having the same of power supply 3 14.
Power supply expression formula is described as that power supply 1 is acos ω t, power supply 2 13 is bcos ω t, power supply 3 14 is bsin ω
T, power supply 4 15 is asin ω t；A is the voltage magnitude of power supply 1 and power supply 4 15, and b is the electricity of power supply 2 13 and power supply 3 14
Pressure amplitude value, voltage magnitude a and b are per unit value.
For different ceramic structures, the space phase modulation annular Traveling Ultrasonic Motor space phase modulation of asymmetric ceramics subregion
Principle are as follows:
The first, ceramic structure scheme one, as shown in Fig. 2, four power supplys excite four standing waves, expression formula on stator
Are as follows:
Time phase, identical two standing waves synthesized new standing wave, expression formula two-by-two are as follows:
The complex wave synthesized on above-mentioned two synthesis final stator of standing wave includes traveling-wave component and standing wave.Wherein θ is anti-
The angle that the standing wave of two different time phases is mobile in space has been answered, with power supply amplitude a, b is related, meet:
Change the size relation of power supply amplitude a, b, thus it is possible to vary θ, and then change traveling-wave component and standing wave in motor stator
The ratio relation of component realizes space phase modulation control.
In above-mentioned formula, ar, br are standing wave oscillation crosswise amplitude,R is standing wave amplitude relative to voltage amplitude
The coefficient of value, x are spatial position angle, and ω is vibration angular frequency, and n=l/ λ is the wave number along stator circumference, and l is stator perimeter,
λ is elastic wavelength, and t is the time.The same symbol indicates identical meaning in specification.
Second, ceramic structure scheme two, four power supplys excite four standing waves, expression formula on stator are as follows:
Time phase, identical two standing waves synthesized new standing wave, expression formula two-by-two are as follows:
The complex wave synthesized on above-mentioned two synthesis final stator of standing wave includes traveling-wave component and standing wave.Change power supply
The size relation of amplitude a, b, thus it is possible to vary θ, and then change the ratio relation of traveling-wave component and standing wave in motor stator, it is real
Existing space phase modulation control.
The third, ceramic structure scheme three, four power supplys excite four standing waves, expression formula on stator are as follows:
Time phase, identical two standing waves synthesized new standing wave, expression formula two-by-two are as follows:
The complex wave synthesized on above-mentioned two synthesis final stator of standing wave includes traveling-wave component and standing wave.Change power supply
The size relation of amplitude a, b, thus it is possible to vary θ, and then change the ratio relation of traveling-wave component and standing wave in motor stator, it is real
Existing space phase modulation control.
4th kind, ceramic structure scheme four, four power supplys excite four standing waves, expression formula on stator are as follows:
Time phase, identical two standing waves synthesized new standing wave, expression formula two-by-two are as follows:
The complex wave synthesized on above-mentioned two synthesis final stator of standing wave includes traveling-wave component and standing wave.Change power supply
The size relation of amplitude a, b, thus it is possible to vary θ, and then change the ratio relation of traveling-wave component and standing wave in motor stator, it is real
Existing space phase modulation control.
Claims (1)
1. a kind of control method of the space phase modulation annular Traveling Ultrasonic Motor of asymmetric ceramic subregion, it is characterised in that: non-
The space phase modulation annular Traveling Ultrasonic Motor of symmetrical ceramics subregion includes piezoelectric ceramics, and the piezoelectric ceramics includes the area A1 piezoelectricity
Ceramics, the area A2 piezoelectric ceramics, the area B3 piezoelectric ceramics and the area B4 piezoelectric ceramics, each area's ceramics spatially respectively occupy two wavelength,
The area A1 piezoelectric ceramics and the area B4 piezoelectric ceramics space phase having the same, the area A2 piezoelectric ceramics and the area B3 piezoelectric ceramics have phase
Same space phase, the area A1 piezoelectric ceramics and the area A2 piezoelectric ceramics spatially differ quarter-wave, the area B3 piezoelectric ceramics
Quarter-wave is spatially differed with the area B4 piezoelectric ceramics, the width of each polarization subregion of piezoelectric ceramics is half
Wavelength, counterclockwise, the polarization direction of any three piezoelectric ceramics subregions successively press "+-+- " arrangement, another piezoelectricity
The polarization direction of ceramic subregion successively presses " -+-+" arrangement, and "+" indicates positive polarization, and "-" indicates reverse polarization, to polarization
Positive direction can freely define, require nothing more than it perpendicular to ceramic flat surface；Apply same time phase on the area A1, A2 piezoelectric ceramics
Position, power supply one, the power supply two of different amplitudes；Apply same time phase, the power supply of different amplitudes on the area B3, B4 piezoelectric ceramics
Three, power supply four；The power supply applied on the power supply and the area B3, B4 piezoelectric ceramics applied on the area A1, A2 piezoelectric ceramics is in time phase
Upper difference pi/2 is constant；The power supply applied on the area A1, B4 piezoelectric ceramics has identical amplitude；Apply on the area A2, B3 piezoelectric ceramics
Power supply has identical amplitude；A is set as the voltage magnitude of power supply one and power supply four, b is the voltage magnitude of power supply two and power supply three,
θ reacts angle of the standing wave in space " movement " of two different time phases, related with power supply amplitude a, b, meets:
Change the size relation of power supply amplitude a, b, realizes the standing wave for changing two different time phases at the angle of space " movement "
θ is spent, and then changes the ratio relation of traveling-wave component and standing wave in motor stator, realizes space phase modulation control.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101710802A (en) * | 2009-12-14 | 2010-05-19 | 南通大学 | Traveling wave type ultrasonic motor of minitype column |
| CN103095174A (en) * | 2013-01-25 | 2013-05-08 | 东南大学 | Hollow annular traveling wave ultrasonic motor |
| CN103107735A (en) * | 2013-01-30 | 2013-05-15 | 东南大学 | Amplitude-and-phase control method of space phase-adjusting traveling-wave ultrasonic motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101636909B1 (en) * | 2009-02-03 | 2016-07-06 | 삼성전자주식회사 | Piezoelectric ultrasonic motor and method for fabricating the same |
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- 2016-10-28 CN CN201610971719.9A patent/CN107070301B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101710802A (en) * | 2009-12-14 | 2010-05-19 | 南通大学 | Traveling wave type ultrasonic motor of minitype column |
| CN103095174A (en) * | 2013-01-25 | 2013-05-08 | 东南大学 | Hollow annular traveling wave ultrasonic motor |
| CN103107735A (en) * | 2013-01-30 | 2013-05-15 | 东南大学 | Amplitude-and-phase control method of space phase-adjusting traveling-wave ultrasonic motor |
Non-Patent Citations (1)
| Title |
|---|
| 基于空间调相的环形行波超声波电机的幅相控制;陆旦宏 等.;《电工技术学报》;20140326;第29卷(第3期);第133页左栏至第137页左栏，图1-5 |
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