CN112152505B - Drive circuit and speed regulation method of ultrasonic motor - Google Patents
Drive circuit and speed regulation method of ultrasonic motor Download PDFInfo
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- CN112152505B CN112152505B CN202010464529.4A CN202010464529A CN112152505B CN 112152505 B CN112152505 B CN 112152505B CN 202010464529 A CN202010464529 A CN 202010464529A CN 112152505 B CN112152505 B CN 112152505B
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- 230000000694 effects Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 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
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/0075—Electrical details, e.g. drive or control circuits or methods
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Abstract
The invention discloses a driving circuit and a speed regulating method of an ultrasonic motor, and belongs to the technical field of driving circuits. The drive circuit includes: the ultrasonic motor driving device comprises a direct current voltage source, a controller and at least one group of driving components, wherein each driving component comprises an electronic switch and a driving inductor, the control end of each electronic switch is connected with the controller, the first connecting end of each electronic switch is connected to the output end of the direct current voltage source, the second connecting end of each electronic switch is used for being connected with the ultrasonic motor, and the third connecting end of each electronic switch is grounded through the driving inductor; when the electronic switch receives the high-level control signal, a third connecting end inside the electronic switch is connected with the first connecting end, and the third connecting end is disconnected with the first connecting end; when the control end of the electronic switch receives the low-level control signal, the third connecting end inside the electronic switch is disconnected with the first connecting end, and the third connecting end is connected with the first connecting end, so that the effect of adjusting the speed of the ultrasonic motor is achieved.
Description
Technical Field
The invention relates to the technical field of driving circuits, in particular to a driving circuit and a speed regulating method of an ultrasonic motor.
Background
The ultrasonic motor has a series of advantages of simple and compact structure, easy miniaturization, fast response and braking, power failure self-locking, good control characteristic, high positioning precision, no magnetism, no influence of a magnetic field, low speed, large torque, small noise and the like, and has wide application prospect and use value in the high and new technical fields of aviation, aerospace, medical treatment, robots, precise instruments and meters and the like.
The ultrasonic motor has three speed regulation strategies, namely three principles of frequency modulation, phase modulation potential difference and voltage regulation, and the speed regulation of the ultrasonic motor is one of key technologies for the development of the ultrasonic motor.
Disclosure of Invention
In order to solve the problem of speed regulation of an ultrasonic motor in the prior art, the embodiment of the invention provides a driving circuit and a speed regulation method of the ultrasonic motor. The technical scheme is as follows:
in a first aspect, a driving circuit of an ultrasonic motor is provided, including: the driving component comprises an electronic switch and a driving inductor, a control end of the electronic switch is connected with the corresponding output interface, a first connecting end of the electronic switch is connected to the output end of the direct-current voltage source, a second connecting end of the electronic switch is used for being connected with an ultrasonic motor, and a third connecting end of the electronic switch is grounded through the driving inductor; when the control end of the electronic switch receives a high-level control signal, the third connecting end inside the electronic switch is connected with the first connecting end, and the third connecting end is disconnected with the second connecting end; when the control end of the electronic switch receives a low-level control signal, the third connecting end inside the electronic switch is disconnected with the first connecting end, and the third connecting end is connected with the second connecting end.
Optionally, the driving circuit includes two sets of driving components and is a first driving component and a second driving component, respectively, and the controller includes a first output interface and a second output interface, where: the control end of an electronic switch in the first driving assembly is electrically connected with the first output interface, and the second connecting end of the electronic switch in the first driving assembly is used for being connected with the first phase of the ultrasonic motor; and the control end of an electronic switch in the second driving assembly is electrically connected with the second output interface, and the second connecting end of the electronic switch in the second driving assembly is used for being connected with the second phase of the ultrasonic motor.
Optionally, the controller provides a first pulse width modulation signal to the electronic switch in the first driving assembly through a first output interface thereof, and the controller provides a second pulse width modulation signal to the electronic switch in the second driving assembly through a second output interface thereof, where the first pulse width modulation signal and the second pulse width modulation signal have the same frequency and the same duty ratio.
In a second aspect, there is provided a speed control method for an ultrasonic motor, which is applied to the drive circuit according to the first aspect and any one of the optional embodiments of the first aspect, the method including: outputting a pulse width modulation signal to a control end of an electronic switch in a driving assembly of the ultrasonic motor to be regulated; and increasing or decreasing the duty ratio of the pulse width modulation signal to adjust the speed of the ultrasonic motor to be regulated.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
by providing a driver circuit, the driver circuit has two modes of operation: the direct-current voltage source charges the inductor; the inductor discharges to form LCR oscillation with the ultrasonic motor to realize driving, and a transformer is not adopted any more, so that the circuit complexity and the volume of a driving circuit are reduced; meanwhile, the speed of the ultrasonic motor can be adjusted by controlling the duration of the two working modes; the problem of speed regulation of the ultrasonic motor in the prior art is solved; the effect of realizing the speed regulation control of the ultrasonic motor is achieved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a drive assembly of a drive circuit for an ultrasonic motor according to one embodiment of the present invention;
fig. 2 is a circuit diagram of a driving circuit of an ultrasonic motor according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Referring to fig. 1, a schematic diagram of a driving circuit of an ultrasonic motor according to an embodiment of the present invention is shown. As shown in fig. 1, the drive circuit of the ultrasonic motor includes: the method comprises the following steps: the ultrasonic motor driving device comprises a direct-current voltage source Ud, a controller (not shown in the figure) and at least one group of driving components, wherein each group of driving components corresponds to one output interface of the controller, each driving component comprises an electronic switch and a driving inductor, a control end COM of the electronic switch is connected with the corresponding controller output interface, a first connecting end S1 of the electronic switch is connected to the output end of the direct-current voltage source Ud, a second connecting end S2 of the electronic switch is used for being connected with an ultrasonic motor, and a third connecting end D of the electronic switch is grounded through the driving inductor;
when the control end COM of the electronic switch receives the high-level control signal, the third connection end D in the electronic switch is connected with the first connection end S1, and the third connection end D is disconnected with the second connection end S2; when the control end COM of the electronic switch receives the low level control signal, the third connection end D inside the electronic switch is disconnected from the first connection end S1, and the third connection end D is connected with the second connection end S2. In practical implementation, the electronic switch may be a single-pole double-throw analog switch.
Specifically, when the control terminal COM of the electronic switch receives a high-level control signal, the third connection terminal D inside the electronic switch is connected with the first connection terminal S1, and the direct-current voltage source Ud supplies voltage to the driving inductor for charging; when the control end COM of the electronic switch receives a low-level control signal, the third connecting end D in the electronic switch is connected with the second connecting end S2 to drive the electric energy stored in the inductor to be released; because the ultrasonic motor is a capacitive load and forms an LCR oscillation circuit with the formed driving inductor, the driving voltage provided by the driving component to the ultrasonic motor is a sine voltage required by the driving of the ultrasonic motor, and the frequency and the amplitude of the driving voltage are jointly determined by the driving inductor and an equivalent circuit of the ultrasonic motor.
In this application, by providing a driving circuit, the driving circuit includes at least one set of driving components, and each set of driving components has two working modes: the direct-current voltage source charges the inductor; the inductor discharges to form LCR oscillation with the ultrasonic motor to realize driving, and the circuit complexity and the volume of the driving circuit are reduced by driving in a resonance boosting mode instead of a transformer; meanwhile, the speed of the ultrasonic motor can be adjusted by controlling the working time of the two working modes; the problem of speed regulation of the ultrasonic motor in the prior art is solved; the effect of realizing the speed regulation control of the ultrasonic motor is achieved.
Optionally, the controller outputs a pulse width modulation signal to a control terminal COM of an electronic switch in the driving assembly, and a duty ratio of the pulse width modulation signal is in positive correlation with the speed of the ultrasonic motor. Specifically, the charging time of the driving inductor can be adjusted by adjusting the duty ratio of the pulse width modulation signal, so that the voltage amplitude of the ultrasonic motor is controlled, and the motor speed regulation function is finally realized.
Optionally, the ultrasonic motor is exemplified by two phases, the driving circuit includes two sets of driving components, which are respectively a first driving component and a second driving component, and the control circuit includes a first output interface and a second output interface, where: a control end COM of the electronic switch U1 in the first driving assembly is electrically connected to the first output interface, a second connection end S2 of the electronic switch U1 in the first driving assembly is used for being connected to a first phase (for example, phase a) of the first ultrasonic motor, a first connection end S1 of the electronic switch U1 is connected to the direct-current voltage source Ud, and a third connection end of the electronic switch U1 is grounded to GND through a driving inductor L1;
the control end COM of the electronic switch U2 in the second driving assembly is electrically connected to the second output interface, the second connection end S2 of the electronic switch U2 in the second driving assembly is used for being connected to the second phase of the ultrasonic motor, the first connection end S1 of the electronic switch U2 is connected to the dc voltage source Ud, and the third connection end of the electronic switch U2 is grounded to GND through the driving inductor L2.
In practical implementation, the controller provides a first pulse width modulation signal to the electronic switch U1 in the first driving assembly through the first output interface, and the controller provides a second pulse width modulation signal to the electronic switch U2 in the second driving assembly through the second output interface, where the first pulse width modulation signal and the second pulse width modulation signal have the same frequency and the same duty ratio. Alternatively, when the ultrasonic motor is 2-phase, the phase angle difference between the first pulse width modulation signal and the second pulse width modulation signal may be 90 °.
The present application further provides a speed adjusting method for an ultrasonic motor, which is applied to a driving circuit of the ultrasonic motor according to the above embodiment, and specifically applicable to a controller of the driving circuit, and the method includes: outputting a pulse width modulation signal to a control end COM of an electronic switch in a driving assembly of the ultrasonic motor to be regulated; and increasing or decreasing the duty ratio of the pulse width modulation signal to adjust the speed of the ultrasonic motor to be regulated. Specifically, the charging time of the driving inductor is increased by increasing the duty ratio of the pulse width modulation signal so as to improve the speed of the ultrasonic motor; by reducing the duty cycle of the pulse width modulation signal, the charging duration of the drive inductor is reduced to reduce the speed of the ultrasonic motor.
In this application, two-phase driving of the ultrasonic motor is exemplified, that is, the driving circuit provides two-phase driving signals for description, and in practical implementation, the driving circuit may also provide multi-phase driving signals. For example, the inverter circuit includes a third driving component and a fourth driving component, the controller includes a third output interface and a fourth output interface, the third driving component is connected to the third phase of the ultrasonic motor, the fourth driving component is connected to the fourth phase of the ultrasonic motor, the connection circuit of the third driving component can refer to the first driving component, and the connection circuit of the fourth driving component can refer to the second driving component, which is not repeated here. If the ultrasonic motor has 2n phases (n is greater than 1), the number of the driving components in the inverter circuit is 2n, the output interface of the controller is 2n, and the connection relationship can refer to the connection mode of each group of driving components in the embodiments provided by the present application, which is not repeated herein.
The terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying a number of the indicated technical features. Thus, a defined feature of "first", "second", may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (5)
1. A drive circuit of an ultrasonic motor, comprising: the driving component comprises an electronic switch and a driving inductor, the control end of the electronic switch is connected with the corresponding output interface, the first connecting end of the electronic switch is connected to the output end of the direct-current voltage source, the second connecting end of the electronic switch is used for being connected with an ultrasonic motor, and the third connecting end of the electronic switch is grounded through the driving inductor;
when the control end of the electronic switch receives a high-level control signal, the third connecting end inside the electronic switch is connected with the first connecting end, and the third connecting end is disconnected with the second connecting end; the direct current voltage source supplies voltage to the driving inductor for charging; when the control end of the electronic switch receives a low-level control signal, the third connecting end in the electronic switch is disconnected with the first connecting end, and the third connecting end is connected with the second connecting end; the driving inductor and the ultrasonic motor form LCR oscillation to drive the ultrasonic motor in a resonance boosting mode.
2. The driving circuit of claim 1, wherein the driving circuit comprises two sets of driving components, namely a first driving component and a second driving component, and the controller comprises a first output interface and a second output interface, wherein:
the control end of an electronic switch in the first driving assembly is electrically connected with the first output interface, and the second connecting end of the electronic switch in the first driving assembly is used for being connected with the first phase of the ultrasonic motor;
and the control end of an electronic switch in the second driving assembly is electrically connected with the second output interface, and the second connecting end of the electronic switch in the second driving assembly is used for being connected with the second phase of the ultrasonic motor.
3. The driving circuit according to claim 2, wherein the controller provides a first pwm signal to the electronic switch in the first driving assembly through a first output interface thereof, and the controller provides a second pwm signal to the electronic switch in the second driving assembly through a second output interface thereof, and the first pwm signal and the second pwm signal have the same frequency and the same duty ratio.
4. The drive circuit of claim 1, wherein the second connection terminal of the electronic switch in each set of drive components is configured to be connected to an ultrasonic motor, wherein:
the controller outputs a pulse width modulation signal to the control end of the electronic switch in the driving assembly, and the duty ratio of the pulse width modulation signal is in positive correlation with the speed of the ultrasonic motor.
5. A speed regulating method of an ultrasonic motor applied to a drive circuit of the ultrasonic motor according to any one of claims 1 to 4, the method comprising:
outputting a pulse width modulation signal to a control end of an electronic switch in a driving assembly of the ultrasonic motor to be regulated;
and increasing or decreasing the duty ratio of the pulse width modulation signal to adjust the speed of the ultrasonic motor to be regulated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010464529.4A CN112152505B (en) | 2020-05-27 | 2020-05-27 | Drive circuit and speed regulation method of ultrasonic motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010464529.4A CN112152505B (en) | 2020-05-27 | 2020-05-27 | Drive circuit and speed regulation method of ultrasonic motor |
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| CN112152505A CN112152505A (en) | 2020-12-29 |
| CN112152505B true CN112152505B (en) | 2021-11-16 |
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| CN112152505A (en) | 2020-12-29 |
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