CN107623460A - A kind of High torque ultrasonic motors drive system based on SoC - Google Patents
A kind of High torque ultrasonic motors drive system based on SoC Download PDFInfo
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- CN107623460A CN107623460A CN201710861487.6A CN201710861487A CN107623460A CN 107623460 A CN107623460 A CN 107623460A CN 201710861487 A CN201710861487 A CN 201710861487A CN 107623460 A CN107623460 A CN 107623460A
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Abstract
The present invention provides a kind of High torque ultrasonic motors drive system based on SoC, including SoC controllers, first drive module, second drive module, first transformer, second transformer, ultrasound electric machine, steady state voltage feedback circuit, the output end of SoC controllers connects the input of the first drive module and the second drive module, the output end of first drive module connects the input of the first transformer, the output end of second drive module connects the input of the second transformer, the output end of first transformer and the second transformer is connected to three inputs of ultrasound electric machine, the input connection ultrasound electric machine of steady state voltage feedback circuit, the output end of steady state voltage feedback circuit is respectively connecting to the first transformer and the second transformer, so that ultrasound electric machine startup is smooth, smooth running.
Description
Technical field
The present invention relates to ultrasound electric machine control technology field, more particularly to a kind of High torque ultrasonic motors based on SoC to drive
Dynamic system.
Background technology
Ultrasound electric machine is the New-type electric machine of a kind of elastic vibration using piezoelectric ceramics and frictional rotation, with conventional motors phase
Than ultrasound electric machine has the characteristics that the big slow-speed of revolution, torque mass ratio, fast response time, Powercut self locking power, without electromagnetic interference.
Existing Driven by Ultrasonic Motors generally use metal-oxide-semiconductor direct drive ultrasound electric machine at present, and be two-phase-region casting.
Existing patented technology《Based on embedded system level chip ultrasound motor drive controller》
(ZL200710134453.3), directly producing four road square-wave signals using the module of chip promotes pipe to complete DC inversion, has
According to motor operating state automatic frequency adjustment, phase modulation and voltage regulation function.
Another, existing patented technology《A kind of ultrasound motor drive controller based on embedded chip》
(CN202364153U), using pulse signal, the control to ultrasound electric machine is realized.
In above-mentioned two pieces patent, the stable technical problem for starting ultrasound electric machine can not be realized.
The content of the invention
The present invention provides a kind of High torque ultrasonic motors drive system based on SoC, and solving in the prior art can not be real
Now stablize the technical problem for starting ultrasound electric machine.
In order to solve the above technical problems, one aspect of the present invention is：A kind of high-torque based on SoC is provided
Driven by Ultrasonic Motors system, including SoC controllers, the first drive module, the second drive module, the first transformer, the second transformation
Device, ultrasound electric machine, steady state voltage feedback circuit, wherein, the output end of SoC controllers connects the first drive module and the second driving
The input of module, the output end of the first drive module connect the input of the first transformer, the output end of the second drive module
Connect the input of the second transformer, the output end of the first transformer and the second transformer is connected to three inputs of ultrasound electric machine
End, the input connection ultrasound electric machine of steady state voltage feedback circuit, the output end of steady state voltage feedback circuit are respectively connecting to the
One transformer and the second transformer；
The steady state voltage feedback circuit is detecting that the ultrasound electric machine is in non-motion state, and shows as Low ESR
When, control raises the input voltage of first transformer and the second transformer, when the steady state voltage feedback circuit is detecting
When being kept in motion to the ultrasound electric machine, and showing as high impedance, control reduces by first transformer and the second transformation
The input voltage of device.
Further, the steady state voltage feedback circuit specifically includes the bleeder circuit being sequentially connected with, shake stream diode, half
Ripple shakes current circuit, voltage follower, current-limiting resistance, switching power circuit.
Further, in addition to module is enabled, connects SoC controllers, the first drive module, the second drive module respectively,
The enabled module be used for according to it is electric on SoC controllers when, the first drive module and the second drive module are closed in control, described to make
Energy module when exporting four road square waves, opens the first drive module and the second drive module according to SoC controller start completions.
Further, in addition to temperature collection circuit, the temperature collection circuit collection terminal connect ultrasound electric machine, and temperature is adopted
Collector output end connects SoC controllers；
The temperature collection circuit is sent to SoC controllers, by SoC controllers according to super according to the temperature value collected
The frequency-temperature curve of acoustic-electric machine, it is determined that required driving frequency at different temperatures.
Further, the temperature collection circuit is connected with constant-current source circuit between collection terminal and output end, described to adopt
Collection end is used to connect the thermocouple on ultrasound electric machine, and the output end is used for output voltage values.
Further, the constant-current source circuit includes constant current source chip and prevents the component of temperature drift.
Further, the SoC controllers specifically include power module, temperature A/D module, No. four square-wave generators, described
No. four square-wave generators are used to export two pairs of square waves, the drive module of one pair of which square wave input first, another pair square wave input the
Two drive modules, each pair square wave phase differ 180 °.
Further, first drive module differs 180 ° of a pair of square waves according to phase, generates the first control signal,
Second drive module differs another pair square wave of 180 degree according to phase, generates the second control signal, the first control letter
Number differ 90 ° with the second control signal phase.
Further, first transformer includes the first output end and the second output end, and the second transformer includes the 3rd
Output end and the 4th output end, ultrasound electric machine include A phases input, B phases input, C and led to input, first output end
The first inductance connection A is crossed to input, the 3rd output end connects B phase inputs by the second inductance connection, the second output end and
4th output end, which merges, is connected to C phase inputs.
The situation of prior art is different from, the beneficial effects of the invention are as follows：
1st, due to using the first transformer and the second transformation in the High torque ultrasonic motors drive system based on SoC
Device, first transformer, the second transformer are connected to ultrasound electric machine, and the ultrasound electric machine is also associated with steady state voltage feedback circuit,
The output end of the steady state voltage feedback circuit is respectively connecting to the first transformer, the second transformer, the steady state voltage feedback circuit
When detecting that ultrasound electric machine is in non-motion state, and showing as Low ESR, control the first transformer of rise and the second transformation
The input voltage of device, when steady state voltage feedback circuit is detecting that ultrasound electric machine is kept in motion, and is showing as high impedance,
Control reduces by first transformer and the input voltage of the second transformation, so that ultrasound electric machine startup is smooth, operating is flat
Surely.
2nd, due to being divided in the High torque ultrasonic motors drive system based on SoC using enabled module, the enabled module
Not Lian Jie SoC controllers, the first drive module, the second drive module, the enabled module is used to be in upper electricity according to SoC controllers
When, the first drive module and the second drive module are closed in control, in enabled module according to SoC controllers start completion, output four
During the square wave of road, the first drive module and the second drive module are opened, is necessary gas be present so as to avoid because SoC systems start
The dynamic time, now, four road square waves are not sent, and transformer-supplied circuit will necessarily have excessively stream or short circuit phenomenon, cause first device
Part damages, and then can ensure that component is not damaged by.
3rd, due to using temperature collection circuit in the High torque ultrasonic motors drive system based on SoC, the temperature is adopted
Collector is sent to SoC controllers, the frequency-temperature song by SoC controllers according to ultrasound electric machine according to the temperature value of collection
Line, it is determined that required driving frequency at different temperatures, so as to control the driving frequency of ultrasound electric machine, so as to ensure ultrasound electric machine
The stabilization of rotating speed at different temperatures.
Brief description of the drawings
Fig. 1 is the module diagram of the High torque ultrasonic motors drive system based on SoC in the embodiment of the present invention；
Fig. 2 is the concrete structure schematic diagram of steady state voltage feedback circuit in the embodiment of the present invention；
Fig. 3 is the concrete structure schematic diagram of temperature collection circuit in the embodiment of the present invention；
Fig. 4 is the first transformer and the attachment structure schematic diagram of the second transformer and ultrasound electric machine in the embodiment of the present invention；
Fig. 5 is the theory structure schematic diagram of steady state voltage feedback circuit in the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only the part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
The embodiments of the invention provide a kind of High torque ultrasonic motors drive system based on SoC, as shown in figure 1, including
SoC controllers 10, the first drive module 20, the second drive module 30, the first transformer 40, the second transformer 50, ultrasound electric machine
60th, steady state voltage feedback circuit 70, wherein, output end connection the first drive module 20 and the second driving mould of SoC controllers 10
The input of block 30, the output end of the first drive module 20 connect the input of the first transformer 40, the second drive module 30
The output end of the input of output end the second transformer 50 of connection, the first transformer 40 and the second transformer 50 is connected to ultrasound
Three inputs of motor 60, the input connection ultrasound electric machine 60 of steady state voltage feedback circuit 70, steady state voltage feedback circuit
70 output end is respectively connecting to the first transformer 40 and the second transformer 50；
In a particular embodiment, the steady state voltage feedback circuit 70 detect ultrasound electric machine 60 be in do not move
State, and when showing as Low ESR, the input voltage of control the first transformer 40 of rise and the second transformer 50, work as steady state voltage
For feedback circuit 70 when detecting that ultrasound electric machine 60 is kept in motion, and showing as high impedance, control reduces the first transformer
40 and second transformer 50 input voltage, specific control signal be figure in B2+.Because the ultrasound electric machine 70 is starting
Moment needs high voltage smoothly to start, after start-up, it is necessary to reduce voltage to keep smooth running.Therefore by above-mentioned
Scheme cause ultrasound electric machine start smooth, smooth running, schematic diagram such as Fig. 5 institutes of specific steady state voltage feedback circuit 70
Show.
In a particular embodiment, as shown in Fig. 2 the steady state voltage feedback circuit 70 specifically includes point being sequentially connected with
Volt circuit, shake stream diode, half-wave are shaken current circuit, voltage follower, current-limiting resistance and switching power circuit, wherein bleeder circuit
In C2 blocking is carried out to the voltage of B phases, C3 carries out blocking, R3 and R6 to the voltage of A phases and the voltage of A phases is carried out into partial pressure, R2
The voltage of B phases is subjected to partial pressure with R5, the voltage signal that two-way partial pressure goes out passes through diode, filters out half waveform signal, passes through
Half-wave shakes current circuit, remaining half-wave voltage signal is become into smooth signal, then, by voltage follower, it is ensured that supply voltage
VCC value is the higher limit of output, is then drawn by the feedback of the power supply chip of current-limiting resistance R4 arrival switching power circuits
Pin FB pin so that the switching power circuit produces switching information, in the voltage signal rise of FB pin, output voltage signal B2+
With rise or reduce.
Also include enabled module 80 in the High torque ultrasonic motors drive system based on SoC, the enabled module 80
SoC controllers 10, the first drive module 20, the second drive module 30 are connected respectively, and the enabled module 80 is used to control according to SoC
When electric on device 10, the first drive module 20 and the second drive module 30 are closed in control, are enabled module 80 and are started according to SoC controllers
Complete, when exporting four road square waves, open the first drive module 20 and the second drive module.Exist because SoC controllers 10 start
Necessary startup time, four road square waves are not sent, and four road signals are random signal, are connected to the first of the first drive module 20
Transformer 40, and the second transformer 50 of the second drive module 30 is connected to, excessively stream or short circuit necessarily occurs in power supply circuit
Phenomenon, cause former device failure, for the technical problem, the enabled module 80 in the present invention can avoid the damage of component.
Also include temperature collection circuit 90, the temperature acquisition in the High torque ultrasonic motors drive system based on SoC
The collection terminal of circuit 90 connects ultrasound electric machine 60, and output end connection SoC controllers 10, SoC controllers are according to the temperature collection circuit
90 temperature values collected, by frequency-temperature curve, calculate driving ultrasound electric machine at different temperatures and steadily transport
Turn required driving frequency.The reason for corresponding to motor temperature using driving frequency be：Ultrasound electric machine 60 operated in travelling wave drive
Cheng Zhong, between stator and mover exist friction, ultrasound electric machine body because friction body temperature can gradually rise, and stator and
Precompression between mover also can become big with the rise of temperature.Therefore, at different temperature, ultrasound electric machine is driven with one
The frequency of the speed operating of individual stabilization can be different.To ensure that ultrasound electric machine running speed is stable, in ultrasound electric machine operation process
Driving frequency, calculated by frequency-temperature curve to obtain.Frequency-temperature calibration curve method is：In 60 DEG C of high temperature, motor
Required driving frequency is K when being rotated using speed V1Hz；In -40 DEG C of low temperature, motor using speed V rotate when required driving frequency as
K2Hz.By the solution of two linear functions, produce ultrasound electric machine using the frequency-temperature curve of speed V steady runnings as：K=
(K1-K2)/100* Current Temperatures+(60K2+40K1)/100.It is possible thereby to obtain the corresponding ultrasound electric machine in the temperature range
Driving frequency needed for 60.
Specifically, as shown in figure 3, the temperature collection circuit 90 is connected with constant-current source electricity between collection terminal and output end
Road, collection terminal are used to connect the thermocouple on ultrasound electric machine 60, and output end is used for output voltage values.The constant-current source circuit includes perseverance
Stream source chip 901 and the component 902 of temperature drift is prevented, specifically can be with because constant current source chip 901 can ensure that electric current is constant
It is 5mA electric current, when constant current is by the thermocouple, produces a voltage, the voltage of output end output reaches SoC controllers
10, wherein, the component 902 for preventing temperature drift is resistance R8, resistance R9 and backward dioded, can be suppressed caused by temperature
Electric current change.
The SoC controllers specifically include power module, temperature A/D module, No. four square-wave generators, and the four roads square wave occurs
Device is used to export two pairs of square waves, the first drive module of one pair of which square wave input 10, the drive module of another pair square wave input second
20, each pair square wave phase differs 180 °.
The first driving square wave 20 differs 180 ° of a pair of square waves according to phase, generates the first control signal, the second driving
Module 30 differs another pair square wave of 180 degree according to phase, generates the second control signal, and the first control signal is believed with the second control
Number phase differs 90 °.
Specifically, the output end of the first transformer 40 and the second transformer 50 is connected to three inputs of ultrasound electric machine 60
End, specific annexation is as shown in figure 4, the first transformer 40 includes the first output end and the second output end, the second transformer
50 include the 3rd output end and the 4th output end, and ultrasound electric machine 60 includes A phases input, B phases input, C to input, and first
For output end by the first inductance connection A phase inputs, the 3rd output end connects B phase inputs by the second inductance connection, and second
Output end and the 4th output end, which merge, is connected to C phase inputs.
Using the control system in the present invention, stability of the ultrasound electric machine in starting state can be ensured, can ensure to surpass
The stabilization of speed of acoustic-electric machine, but also device can be prevented to be damaged.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (9)
1. a kind of High torque ultrasonic motors drive system based on SoC, it is characterised in that including SoC controllers, the first driving mould
Block, the second drive module, the first transformer, the second transformer, ultrasound electric machine, steady state voltage feedback circuit, wherein, SoC controls
The output end of device connects the input of the first drive module and the second drive module, the output end connection first of the first drive module
The input of transformer, the output end of the second drive module connect the input of the second transformer, and the first transformer and second become
The output end of depressor is connected to three inputs of ultrasound electric machine, and the input of steady state voltage feedback circuit connects ultrasound electric machine,
The output end of steady state voltage feedback circuit is respectively connecting to the first transformer and the second transformer；
The steady state voltage feedback circuit when detecting that the ultrasound electric machine is in non-motion state, and showing as Low ESR,
Control raises the input voltage of first transformer and the second transformer, when the steady state voltage feedback circuit is detecting
When stating ultrasound electric machine to be kept in motion, and showing as high impedance, control reduces by first transformer and the second transformer
Input voltage.
2. the High torque ultrasonic motors drive system according to claim 1 based on SoC, it is characterised in that the stable state
Voltage feedback circuit specifically includes the bleeder circuit being sequentially connected with, shake stream diode, half-wave shake current circuit, voltage follower, limit
Leakage resistance, switching power circuit.
3. the High torque ultrasonic motors drive system according to claim 1 based on SoC, it is characterised in that also include making
Energy module, connects SoC controllers, the first drive module, the second drive module respectively, and the enabled module is used to be controlled according to SoC
When electric on device processed, the first drive module is closed in control and the second drive module, the enabled module have started according to SoC controllers
Into, when exporting four road square waves, the first drive module of unlatching and the second drive module.
4. the High torque ultrasonic motors drive system according to claim 1 based on SoC, it is characterised in that also include temperature
Acquisition Circuit is spent, the temperature collection circuit collection terminal connects ultrasound electric machine, the connection SoC controls of temperature collection circuit output end
Device；
The temperature collection circuit is sent to SoC controllers, by SoC controllers according to ultrasonic electric according to the temperature value collected
The frequency-temperature curve of machine, it is determined that required driving frequency at different temperatures.
5. the High torque ultrasonic motors drive system according to claim 4 based on SoC, it is characterised in that the temperature
Acquisition Circuit is connected with constant-current source circuit between collection terminal and output end, and the collection terminal is used to connect the heat on ultrasound electric machine
Galvanic couple, the output end are used for output voltage values.
6. the High torque ultrasonic motors drive system according to claim 5 based on SoC, it is characterised in that the constant current
Source circuit includes constant current source chip and prevents the component of temperature drift.
7. the High torque ultrasonic motors drive system according to claim 1 based on SoC, it is characterised in that the SoC controls
Implement body processed includes power module, temperature A/D module, No. four square-wave generators, and No. four square-wave generator is used to export two pairs
Square wave, the drive module of one pair of which square wave input first, the drive module of another pair square wave input second, each pair square wave phase difference
180°。
8. the High torque ultrasonic motors drive system according to claim 7 based on SoC, it is characterised in that described first
Drive module differs 180 ° of a pair of square waves according to phase, generates the first control signal, second drive module is according to phase
Another pair square wave of 180 degree is differed, generates the second control signal, first control signal differs with the second control signal phase
90°。
9. the High torque ultrasonic motors drive system according to claim 1 based on SoC, it is characterised in that described first
Transformer includes the first output end and the second output end, and the second transformer includes the 3rd output end and the 4th output end, ultrasonic electric
Machine includes A phases input, B phases input, C to input, first output end by the first inductance connection A phase inputs,
3rd output end connects B phase inputs by the second inductance connection, and the second output end and the 4th output end merge that to be connected to C phases defeated
Enter end.
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| CN201710861487.6A CN107623460B (en) | 2017-09-21 | 2017-09-21 | A kind of High torque ultrasonic motors drive system based on SoC |
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| CN201710861487.6A CN107623460B (en) | 2017-09-21 | 2017-09-21 | A kind of High torque ultrasonic motors drive system based on SoC |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6447281A (en) * | 1987-08-12 | 1989-02-21 | Diesel Kiki Co | Lock detector for ultrasonic motor actuator |
| JPH03253276A (en) * | 1990-03-01 | 1991-11-12 | Nikon Corp | Driving circuit of ultrasonic motor |
| CN102097973A (en) * | 2011-02-15 | 2011-06-15 | 南京航空航天大学 | Ultrasonic motor driving controller based on embedded chip |
| CN204615692U (en) * | 2015-05-12 | 2015-09-02 | 安徽理工大学 | Based on the supersonic motor measured operating parameter system of DSP |
| CN106026761A (en) * | 2016-05-18 | 2016-10-12 | 南京航空航天大学 | Embedded ultrasonic motor drive controller |
-
2017
- 2017-09-21 CN CN201710861487.6A patent/CN107623460B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6447281A (en) * | 1987-08-12 | 1989-02-21 | Diesel Kiki Co | Lock detector for ultrasonic motor actuator |
| JPH03253276A (en) * | 1990-03-01 | 1991-11-12 | Nikon Corp | Driving circuit of ultrasonic motor |
| CN102097973A (en) * | 2011-02-15 | 2011-06-15 | 南京航空航天大学 | Ultrasonic motor driving controller based on embedded chip |
| CN204615692U (en) * | 2015-05-12 | 2015-09-02 | 安徽理工大学 | Based on the supersonic motor measured operating parameter system of DSP |
| CN106026761A (en) * | 2016-05-18 | 2016-10-12 | 南京航空航天大学 | Embedded ultrasonic motor drive controller |
Non-Patent Citations (1)
| Title |
|---|
| 王红占: "基于PSoC的超声电机驱动器的研究", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
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| CN107623460B (en) | 2019-03-19 |
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