CN1543052B - High-low voltage driving method for improving piezoelectric ultrasonic motor stepping resolution ratio and reducing driving energy consumption - Google Patents
High-low voltage driving method for improving piezoelectric ultrasonic motor stepping resolution ratio and reducing driving energy consumption Download PDFInfo
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- CN1543052B CN1543052B CN 200310103163 CN200310103163A CN1543052B CN 1543052 B CN1543052 B CN 1543052B CN 200310103163 CN200310103163 CN 200310103163 CN 200310103163 A CN200310103163 A CN 200310103163A CN 1543052 B CN1543052 B CN 1543052B
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Abstract
This invention discloses a high and low voltage driving method for increasing piezo supersonic motor step resolution based on the character that the barrier voltage maintaining the operation of the motor is lower than that of starting. Different driving voltages to the uniform electrodes of piezo ceramics at different time intervals are controlled to reduce the influence of the tail wave effect brought by high start barrier voltage to the brake. Test shows that the step angle increases from the smallest 1 minute 15 angle seconds by ordinary drive to the smallest 23 angle seconds from the high-low voltage drive and the step resolution increases more than two times. This method extends to big step and continuous control, so that low voltage drive is applied at work to reduce energy cost.
Description
Technical field
The invention belongs to piezoelectric ultrasound motor control technology field, particularly a kind of high-low pressure driving method that improves the step resolution of piezoelectric ultrasound motor and reduce energy consumption.
Background technology
Piezoelectric ultrasound motor has high displacement resolution and characteristics such as big moment, the slow-speed of revolution, is a kind of high rigidity, high response speed, high-precision next-generation drive that can directly drive load.It can constitute high confining force, and the drive system of low noise realizes miniaturization and intellectuality easily.So piezoelectric ultrasound motor is in the fields such as travel mechanism, transmission system and robot of precision optical machinery, measuring instrument, application prospect is boundless.
For piezoelectric ultrasound motor, a sill voltage is arranged, use the high-frequency drive power supply be higher than this sill voltage could drive piezoelectric ultrasound motor, it is then low than this sill voltage to keep the piezoelectric ultrasound motor needed magnitude of voltage that turns round; To improve the high frequency characteristics of piezoelectric ultrasound motor driver in addition, just must improve conducting phase current forward position, just must fall the electric charge that fills in supersonic motor by rapid release and will make supersonic motor can get back to halted state fast, voltage is too high, phase current is inevitable very big at the beginning, it is also corresponding slow to discharge electric charge speed, and the coda wave of high pressure is disadvantageous for the braking of piezoelectric ultrasound motor in addition; In addition, the step angle of a minimum is arranged for piezoelectric ultrasound motor, this step angle is relevant with motor rotor material, relevant with the motor pretightning force, relevant with temperature, also relevant with driving, at present in the world seldom, and just still less to the research at minimum step angle to the research of ultrasonic step motor; In addition, the driving energy consumption of piezo-electric motor is relevant with the voltage that is provided, and is relevant with the duration of voltage.The present invention just is being based on a kind of method that improves step resolution of the type of drive proposition of ultrasonic motor, and this method is applied in piezoelectric ultrasound motor can reach the purpose that reduces energy consumption under the occasion of stepping and continuous operation greatly continuously.
Summary of the invention
The purpose of this invention is to provide a kind of high-low pressure driving method that improves the piezoelectric ultrasound motor step resolution and reduce the driving energy consumption, it is characterized in that: described high-low pressure driving method carries out in two steps: the driving use of first phase is greater than or equal to sill voltage U h and drives, and first driving time is T
1The alternating voltage Ul that is lower than sill voltage U h with alternating voltage mean value drives then, and second driving time is T
2Second then uses the alternating voltage Ul that is lower than sill voltage U h to drive mutually, and the 3rd driving time is T3; The power supply timing that above-mentioned high-low pressure driving method carries out in two steps is,
Described first is the pulse high level of being come by the control utmost point B point of MOS transistor Q1, Q2, C point mutually, opens MOS transistor Q1, Q2 simultaneously, ends because fast recovery diode D2 is anti-phase, so Ul does not power, and has only the Uh power supply, and the time is the first driving time T
1, the control utmost point A point of MOS transistor Q3 is a low level, Q3 ends; After B point, C point DC pulse, B point step-down level, Q1 ends, and the C point becomes the pulse input, and this moment, the time was T2 by alternating voltage Ul power supply; The level that the described second phase A is ordered then becomes the pulse of phase lag C point 90 degree, and the time is T3; Regulate driving time T1, T2, T3 can realize improving step resolution.
The invention has the beneficial effects as follows in the different time periods to add different voltage, reduced the adverse effect of coda wave effect that high startup sill voltage brings braking; Can obtain than only using the lower step angle of univoltage Uh power supply.The step resolution that obtains is than using the resulting step resolution of conventional method to improve more than 2 times.
For the motion of big step angle, regulate suitable T1, T2 and T3, make to be low-voltage Ul driving in main driving time T2, T3 time, thereby reach the purpose that reduces energy consumption.
For continuous motion, T2 and T3 are got final product time of continuous motion, equally also when continuous motion, adopt low pressure Ul to drive and reach the purpose that reduces energy consumption.
Description of drawings
Fig. 1 drives the power supply circuits schematic diagram of piezoelectric ultrasound motor for high-low pressure.
Fig. 2 is a piezoelectric ultrasound motor high-low pressure driving voltage sequential schematic diagram.
Embodiment
The present invention improves the piezoelectric ultrasound motor step resolution and reduces the high-low pressure driving method that drives energy consumption for a kind of.Described high-low pressure driving method carries out in two steps: the use of high drive method is greater than or equal to sill voltage U h and drives, and first driving time is T
1The alternating voltage Ul that is lower than sill voltage U h with alternating voltage mean value drives then, and second driving time is T
2The low-voltage driving method then uses the alternating voltage Ul that is lower than sill voltage U h to drive, and the 3rd driving time is T3; Below in conjunction with Fig. 1, Fig. 2 the power supply timing that above-mentioned high-low pressure driving method carries out is in two steps described.
In Fig. 1, the control utmost point of MOS transistor Q1, Q2, Q3 is respectively B point, C point and A point; The source electrode of MOS transistor Q2 by the elementary drain electrode of the first interstage transformer t1 with MOS transistor Q1 be connected, fast recovery diode D1 is connected across on the source electrode of MOS transistor Q1, Q2; The source electrode of the negative terminal of D1 and MOS transistor Q1 is connected sill voltage U h; The negative terminal of fast recovery diode D2 connects the drain electrode of MOS transistor Q1, positive termination alternating voltage Ul; Fast recovery diode D3 is connected across the elementary two ends of the second interstage transformer t2 that is connected with the source electrode of MOS transistor Q3, and the negative terminal of D3 meets alternating voltage Ul, and anode connects the source electrode of MOS transistor Q3; Therefore by the control utmost point B point of MOS transistor Q1, Q2, the pulse high level that C point comes, open MOS transistor Q1, Q2 simultaneously, end because fast recovery diode D2 is anti-phase, so Ul does not power, and have only Uh to power, the time is the first driving time T
1, the control utmost point A point of MOS transistor Q3 is a low level, Q3 ends; After B point, C point DC pulse, B point step-down level, Q1 ends, and the C point becomes the pulse input, and this moment, the time was T2 by alternating voltage Ul power supply; The level of ordering at A then becomes the pulse that phase lag C point 90 is spent, and the time is T3; Regulate driving time T1, T2, T3 can realize improving step resolution.
For the motion of big step angle, regulate suitable T1, T2 and T3, make to be low alternating voltage Ul driving in T2, T3 time, thereby reach the purpose that reduces energy consumption.
For continuous motion, T2 and T3 are got final product time of continuous motion, equally also when continuous motion, adopt low alternating voltage Ul to drive and reach the purpose that reduces energy consumption.
Employed D1, D2, D3 are fast recovery diode among Fig. 1, be beneficial to the release of electric charge under the high-frequency work situation, L1, L2 are the coupling inductance, the motor that adopted of experiment be the head-swinging type ultrasonic motor as experiment, 15 rads of experimental result step angles 1 minute from minimum step angle that common driving obtains are brought up to high-low pressure and are driven 23 rads at the minimum step angle that obtains.
Claims (3)
1. one kind is improved the piezoelectric ultrasound motor step resolution and reduces the high-low pressure driving method that drives energy consumption, and it is characterized in that: the use of high drive method is greater than or equal to sill voltage U h and drives, and first driving time is T
1The alternating voltage U1 that is lower than sill voltage U h with alternating voltage mean value drives then, and second driving time is T
2The low-voltage driving method then uses the alternating voltage U1 that is lower than sill voltage U h to drive, and the 3rd driving time is T3; The power supply timing of above-mentioned high-low pressure driving method is: according to the power supply circuits of high-low pressure driving piezoelectric ultrasound motor, the control utmost point of MOS transistor Q1, Q2, Q3 is respectively B point, C point and A point; The source electrode of MOS transistor Q2 by the elementary drain electrode of the first interstage transformer t1 with MOS transistor Q1 be connected, fast recovery diode D1 is connected across on the source electrode of MOS transistor Q1, Q2; The source electrode of the negative terminal of D1 and MOS transistor Q1 is connected sill voltage U h; The negative terminal of fast recovery diode D2 connects the drain electrode of MOS transistor Q1, positive termination alternating voltage U1; Fast recovery diode D3 is connected across the elementary two ends of the second interstage transformer t2 that is connected with the source electrode of MOS transistor Q3, and the negative terminal of D3 meets alternating voltage U1, and anode connects the source electrode of MOS transistor Q3; Therefore, when high level during by the control utmost point B point of MOS transistor Q1, Q2, the input of C point, open MOS transistor Q1, Q2 simultaneously, end because fast recovery diode D2 is anti-phase, so U1 does not power, and have only the Uh power supply, the time is the first driving time T
1, the control utmost point A point of MOS transistor Q3 is a low level, Q3 ends; After the DC pulse that B point, C are ordered, the B point becomes pulses low, and Q1 ends, and the C point becomes the pulse input, and this moment, second driving time was T2 by alternating voltage U1 power supply; The level of ordering at A then becomes the pulse that phase lag C point 90 is spent, and the 3rd driving time is T3; Regulate driving time T1, T2 and T3, can realize improving step resolution.
2. according to the described raising piezoelectric ultrasound motor of claim 1 step resolution and the high-low pressure driving method that reduces the driving energy consumption, it is characterized in that: described driving time T1, T2 and the T3 of regulating, make in T2, T3 time and drive for low alternating voltage U1, for the motion of big step angle, reach the purpose that reduces energy consumption.
3. according to the described raising piezoelectric ultrasound motor of claim 1 step resolution and the high-low pressure driving method that reduces the driving energy consumption, it is characterized in that: described driving time T1, T2 and the T3 of regulating, T2 and T3 are got final product time of continuous motion, for continuous motion, equally also when continuous motion, adopt low alternating voltage U1 to drive and reach the purpose that reduces energy consumption.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310103163 CN1543052B (en) | 2003-11-06 | 2003-11-06 | High-low voltage driving method for improving piezoelectric ultrasonic motor stepping resolution ratio and reducing driving energy consumption |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200310103163 CN1543052B (en) | 2003-11-06 | 2003-11-06 | High-low voltage driving method for improving piezoelectric ultrasonic motor stepping resolution ratio and reducing driving energy consumption |
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| CN1543052A CN1543052A (en) | 2004-11-03 |
| CN1543052B true CN1543052B (en) | 2010-04-28 |
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| CN 200310103163 Expired - Fee Related CN1543052B (en) | 2003-11-06 | 2003-11-06 | High-low voltage driving method for improving piezoelectric ultrasonic motor stepping resolution ratio and reducing driving energy consumption |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100705004B1 (en) * | 2005-07-11 | 2007-04-09 | 삼성전기주식회사 | Piezo actuator driver circuit |
| CN104022682B (en) * | 2014-06-25 | 2016-05-25 | 哈尔滨工业大学 | Bending vibration composite mode foot formula piezoelectric actuator across yardstick driving method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN86202716U (en) * | 1986-04-30 | 1986-12-10 | 周宁 | High-low voltage power for driving step motor |
| CN1359189A (en) * | 2001-12-14 | 2002-07-17 | 清华大学 | Three-dimension self-support swing type high-precision step piezoelectric ultrasonic motor and driving system |
| CN1445920A (en) * | 2002-03-15 | 2003-10-01 | 清华大学 | Plume type ultrasonic motor drive power supply with wide frequencies and high step accuracy |
| US6720705B2 (en) * | 2000-08-21 | 2004-04-13 | Matsushita Electric Industrial Co., Ltd. | Method of driving a piezoelectric transformer and power source apparatus using the same |
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2003
- 2003-11-06 CN CN 200310103163 patent/CN1543052B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN86202716U (en) * | 1986-04-30 | 1986-12-10 | 周宁 | High-low voltage power for driving step motor |
| US6720705B2 (en) * | 2000-08-21 | 2004-04-13 | Matsushita Electric Industrial Co., Ltd. | Method of driving a piezoelectric transformer and power source apparatus using the same |
| CN1359189A (en) * | 2001-12-14 | 2002-07-17 | 清华大学 | Three-dimension self-support swing type high-precision step piezoelectric ultrasonic motor and driving system |
| CN1445920A (en) * | 2002-03-15 | 2003-10-01 | 清华大学 | Plume type ultrasonic motor drive power supply with wide frequencies and high step accuracy |
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Granted publication date: 20100428 Termination date: 20121106 |