CN1848654A - Double-vibrating mode driving piezoelectric ceramic ultrasound wave electric machine small wave differential controlling method - Google Patents
Double-vibrating mode driving piezoelectric ceramic ultrasound wave electric machine small wave differential controlling method Download PDFInfo
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- CN1848654A CN1848654A CN 200610040476 CN200610040476A CN1848654A CN 1848654 A CN1848654 A CN 1848654A CN 200610040476 CN200610040476 CN 200610040476 CN 200610040476 A CN200610040476 A CN 200610040476A CN 1848654 A CN1848654 A CN 1848654A
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Abstract
A method for controlling wavelet differential motion of piezoelectric ceramic ultrasonic motor driven by double vibration mode includes providing wavelet voltage with frequency of 39.6 KH2 in N number of periods, making peak value of at least one period be greater then dead zone, using said voltage as a driving element and controlling sliding block speed by changing its output rate, dividing said voltage to be two paths and adding them on two sets of electrodes on said motor in differential way, controlling voltage D-value of said electrodes so as to control amplitude of vibration mode for changing oval motion trail of driving head.
Description
Technical field:
The present invention relates to the piezoelectric ceramic ultrasound electrical motor gearshift drive controlling method that double-vibrating mode drives, especially require the drive controlling method of nano grade positioning precision.
Background technology:
The piezoelectric ceramic ultrasound motor that double-vibrating mode drives is the New-type electric machine that development in recent years is got up, and it is quick, efficient, control is flexible, advantage of simple structure constantly enlarges its application; Because its power output is little, environmentally safe, volume are little, Continuous Drive and stepper drive one are finished, so more be applicable to instrument and microdevice processing equipment field, often there is very high requirement in these fields to positioning accuracy.Driving has two kinds of situations: one for shift length is known, and it can realize the positioning accuracy of requirement by closed-loop control; Another arrives the position, space for requiring, and shift length the unknown, at this moment then demanding open loop control precision; No matter be which kind of drives, desire realizes location fast, all requires speed and step pitch that well " controllability " arranged.
At present, one of type of drive that the piezoelectric ceramic ultrasound motor that double-vibrating mode drives adopts, it is the AC driving mode, be constant amplitude sinusoid voltage with one road 39.6KHz, excite the single order extensional vibration mode and the first-order bending vibration mode of motor stator simultaneously, driving head is moved along elliptical path; When slide block and driving head compressed, slide block can move in frictional force drives lower edge rectilinear direction; In this piezoelectric ceramic ultrasound motor two arrays of electrodes is arranged,, can change the direction of slide block movement by the electrode that switched voltage applies.The actuating speed of piezoelectric ceramic ultrasound motor increases along with the increase of driving voltage amplitude, but during with the aforesaid way controlling and driving, there is a control dead area, be that driving voltage is must be greater than a certain magnitude of voltage the time, just possible driving sliding block, therefore can't obtain the accurately desired microinching in location of nanoscale, particularly can not accomplish to drive complete cycle, make the positioning accuracy of open loop drive controlling be subjected to very big influence.The piezoelectric ceramic ultrasound motor that double-vibrating mode drives also has two kinds of type of drive: pulsed drive and DC driven.The former step pitch was determined by the duration of driving pulse, because of pulse length is difficult to and coupling complete cycle that drives ripple, experimental results show that the driving step pitch is non-constant, still can't realize fast accurately location when open loop is controlled; The latter's driving scope is too little, has only 300nm, the precision adjustment in the time of only being used for closed-loop control.Even above-mentioned three kinds of drive patterns are used, " controllability " of speed and step pitch is still undesirable, realizes that the location that meets the demands need take a long time.
Summary of the invention:
The present invention is for avoiding above-mentioned existing in prior technology weak point, the piezoelectric ceramic ultrasound wave electric machine small wave differential controlling method that provides a kind of double-vibrating mode to drive, with " controllability " of raising speed and step pitch, shorten the positioning time of slide block, improved the open loop positioning accuracy of slide block.
The technical scheme that technical solution problem of the present invention is adopted is:
The characteristics of method of the present invention are:
It is the little wave voltage of being made up of N cycle of 39.6KHz that driving voltage adopts frequency, little wave voltage with the described N of a having cycle is a driving unit, greater than the dead band magnitude of voltage, described N value is not less than 3 as a peak value that drives the waveform that has one-period in first little wave voltage at least; Two time interval t that drive between the unit are adjustable, and change described time interval t and promptly change small echo voltage output speed, thus the movement velocity of control slide block;
Adopt Differential Control, divide two-way with the described small echo voltage that is used to control, be added to simultaneously in differential mode on the two arrays of electrodes of piezoelectric ceramic ultrasound motor, by the small echo voltage difference on the control two arrays of electrodes, promptly control the amplitude of first-order bending vibration mode, to change the elliptic motion trace of driving head.
The characteristics of the inventive method also are the described little wave voltage that is divided into two-way, wherein one the tunnel directly be added on one group of electrode of piezoelectric ceramic ultrasound motor, another road is added on another group electrode of piezoelectric ceramic ultrasound motor by adding electric capacity, change the described size that adds electric capacity, promptly regulate the size that is added in little wave voltage on the electrode.
The inventive method is controlled the movement velocity of slide block by the output speed of controlling and driving unit; By the small echo voltage difference on the control two arrays of electrodes, change the single step positioning accuracy of slider displacement.Adopt the inventive method, the piezoelectric ceramic ultrasound motor that double-vibrating mode drives can be realized " controllability " of ram speed and step pitch fully under single interchange control model.
Prior art is compared, and the beneficial effect of the inventive method is embodied in:
1, the inventive method can make the movement velocity of slide block reduce arbitrarily, and operates steadily.And in the existing technology, being used for the pulsed drive pattern of low cruise, its pulse duration is difficult to and coupling complete cycle that drives ripple, is not constant so drive step pitch; Interchange control model in the prior art, owing to there is control dead area, the movement velocity of slide block also can't reduce arbitrarily.
2, the inventive method makes the slide block positioning accuracy improve an order of magnitude at least than the interchange control model in the prior art; Fine setting control precision under the DC control pattern in its single step positioning accuracy and the prior art compares favourably, but does not have intrinsic hysteresis phenomenon and the creep of piezoelectric ceramic under the DC control pattern, is easy to realize open loop control.Piezoelectric ceramic under the DC control pattern in the prior art, owing to have hysteresis phenomenon and creep, its positioning accuracy need guarantee by closed-loop control.
Description of drawings:
The piezoelectric ceramic ultrasound motor basic framework schematic diagram that Fig. 1 drives for double-vibrating mode.
Fig. 2 is the inventive method small echo Differential Control system schematic.
Fig. 3 drives first small echo voltage waveform view for two of the present invention.
Below by embodiment, and in conjunction with the accompanying drawings the inventive method is further specified.
Embodiment:
Referring to Fig. 1, A, B, C are three electrodes of the piezoelectric ceramic ultrasound motor of double-vibrating mode driving, and wherein, A, C form one group of electrode, and B, C form another group electrode; X is a single order extensional vibration mode, and y is a first-order bending vibration mode, and z is the elliptic motion trace of the compound driving head 1 of single order extensional vibration mode and first-order bending vibration mode.
Prior art be with the sinusoidal voltage Vac of 39.6KHz by S1, S2 direction diverter switch, be added on A, the C electrode respectively or B, C electrode on, with the direction of motion of control slide block 2; The movement velocity of slide block 2 then realizes by the size of control Vac.
Present embodiment adopts small echo Differential Control method, and system constitutes as shown in Figure 2, and " waveform combiner circuit " is used to produce the little wave voltage that dominant frequency is 39.6KHz; " small echo drives first trigger control circuit " is used to control small echo voltage output speed; " power amplification circuit " carries out power amplification to little wave voltage; " step-up transformer " be used for the small echo boost in voltage to can drive pressure voltage during the electroceramics machine operation, the parameter of step-up transformer and the equivalent capacity of piezoelectric ceramic motor have good resonance in Fig. 2.A, B, C are three electrodes of the piezoelectric ceramic ultrasound motor of double-vibrating mode driving, and A, C form one group of electrode, and B, C form another group electrode; C0 is for adding variable capacitance, can regulate continuously, also can divide several grades and regulate; S1, S2 switch switch synchronously, are used to control the direction of motion of slide block.
The two arrays of electrodes equivalence of piezoelectric ceramic ultrasound motor is an electric capacity, thereby changes the size that adds electric capacity, can regulate the size that is added to little wave voltage on the electrode.In the inventive method, it is big more to add electric capacity, and the amplitude of first-order bending vibration mode is just more little, and equivalent diminishes but the amplitude of single order extensional vibration mode can not diminish with the amplitude of first-order bending vibration mode.Here, the amplitude of first-order bending vibration mode has determined the single step displacement of slide block.This shows that increase adds electric capacity, can improve the single step positioning accuracy of slider displacement.According to actual needs, the size of electric capacity can be set to continuously adjustable, also can be set to several grades.
Control method:
The little wave voltage of being made up of N cycle of 39.6KHz frequency is provided by " waveform combiner circuit ", and be one with the little wave voltage in this N cycle and drive unit, Fig. 3 shows two and drives first small echo voltage waveform, drive the magnitude of voltage of the peak value of the waveform that has one-period in first little wave voltage at least at each greater than the dead band, the peak value in other cycle is less than dead band voltage, two time interval t that drive between the unit are adjustable, change time interval t and promptly change small echo voltage output speed, thereby the movement velocity of control slide block, the t value can be zero;
The small echo voltage that will be used to control divides two-way to be added to the two arrays of electrodes of piezoelectric ceramic ultrasound motor simultaneously in differential mode, wherein one tunnel little wave voltage directly is added on one group of electrode of piezoelectric ceramic ultrasound motor, the little wave voltage in another road is added on another group electrode of piezoelectric ceramic ultrasound motor by adding electric capacity, change the described size that adds electric capacity, promptly regulate the size that is added in little wave voltage on the electrode, by the small echo voltage difference on the control two arrays of electrodes, promptly control the amplitude of first-order bending vibration mode, to change the elliptic motion trace of driving head, promptly become the variable motion track by fixed motion track.
Claims (3)
1, the piezoelectric ceramic ultrasound wave electric machine small wave differential controlling method of double-vibrating mode driving is characterized in that:
It is the little wave voltage of being made up of N cycle of 39.6KHz that driving voltage adopts frequency, little wave voltage with the described N of a having cycle is a driving unit, greater than the dead band magnitude of voltage, described N value is not less than 3 as a peak value that drives the waveform that has one-period in first little wave voltage at least; Two time interval t that drive between the unit are adjustable, and change described time interval t and promptly change small echo voltage output speed, thus the movement velocity of control slide block;
Adopt Differential Control, divide two-way with the described small echo voltage that is used to control, be added to simultaneously in differential mode on the two arrays of electrodes of piezoelectric ceramic ultrasound motor, by the small echo voltage difference on the control two arrays of electrodes, promptly control the amplitude of first-order bending vibration mode, to change the elliptic motion trace of driving head.
2, control method according to claim 1, it is characterized in that the described little wave voltage that is divided into two-way, wherein one the tunnel directly be added on one group of electrode of piezoelectric ceramic ultrasound motor, another road is added on another group electrode of piezoelectric ceramic ultrasound motor by adding electric capacity, change the described size that adds electric capacity, promptly regulate the size that is added in little wave voltage on the electrode.
3, method according to claim 2, it is adjustable to it is characterized in that the described size that adds electric capacity is set to continuously, or be divided into several grades adjustable.
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| CNB2006100404763A CN100546165C (en) | 2006-05-17 | 2006-05-17 | The piezoelectric ceramic ultrasound wave electric machine small wave differential controlling method that double-vibrating mode drives |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101895231A (en) * | 2010-07-30 | 2010-11-24 | 北京大学 | Miniature two-degrees-of-freedom plane motion piezoelectric motor |
| CN103107735A (en) * | 2013-01-30 | 2013-05-15 | 东南大学 | Amplitude-and-phase control method of space phase-adjusting traveling-wave ultrasonic motor |
| CN103149348A (en) * | 2013-03-05 | 2013-06-12 | 天津大学 | Method for evaluating damage of grinding surface of advanced ceramics based on wavelet multi-scale analysis |
| CN104097113A (en) * | 2014-06-24 | 2014-10-15 | 苏州大学 | Single-stage driver positioning device and error compensation method |
| CN104410321A (en) * | 2014-12-09 | 2015-03-11 | 苏州科技学院 | Single-excitation ultrasound elliptic-vibration multi-vibrator material conveying device |
| CN111830295A (en) * | 2019-04-18 | 2020-10-27 | 云谷（固安）科技有限公司 | Device for testing electric performance of micro-element |
| US11249403B2 (en) | 2017-08-08 | 2022-02-15 | Asml Netherlands B.V. | Vibration isolation system and lithographic apparatus |
-
2006
- 2006-05-17 CN CNB2006100404763A patent/CN100546165C/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101895231A (en) * | 2010-07-30 | 2010-11-24 | 北京大学 | Miniature two-degrees-of-freedom plane motion piezoelectric motor |
| CN103107735A (en) * | 2013-01-30 | 2013-05-15 | 东南大学 | Amplitude-and-phase control method of space phase-adjusting traveling-wave ultrasonic motor |
| CN103107735B (en) * | 2013-01-30 | 2015-05-06 | 东南大学 | Amplitude-and-phase control method of space phase-adjusting traveling-wave ultrasonic motor |
| CN103149348A (en) * | 2013-03-05 | 2013-06-12 | 天津大学 | Method for evaluating damage of grinding surface of advanced ceramics based on wavelet multi-scale analysis |
| CN104097113A (en) * | 2014-06-24 | 2014-10-15 | 苏州大学 | Single-stage driver positioning device and error compensation method |
| CN104410321A (en) * | 2014-12-09 | 2015-03-11 | 苏州科技学院 | Single-excitation ultrasound elliptic-vibration multi-vibrator material conveying device |
| CN104410321B (en) * | 2014-12-09 | 2016-08-24 | 苏州科技学院 | A kind of single excitation ultrasonic elliptical vibratory many oscillators device for transporting objects |
| US11249403B2 (en) | 2017-08-08 | 2022-02-15 | Asml Netherlands B.V. | Vibration isolation system and lithographic apparatus |
| CN111830295A (en) * | 2019-04-18 | 2020-10-27 | 云谷（固安）科技有限公司 | Device for testing electric performance of micro-element |
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| CN100546165C (en) | 2009-09-30 |
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