CN109474201A - A kind of piezoelectric actuator group and synchronisation control means - Google Patents
A kind of piezoelectric actuator group and synchronisation control means Download PDFInfo
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- CN109474201A CN109474201A CN201811209193.6A CN201811209193A CN109474201A CN 109474201 A CN109474201 A CN 109474201A CN 201811209193 A CN201811209193 A CN 201811209193A CN 109474201 A CN109474201 A CN 109474201A
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- piezoelectric actuator
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- 238000005192 partition Methods 0.000 claims abstract description 17
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 5
- 239000010959 steel Substances 0.000 claims abstract description 5
- 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 claims description 15
- 238000012545 processing Methods 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 3
- 239000002783 friction material Substances 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 abstract description 5
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 9
- 230000004044 response Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 3
- 239000000919 ceramic Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 238000012098 association analyses Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 229910052573 porcelain Inorganic materials 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- 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
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/001—Driving devices, e.g. vibrators
-
- 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
-
- 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
- H02N2/14—Drive circuits; Control arrangements or methods
Abstract
A kind of piezoelectric actuator group, that is, synchronisation control means, the group includes at least one piezoelectric actuator unit being mounted on arbor, piezoelectric actuator unit includes the annular partition being sleeved on arbor, it further include the piezoelectric actuator for being symmetrically arranged in partition two sides, piezoelectric actuator includes stator oscillating component, rotor rotating part and rotor contact portion, rotor rotating part are connect with arbor；Group further includes driving and control section, and it further includes the magnet steel connecting with driver, for acquiring signal that driving and control section, which include driver,.The lonely pole tension that this synchronisation control means passes through each actuator in driving and control section real-time monitoring arbor revolving speed and piezoelectric actuator group, once there is the case where lonely pole tension fluctuation is beyond permissible value, adjustment stator voltage value can be corresponded to, to achieve the purpose that actuating unit synchronous velocity control；This actuator cluster structure is compact, assembly is simple, the use suitable for high-precision drive control component.
Description
Technical field
The present invention relates to piezoelectric actuator technical field, it is made of more particularly, to a kind of at least two piezoelectric actuators
The synchronisation control means of piezoelectric actuator group and the group.
Background technique
As adapt to high-precision, small size, lightweight, the piezoelectric actuator to cut off self-lock with requirements such as quick responses,
Basic principle are as follows: the stator of special designing is connected firmly with piezoelectric ceramic piece；Friction plate is connected firmly with rotor；High-frequency and high-voltage drives piezoelectricity pottery
Porcelain generates inverse piezoelectric effect, drives stator resonances to generate traveling wave, then by being applied to the secondary accurate precompression of friction, will through rotor
Constant wave vibration is converted to mechanical energy output.
Piezoelectric actuator has the simple platform of structure, light-weight, fast response time, breaks compared with existing electromagnetic actuator device
The self-locking, low speed high torque of electricity, without magnetic perturbation, the advantages such as actuating is precisely, control characteristic is good are particularly suitable for low temperature, vacuum, high-intensity magnetic field
Environment, can be widely used for space flight and aviation, high-end instrument and meter, intelligent medical equipment, extraordinary military equipment field precision actuation
Control, has a wide range of applications.
Currently, the research achievement of the overseas utilization principle, optical automatic focusing has been successfully applied to away from device, miniature
The fields such as robotically-driven, accurate plotter, the driving of mini-medical instrument and superior automobile.
But due to the limited torque output of separate unit piezoelectric actuator, technology extensive use is limited.To solve power output
Square is unable to satisfy the problem of machine driving needs, and application No. is disclose one kind in 201721031586.3 utility model patent
Reinforced piezoelectric actuator device, the device include multiple concatenated piezoelectric actuator units, each piezoelectric actuator unit
Stator and rotor through-hole up and down is all set, coaxial, coaxial one end is arranged in through-holes and is for rotor connection driving
Power output end.The actuator devices can realize the driving force overlapped in series of piezoelectric actuator for different application, so that
Piezoelectric actuator application is more extensive.But it was verified that two identical (including structure and material) double piezoelectric actuated
After device is co-axially mounted, since the factors such as installation error cause in-fighting to increase, so that two actuator reality output torques are two pressures
The 70-80% of the sum of electric actuator.
Summary of the invention
Present invention firstly provides a kind of piezoelectric actuator group, which includes at least two or more the pressures being connected in series
Electric actuator, the control section of actuator include lonely pole tension signal acquisition component, and the invention also discloses a kind of actuator groups
The synchronisation control means of group, this method is by the acquisition and judgement to lonely pole tension signal, to adjust the output revolving speed of actuator,
Reduce the in-fighting of actuator after connecting to promote yield value, the technical solution adopted is that: a kind of piezoelectric actuator group, feature
Be: the group includes at least one piezoelectric actuator unit being mounted on arbor, and the piezoelectric actuator unit includes
The annular partition being sleeved on arbor further includes the piezoelectric actuator for being symmetrically arranged in partition two sides, the piezoelectric actuator packet
Stator oscillating component, rotor rotating part and rotor contact portion are included, the rotor rotating part is connect with arbor；The group
Group further includes driving and control section, and it further includes connecting with driver, for adopting that the driving and control section, which include driver,
Collect the magnet steel of signal.
Technical characteristic of the invention is also: the piezoelectric actuator further includes the pedestal that annular partition opposite side is arranged in,
Between pedestal and annular partition, stator links together with pedestal for stator and rotor.
Technical characteristic of the invention is also: the rotor contact portion includes rotor rubs towards what is pasted in stator one side
Wipe material.
Technical characteristic of the invention is also: setting bearing between the pedestal and arbor.
Technical solution of the present invention is also: a kind of synchronisation control means of piezoelectric actuator group, it is characterised in that: described
Synchronisation control means the following steps are included:
1) driver signal acquisition component acquisition piezoelectric actuator group in each piezoelectric actuator lonely pole tension signal and
Arbor turn signal；
2) collected lonely pole tension signal is delivered to driver after processing, in the control unit of driver with it is preparatory defeated
The standard signal entered is compared, when the difference of lonely pole tension signal and standard signal within the allowable range when, no feedback signal
Output, when the difference of lonely pole tension signal and standard signal exceeds allowed band, feedback signal is delivered to pair by control unit
Piezoelectric actuator is answered, the drive electric source voltage of the piezoelectric actuator is adjusted, and forms closed-loop control.
Technical characteristic of the invention is also: the arbor turn signal includes the tach signal and angle position signal of arbor.
Technical characteristic of the invention is also: conveying collected lonely pole tension signal after rectified, filtering in step 2
To driver.
The beneficial effects of the present invention are: at least one piezoelectric actuator unit is mounted on together by this piezoelectric actuator group
On one arbor, solve single piezoelectric actuator output power existing in the prior art is small, be unable to satisfy operating condition needs ask
Topic；This synchronisation control means passes through each actuating in driving and control section real-time monitoring arbor revolving speed and piezoelectric actuator group
The lonely pole tension of device can correspond to adjustment stator voltage value, once there is the case where lonely pole tension fluctuation is beyond permissible value to reach
To the purpose of actuating unit synchronous velocity control；This actuator cluster structure is compact, assembly is simple, is suitable for high-precision and drives
The use of control unit.
Detailed description of the invention
Attached drawing 1 is piezoelectric actuator cluster structure schematic diagram in the present invention, and attached drawing 2 is that stator orphan is extremely electric in piezoelectric actuator
Pressure point schematic diagram, attached drawing 3 are the synchronously control logical schematics of piezoelectric actuator group.
In figure: 1 is arbor, and 2 be bearing, and 3 be piezoelectric actuator A pedestal, and 4 be piezoelectric actuator A stator, and 5 cause for piezoelectricity
Dynamic device A rotor, 6 be piezoelectric actuator A disc spring, and 7 be annular partition, and 8 be piezoelectric actuator B disc spring, and 9 turn for piezoelectric actuator B
Son, 10 be piezoelectric actuator B stator, and 11 be piezoelectric actuator B pedestal, and 12 be bearing, and 13 be precompression nut, and 14 be magnet steel.
Specific embodiment
With reference to the accompanying drawing, description of specific embodiments of the present invention.
It is found in practice, due to the presence of many factors, so that (two the same as the piezoelectric actuated of model for piezoelectric actuator unit
Device) be co-axially mounted after, cause the revolving speed of coaxial output, torque to reduce, the delivery efficiency of free of losses can not be obtained, general output turns
Square is the 70-75% of the sum of two piezoelectric actuators.
To solve the above problems, the group includes being mounted on machine present invention firstly provides a kind of piezoelectric actuator group
At least one piezoelectric actuator unit on axis, piezoelectric actuator unit include the annular partition being sleeved on arbor, further include
It is symmetrically arranged in the piezoelectric actuator of partition two sides, piezoelectric actuator includes pedestal, stator oscillating component, rotor rotating part,
Rotor contact portion and driving and control section.Wherein rotor rotating part is connect with arbor 1, and driving and control section include
Driver further includes the magnet steel 14 connecting with driver, for acquiring signal.Pedestal is arranged in annular partition
Piezoelectric actuator further includes being arranged in annular partition opposite side, and stator and rotor are fixed between pedestal and annular partition
Son links together with pedestal.Bearing is set between pedestal and arbor.Disc spring is set between rotor and annular partition.Rotor contact portion
It point include rotor towards the friction material pasted in stator one side.
The invention also discloses a kind of synchronisation control means of piezoelectric actuator group, synchronisation control means includes following step
It is rapid:
1) driver signal acquisition component acquisition piezoelectric actuator group in each piezoelectric actuator lonely pole tension signal and
Arbor turn signal；
2) by collected lonely pole tension signal, rectified, filtering processing is delivered to driver, in the control unit of driver
Be compared with the standard signal pre-entered and operation, when the difference of lonely pole tension signal and standard signal within the allowable range
When, no feedback signal output, when the difference of lonely pole tension signal and standard signal exceeds allowed band, control unit will be fed back
Signal is delivered to corresponding piezoelectric actuator, and the drive electric source voltage of the piezoelectric actuator is adjusted, and forms closed-loop control.
In this synchronisation control means, arbor turn signal includes the tach signal and angle position signal of arbor.
By the synchronisation control means, piezoelectric actuator output power can be made to be increased to 95% or more, effectively solve more causes
The problem that output work efficiency is low, loss is big present in dynamic device linkage.
Lonely pole tension signal: since piezoelectric actuator is without electromagnetism winding, can not obtain comparison signal, be tested by practice
Card generates inverse piezoelectric effect simultaneously in piezoelectric ceramics, one " positive piezoelectric response " adjoint, this " positive piezoelectricity in the operating condition
Response " is unrelated with reality output parameter but synchronous with inverse piezoelectric effect.
Direct piezoelectric effect is shown as an ac voltage (≤5V), which becomes " lonely pole tension ".When inverse piezoelectricity
When effect change, the lonely pole tension of positive piezoelectric response also changes therewith.
The association analysis of inverse piezoelectric effect and positive piezoelectric response: the measurable parameter of inverse piezoelectric effect is revolving speed and torsion
Square is the important parameter for measuring piezoelectric actuator output；Positive piezoelectric response association synchronous with inverse piezoelectric effect again, when double piezoelectricity cause
When dynamic device inverse piezoelectric effect is inconsistent, output revolving speed is also inconsistent.Therefore, it can be analyzed by the measurement to positive piezoelectric response,
Judge in coaxial assembly, the working condition of single piezoelectric actuator.
The signal processing of lonely pole tension: being acquired by the high frequency to lonely pole tension signal, rectified, filtered and algorithm process,
The standard signal for obtaining a single piezoelectric actuator, is compared by the data of the lonely pole tension signal to double piezoelectric actuators, into
Row real-time monitoring, so that the synchronous velocity control for realizing double piezoelectric actuators (is to pass through tune because of the rotation speed regulating and controlling of piezoelectric actuator
Control what frequency was realized).
Certainly, above description is not limitation of the present invention, and the present invention is also not limited to the example above, the art
The variations, modifications, additions or substitutions that those of ordinary skill is made within the essential scope of the present invention also belong to guarantor of the invention
Protect range.
Claims (7)
1. a kind of piezoelectric actuator group, it is characterised in that: the group includes that at least one piezoelectricity being mounted on arbor causes
Dynamic device unit, it further includes being symmetrically arranged in partition two that the piezoelectric actuator unit, which includes the annular partition being sleeved on arbor,
The piezoelectric actuator of side, the piezoelectric actuator include stator oscillating component, rotor rotating part and rotor contact portion, institute
Rotor rotating part is stated to connect with arbor；The group further includes driving and control section, and the driving and control section include
Driver further includes the magnet steel connecting with driver, for acquiring signal.
2. group described in accordance with the claim 1, it is characterised in that: the piezoelectric actuator further includes being arranged in annular partition phase
Between pedestal and annular partition, stator links together with pedestal for the pedestal of opposite side, stator and rotor.
3. group according to claim 2, it is characterised in that: the rotor contact portion includes rotor towards stator one
The friction material pasted on face.
4. group according to claim 2, it is characterised in that: set bearing between the pedestal and arbor.
5. a kind of synchronisation control means of piezoelectric actuator group, it is characterised in that: the synchronisation control means includes following step
It is rapid:
1) driver signal acquisition component acquisition piezoelectric actuator group in each piezoelectric actuator lonely pole tension signal and
Arbor turn signal；
2) collected lonely pole tension signal is delivered to driver after processing, in the control unit of driver with it is preparatory defeated
The standard signal entered is compared, when the difference of lonely pole tension signal and standard signal within the allowable range when, no feedback signal
Output, when the difference of lonely pole tension signal and standard signal exceeds allowed band, feedback signal is delivered to pair by control unit
Piezoelectric actuator is answered, the drive electric source voltage of the piezoelectric actuator is adjusted, and forms closed-loop control.
6. synchronisation control means according to claim 5, it is characterised in that: the arbor turn signal includes turning for arbor
Fast signal and angle position signal.
7. synchronisation control means according to claim 5, it is characterised in that: believe collected lonely pole tension in step 2
Driver is delivered to after number rectified, filtering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811209193.6A CN109474201A (en) | 2018-10-17 | 2018-10-17 | A kind of piezoelectric actuator group and synchronisation control means |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811209193.6A CN109474201A (en) | 2018-10-17 | 2018-10-17 | A kind of piezoelectric actuator group and synchronisation control means |
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| CN109474201A true CN109474201A (en) | 2019-03-15 |
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| CN201811209193.6A Pending CN109474201A (en) | 2018-10-17 | 2018-10-17 | A kind of piezoelectric actuator group and synchronisation control means |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4937488A (en) * | 1987-12-29 | 1990-06-26 | Aisin Seiki Kabushiki Kaisha | Vibration wave motor |
| CN101154896A (en) * | 2006-09-25 | 2008-04-02 | 天津得鑫电机有限公司 | Double-stator double-rotor motor |
| CN201066826Y (en) * | 2006-12-06 | 2008-05-28 | 西安创联超声技术有限责任公司 | An ultrasonic electromotor system for control |
| CN101373937A (en) * | 2008-10-08 | 2009-02-25 | 南京航空航天大学 | Ultrasound motor drive controller based on embedded system level chip |
| CN201418043Y (en) * | 2009-06-19 | 2010-03-03 | 东南大学 | Ring-shaped traveling wave type ultrasonic wave motor |
| CN103607149A (en) * | 2013-11-27 | 2014-02-26 | 湖北三江航天红峰控制有限公司 | Ultrasonic motor rudder servo system and control method thereof |
| CN107425750A (en) * | 2017-08-17 | 2017-12-01 | 深圳市三阶微控实业有限公司 | A kind of reinforced piezoelectric actuator device and its implementation |
-
2018
- 2018-10-17 CN CN201811209193.6A patent/CN109474201A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4937488A (en) * | 1987-12-29 | 1990-06-26 | Aisin Seiki Kabushiki Kaisha | Vibration wave motor |
| CN101154896A (en) * | 2006-09-25 | 2008-04-02 | 天津得鑫电机有限公司 | Double-stator double-rotor motor |
| CN201066826Y (en) * | 2006-12-06 | 2008-05-28 | 西安创联超声技术有限责任公司 | An ultrasonic electromotor system for control |
| CN101373937A (en) * | 2008-10-08 | 2009-02-25 | 南京航空航天大学 | Ultrasound motor drive controller based on embedded system level chip |
| CN201418043Y (en) * | 2009-06-19 | 2010-03-03 | 东南大学 | Ring-shaped traveling wave type ultrasonic wave motor |
| CN103607149A (en) * | 2013-11-27 | 2014-02-26 | 湖北三江航天红峰控制有限公司 | Ultrasonic motor rudder servo system and control method thereof |
| CN107425750A (en) * | 2017-08-17 | 2017-12-01 | 深圳市三阶微控实业有限公司 | A kind of reinforced piezoelectric actuator device and its implementation |
Non-Patent Citations (3)
| Title |
|---|
| 史震 等: "《自动控制元件》", 28 February 2013 * |
| 程明: "《微特电机与系统》", 31 January 2014 * |
| 赵负图: "《国内外最新常用传感器和敏感元器件性能数据手册》", 30 November 1994 * |
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Application publication date: 20190315 |