CN109802595A - The drive control method and device of piezoelectric actuator - Google Patents
The drive control method and device of piezoelectric actuator Download PDFInfo
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- CN109802595A CN109802595A CN201910260109.1A CN201910260109A CN109802595A CN 109802595 A CN109802595 A CN 109802595A CN 201910260109 A CN201910260109 A CN 201910260109A CN 109802595 A CN109802595 A CN 109802595A
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Abstract
This application involves a kind of drive control method and devices of piezoelectric actuator, belong to Drive Control Technique field, this method comprises: determining the frictional force between moving mass and contact surface；The aimed acceleration of the second order driving signal of piezoelectric actuator is determined using the quality of frictional force and mass block；Second order driving signal is generated according to aimed acceleration；It is moved using second order driving signal driving moving mass；The displacement that can solve driving moving mass when moving using zigzag driving signal driving moving mass is smaller, the lower problem of drive efficiency；Since second order driving signal pushes moving mass in boost phase with consistently acceleration, so that moving mass will not generate negative sense displacement；And maximum voltage is boosted to constant acceleration in the same time can generate bigger inertia force compared at the uniform velocity to boost to maximum voltage to push moving mass to generate more positive-displacements, the drive efficiency of piezoelectric actuator can be improved.
Description
Technical field
The present invention relates to a kind of drive control method and devices of piezoelectric actuator, belong to Drive Control Technique neck
Domain.
Background technique
As nanotechnology application field is higher and higher to the requirement across scale precise motion, inertia stick-slip is driven across scale
Motion Technology becomes the focus of domestic and international extensive concern.Wherein, piezoelectric actuator is usually as inertia stick-slip drive system
Driving assembly drive the moving mass in inertia stick-slip drive system to move.
The drive control mode of existing piezoelectric actuator are as follows: drive moving mass to transport using zigzag driving signal
It is dynamic.However, the displacement of driving moving mass is smaller when being moved using zigzag driving signal driving moving mass, drive efficiency is lower.
Summary of the invention
The purpose of the present invention is to provide a kind of drive control method and devices of piezoelectric actuator, and can solve makes
Displacement with driving moving mass when the driving moving mass movement of zigzag driving signal is smaller, the lower problem of drive efficiency.For up to
To above-mentioned purpose, the invention provides the following technical scheme:
In a first aspect, a kind of drive control method of piezoelectric actuator is provided, described piezoelectric actuator one end
It is connected with the moving mass placed on the contact surface, the other end is connected with mass block, which comprises
Determine the frictional force between the moving mass and the contact surface；
The second order driving signal of the piezoelectric actuator is determined using the quality of the frictional force and the mass block
Aimed acceleration；
The second order driving signal is generated according to the aimed acceleration, the second order driving signal includes multiple driving weeks
Phase, each drive cycle include the boost phase with the aimed acceleration, and the decompression after the boost phase
Stage；
The moving mass is driven to move using the second order driving signal.
Optionally, the quality using the frictional force and the mass block determines the two of the piezoelectric actuator
The aimed acceleration of rank driving signal, comprising:
Calculate the ratio of the quality of the frictional force and the mass block；
The positive number for being less than or equal to the ratio is determined as the aimed acceleration.
Optionally, each drive cycle of the second order driving signal further includes after the buck stage and voltage
Less than or equal to the buffer stage of predeterminated voltage.
It is optionally, described that the second order driving signal is generated according to the aimed acceleration, comprising:
The buffer stage of each drive cycle adds vibration signal in the second order driving signal.
Optionally, the voltage of the buffer stage is 0.
Second aspect provides a kind of drive dynamic control device of piezoelectric actuator, described piezoelectric actuator one end
It is connected with the moving mass placed on the contact surface, the other end is connected with mass block, and described device includes:
Frictional force determining module, for determining the frictional force between the moving mass and the contact surface；
Acceleration determining module, for determining that the piezoelectric ceramics causes using the quality of the frictional force and the mass block
The aimed acceleration of the second order driving signal of dynamic device；
Signal generation module, for generating the second order driving signal, the second order driving according to the aimed acceleration
Signal includes multiple drive cycles, and each drive cycle includes the boost phase with the aimed acceleration, and described
Buck stage after boost phase；
Drive control module, for driving the moving mass to move using the second order driving signal.
Optionally, the acceleration determining module, is used for:
Calculate the ratio of the quality of the frictional force and the mass block；
The positive number for being less than or equal to the ratio is determined as the aimed acceleration.
Optionally, each drive cycle of the second order driving signal further includes after the buck stage and voltage
Less than or equal to the buffer stage of predeterminated voltage.
Optionally, the signal generation module, is used for:
The buffer stage of each drive cycle adds vibration signal in the second order driving signal.
Optionally, the voltage of the buffer stage is 0.
The beneficial effects of the present invention are: by determining the frictional force between moving mass and contact surface；Using frictional force and
The quality of mass block determines the aimed acceleration of the second order driving signal of piezoelectric actuator；Two are generated according to aimed acceleration
Rank driving signal, second order driving signal include multiple drive cycles, and each drive cycle includes the boosting with aimed acceleration
Stage, and the buck stage after boost phase；It is moved using second order driving signal driving moving mass；It can solve use
The displacement of driving moving mass is smaller when zigzag driving signal drives moving mass movement, the lower problem of drive efficiency；Due to two
Rank driving signal pushes moving mass in boost phase with consistently acceleration, so that moving mass will not generate negative sense displacement；In addition,
In the same time with constant acceleration boost to maximum voltage can be generated compared at the uniform velocity to boost to maximum voltage it is bigger
Inertia force improves the drive efficiency of piezoelectric actuator to push moving mass to generate more positive-displacements.
In addition, since piezoelectric actuator inertia is larger, can terminate in buck stage after being boosted with constant acceleration
After to continue to press on moving mass mobile, to achieve the effect that save resource.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.
Detailed description of the invention
Fig. 1 is the schematic diagram of the drive control process for the existing piezoelectric actuator that the prior art provides；
Fig. 2 is the flow chart of the drive control method for the piezoelectric actuator that the application one embodiment provides；
Fig. 3 is the schematic diagram of the drive control process for the piezoelectric actuator that the application one embodiment provides；
Fig. 4 is the schematic diagram of the vibration signal of the buffer stage for the second order driving signal that the application one embodiment provides；
Fig. 5 is the schematic diagram of the jagged driving signal that the application one embodiment provides and moving mass displacement relation；
Fig. 6 is the schematic diagram of the second order driving signal that the application one embodiment provides and moving mass displacement relation；
Fig. 7 is the comparison signal of displacement relation when the different driving signal that the application one embodiment provides drives moving mass
Figure；
Fig. 8 is the block diagram of the drive dynamic control device for the piezoelectric actuator that the application one embodiment provides.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
The driving signal of existing piezoelectric actuator is as shown in Figure 1.As can be seen from FIG. 1, which is sawtooth
Shape driving signal, the zigzag driving signal include two stages, are respectively as follows: drop shown in boost phase and 2-3 shown in 1-2
The pressure stage.
The boost phase shown in 1-2, deformation occurs that driving mass block is mobile to first direction for piezoelectric actuator, position
Moving is Ap；Moving mass, since the inertial impact force generated in moment overcomes frictional force, makes moving mass to second direction in boosting
Movement generates negative sense displacement.First direction is opposite with first direction.
The buck stage shown in 2-3, piezoelectric actuator restore and drive mass block mobile to second direction, movement
Block is mobile to first direction, is displaced as Sstep。
According to the above process it is found that the drive control method of existing piezoelectric actuator shown in FIG. 1 at least exists
Following problems:
1, negative sense displacement can be generated to moving mass when boost phase starts, finally will lead to asking for single step displacement reduction
Topic；
2, boost phase ramps, and piezoelectric actuator can not be made to generate biggish inertia in a short time and pushed
Dynamic moving mass leads to the problem of more positive-displacements.
Based on above-mentioned technical problem, in the present embodiment, the driving signal of boost phase shown in 1-2 is optimized for second order and is driven
Dynamic signal, so that second order driving signal pushes moving mass in boost phase with consistently acceleration, so that moving mass will not generate
Negative sense displacement；In addition, in the same time with constant acceleration boost to maximum voltage at the uniform velocity to boost to maximum voltage phase
Than bigger inertia force can be generated to push moving mass to generate more positive-displacements, the driving of piezoelectric actuator is improved
Efficiency.
In addition, since piezoelectric actuator inertia is larger, can terminate in buck stage after being boosted with constant acceleration
After to continue to press on moving mass mobile, to achieve the effect that save resource.
Fig. 2 is the flow chart of the drive control method for the piezoelectric actuator that the application one embodiment provides.For
In piezoelectric actuator, described piezoelectric actuator one end is connected with the moving mass placed on the contact surface, and the other end connects
It is connected to mass block, this method includes at least following steps:
Step 201, the frictional force between moving mass and contact surface is determined.
Optionally, frictional force between moving mass and contact surface can be obtains by test of many times；Alternatively, can also be with
It is to be calculated by establishing Frictional model.
Step 202, the mesh of the second order driving signal of piezoelectric actuator is determined using the quality of frictional force and mass block
Mark acceleration.
Optionally, the target of the second order driving signal of piezoelectric actuator is determined using the quality of frictional force and mass block
Acceleration, comprising: calculate the ratio of the quality of frictional force and mass block；The positive number for being less than or equal to ratio is determined as target to add
Speed.
Determine that the aimed acceleration of the second order driving signal of piezoelectric actuator can be indicated by following formula:
Wherein, apmFor aimed acceleration (m/s2)；Frictional force (N) of the f between moving mass and contact surface；miFor mass block
Quality (g).
Step 203, second order driving signal is generated according to aimed acceleration.
Wherein, second order driving signal includes multiple drive cycles, and each drive cycle includes the liter with aimed acceleration
Pressure stage, and the buck stage after boost phase.
Optionally, each drive cycle of second order driving signal further includes after buck stage and voltage is lower than default
The buffer stage of voltage.
With reference to second order driving signal shown in Fig. 3, the second order driving signal include boost phase 1-2, buck stage 2-3 and
Buffer stage 3-4.
In boost phase 1-2, with constant aimed acceleration apmRise, piezoelectric actuator deformation occurs driving quality
Block is mobile to first direction, is displaced as Ap.Piezoelectric actuator generates constant inertial impact force, inertial impact force cannot gram
Frictional force is taken, at this point, being in viscous state between moving mass and contact surface, negative sense displacement will not be generated.When the electricity of driving signal
When pressure reaches maximum, the speed of piezoelectric actuator and mass block reaches maximum at this time, this will facilitate more in sliding phase
Big inertial impact force generates, so that moving mass generates bigger displacement.In addition, reaching the maximum voltage of boost phase 1-2 needs
Want the shorter time.
The buck stage shown in 2-3, piezoelectric actuator restore and drive mass block mobile to second direction, movement
Block is mobile to first direction.First direction is opposite with second direction.
The buffer stage shown in 3-4, piezoelectric actuator keep former long.At this point, there may be three kinds of shapes for moving mass
State: the first, there is positive kinetic energy in moving mass, at this point, moving mass continues to keep positive position when moving mass has positive kinetic energy
It moves, until stop motion.Second, there are negative sense kinetic energy for moving mass, at this point, moving mass, which generates, will generate negative sense displacement, if
There is no buffer stage, will lead to moving mass in boost phase, generate bigger negative sense displacement.The third, there is no dynamic for moving mass
Can, at this point it is possible to not add buffer stage.
Wherein, the kinetic energy of moving mass can be obtained by calculation.
In one example, the buffer stage of each drive cycle adds vibration signal in second order driving signal.Vibration
Signal is used to reduce the frictional force between moving mass and contact surface, in this way, the distance that moving mass can be made to move is farther.With reference to
The vibration signal of buffer stage shown in Fig. 4.
In another example, predeterminated voltage 0.
Step 204, it is moved using second order driving signal driving moving mass.
In order to more clearly indicate piezoelectric actuator provided by the present application drive control method effect, with reference to figure
With the misalignment of moving mass when traditional zigzag driving signal driving moving mass movement, (top curve is displacement shown in 5
Curve, lower curve are driving signal).As can be seen from FIG. 5, moving mass is displaced 8 μm or so in 1ms.
With reference to shown in fig. 6 with second order driving signal provided by the present application (not including buffer stage) driving moving mass movement
When moving mass misalignment (top curve is displacement curve, and lower curve is driving signal).As can be seen from FIG. 6, in 1ms
Moving mass is displaced 10 μm or so.
With reference to shown in Fig. 7 with moving mass when traditional zigzag driving signal driving moving mass movement provided by the present application
Misalignment (bottom curve), second order driving signal (buffer stage is not added with vibration signal) driving moving mass movement when move
Misalignment (intermediate curve) and second order driving signal (buffer stage addition vibration signal) the driving moving mass of block move luck
The misalignment (top curve) of motion block.As can be seen from FIG. 7, second order driving signal (buffer stage addition vibration signal) driving fortune
Displacement time when displacement is maximum when motion block moves, second order driving signal (buffer stage addition vibration signal) driving moving mass moves
It, the driving moving mass movement of zigzag driving signal when moving mass displacement it is minimum.
In conclusion the drive control method of piezoelectric actuator provided in this embodiment, by determine moving mass with
Frictional force between contact surface；The second order driving signal of piezoelectric actuator is determined using the quality of frictional force and mass block
Aimed acceleration；Second order driving signal is generated according to aimed acceleration, second order driving signal includes multiple drive cycles, each drive
The dynamic period includes the boost phase with aimed acceleration, and the buck stage after boost phase；It is driven using second order
Signal drives moving mass movement；It can solve the displacement that moving mass is driven when moving using zigzag driving signal driving moving mass
It is smaller, the lower problem of drive efficiency；Since second order driving signal pushes moving mass in boost phase with consistently acceleration, make
Negative sense displacement will not be generated by obtaining moving mass；In addition, in the same time with constant acceleration boost to maximum voltage with at the uniform velocity
Maximum voltage is boosted to compared to bigger inertia force can be generated to push moving mass to generate more positive-displacements, improves piezoelectricity
The drive efficiency of ceramic actuator.
In addition, since piezoelectric actuator inertia is larger, can terminate in buck stage after being boosted with constant acceleration
After to continue to press on moving mass mobile, to achieve the effect that save resource.
In addition, can reduce the frictional force between moving mass and contact surface by introducing vibration signal in buffer stage, from
And the distance that moving mass is moved is farther.
Fig. 8 is the block diagram for the battery charge cutoff voltage determining device that another embodiment of the application provides.The device is used
In piezoelectric actuator, piezoelectric actuator one end is connected with the moving mass placed on the contact surface, other end connection
There is mass block.The device includes at least following module: frictional force determining module 810, acceleration determining module 820, signal
Generation module 830 and drive control module 840.
Frictional force determining module 810, for determining the frictional force between the moving mass and the contact surface；
Acceleration determining module 820, for determining that the piezoelectricity is made pottery using the quality of the frictional force and the mass block
The aimed acceleration of the second order driving signal of porcelain actuator；
Signal generation module 830, for generating the second order driving signal according to the aimed acceleration, the second order is driven
Dynamic signal includes multiple drive cycles, and each drive cycle includes the boost phase with the aimed acceleration, and in institute
State the buck stage after boost phase；
Drive control module 840, for driving the moving mass to move using the second order driving signal.
Optionally, the acceleration determining module 820, is used for:
Calculate the ratio of the quality of the frictional force and the mass block；
The positive number for being less than or equal to the ratio is determined as the aimed acceleration.
Optionally, each drive cycle of the second order driving signal further includes after the buck stage and voltage
Less than or equal to the buffer stage of predeterminated voltage.
Optionally, the signal generation module 830, is used for:
The buffer stage of each drive cycle adds vibration signal in the second order driving signal.
Optionally, the voltage of the buffer stage is 0.
Correlative detail refers to above method embodiment.
It should be understood that the drive dynamic control device of the piezoelectric actuator provided in above-described embodiment is carrying out piezoelectricity
When the drive control of ceramic actuator, only the example of the division of the above functional modules, in practical application, Ke Yigen
Above-mentioned function distribution is completed by different functional modules according to needs, i.e., by the drive dynamic control device of piezoelectric actuator
Internal structure is divided into different functional modules, to complete all or part of the functions described above.In addition, above-described embodiment
The drive dynamic control device of the piezoelectric actuator of offer and the drive control embodiment of the method for piezoelectric actuator belong to together
One design, specific implementation process are detailed in embodiment of the method, and which is not described herein again.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of drive control method of piezoelectric actuator, described piezoelectric actuator one end, which is connected with, is placed on contact
Moving mass on face, the other end are connected with mass block, which is characterized in that the described method includes:
Determine the frictional force between the moving mass and the contact surface；
The mesh of the second order driving signal of the piezoelectric actuator is determined using the quality of the frictional force and the mass block
Mark acceleration；
The second order driving signal is generated according to the aimed acceleration, the second order driving signal includes multiple drive cycles,
Each drive cycle includes the boost phase with the aimed acceleration, and the decompression rank after the boost phase
Section；
The moving mass is driven to move using the second order driving signal.
2. the method according to claim 1, wherein the quality using the frictional force and the mass block
Determine the aimed acceleration of the second order driving signal of the piezoelectric actuator, comprising:
Calculate the ratio of the quality of the frictional force and the mass block；
The positive number for being less than or equal to the ratio is determined as the aimed acceleration.
3. the method according to claim 1, wherein each drive cycle of the second order driving signal further includes
After the buck stage and voltage is less than or equal to the buffer stage of predeterminated voltage.
4. according to the method described in claim 3, it is characterized in that, described generate the second order drive according to the aimed acceleration
Dynamic signal, comprising:
The buffer stage of each drive cycle adds vibration signal in the second order driving signal.
5. according to the method described in claim 3, it is characterized in that, the voltage of the buffer stage is 0.
6. a kind of drive dynamic control device of piezoelectric actuator, described piezoelectric actuator one end, which is connected with, is placed on contact
Moving mass on face, the other end are connected with mass block, which is characterized in that described device includes:
Frictional force determining module, for determining the frictional force between the moving mass and the contact surface；
Acceleration determining module, for determining the piezoelectric actuator using the quality of the frictional force and the mass block
Second order driving signal aimed acceleration；
Signal generation module, for generating the second order driving signal, the second order driving signal according to the aimed acceleration
Including multiple drive cycles, each drive cycle includes the boost phase with the aimed acceleration, and in the boosting
Buck stage after stage；
Drive control module, for driving the moving mass to move using the second order driving signal.
7. device according to claim 6, which is characterized in that the acceleration determining module is used for:
Calculate the ratio of the quality of the frictional force and the mass block；
The positive number for being less than or equal to the ratio is determined as the aimed acceleration.
8. device according to claim 6, which is characterized in that each drive cycle of the second order driving signal further includes
After the buck stage and voltage is less than or equal to the buffer stage of predeterminated voltage.
9. device according to claim 8, which is characterized in that the signal generation module is used for:
The buffer stage of each drive cycle adds vibration signal in the second order driving signal.
10. device according to claim 8, which is characterized in that the voltage of the buffer stage is 0.
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| CN111274681A (en) * | 2020-01-15 | 2020-06-12 | 苏州大学 | Motion simulation method and device driven by inertial stick-slip |
| CN112260579A (en) * | 2020-09-12 | 2021-01-22 | 西安交通大学 | Piezoelectric actuator capable of keeping displacement in power-off state and time-sharing driving actuation method |
| CN113411008A (en) * | 2020-03-16 | 2021-09-17 | 精工爱普生株式会社 | Piezoelectric driving device and control method thereof |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111274681A (en) * | 2020-01-15 | 2020-06-12 | 苏州大学 | Motion simulation method and device driven by inertial stick-slip |
| CN111274681B (en) * | 2020-01-15 | 2023-12-01 | 苏州大学 | Motion simulation method and device for inertial stick-slip drive |
| CN113411008A (en) * | 2020-03-16 | 2021-09-17 | 精工爱普生株式会社 | Piezoelectric driving device and control method thereof |
| CN113411008B (en) * | 2020-03-16 | 2023-12-26 | 精工爱普生株式会社 | Piezoelectric driving device and control method thereof |
| CN112260579A (en) * | 2020-09-12 | 2021-01-22 | 西安交通大学 | Piezoelectric actuator capable of keeping displacement in power-off state and time-sharing driving actuation method |
| CN112260579B (en) * | 2020-09-12 | 2021-09-03 | 西安交通大学 | Time-sharing driving actuation method of piezoelectric actuator capable of keeping displacement in outage state |
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