SU744431A1 - Apparatus for piesoelectric motor control - Google Patents

Description

one

The invention relates to the field of automation and can be used n |) And the development and creation of control devices with stepper piezoelectric motors.

Devices are known for controlling stepping motors 1 and 2.

Of the known control devices, the closest to the invention in its technical essence is a control device comprising a control unit, the first input of which is connected to the piezoelectric motor 2 via a feedback element.

The disadvantage of this device is low accuracy.

The purpose of the invention is to improve the accuracy of the device.

This goal is achieved by introducing into the known control device a block for fixing the moment of change of the sign of control pulses, a switch, a mode switching unit and a counter, the output of which is connected to one input of the mode switching block, the first output of the control unit. changes in the sign of the control pulses, the counter and the switch, the second input of which is connected to the second output of the modulation unit, the output of the block of fixation of the moment of change of the sign of the control pulses Connected to the third input of the counter and to another input of the mode switching unit, the first and second outputs of which are connected respectively to the Third and Fourth inputs of the switch, the fifth input of which and the second input of the control unit 10 are connected to the input of the device, and the output of the switch that the fixing unit of the moment of change of the sign of the control pulses contains the trigger, the first and second differentiating element and the adder,

15 the output of which is connected to the output of the fixing unit of the moment of change of the sign of the control pulses, the first and second inputs of the trigger, the first output of which are connected to the first and second inputs of which

Claims (2)

20 through the first differentiating link is connected to the first input of the adder, and the second output of the trigger through the second differentiating link is connected to the second input of the adder. 3 In FIG. 1 shows the function of the device; in fig. 2 - diagrams of the main units of the device. The device contains (Fig. 1) control block 1, block 2 of fixing the moment of change of the sign of control pulses, consisting of trigger 3, first and second differentiating links 4 and 5, and adder 6; rehdam switching unit 7, counter 8; switch 9, piezoelectric motor 10, feedback element 11. FIG. 2 shows signal diagrams: at the first input (S) of trigger 12, a block for fixing the moment of change of the sign of control pulses (BFMISS); at the second entrance (R) of trn of the town of 13 BFMIZUA; on the first code (Q) of trigger 14, BFMIZUI; at the second output (Q) of the trigger 15 BFMIZCH; at the top of the first differentiator 16; at the output of the second differentiating element 17; at the input (S) of the trigger of the mode switching unit 18 (BPR) 18; at the input (R) of the trigger BPR 19; the output (0) of the trigger BPR 20 and the output (Q) of the trigger BPR 21. The device works as follows. A similar input signal is fed to control unit 1 (Fig. 1) and is compared with a1n; ESH, coming from the output of feedback element 11. Comparison of the input signal and the feedback signal occurs in a circuit with a relay characteristic performed on the basis of amplification and direct current without any connection with a large coefficient. Such a scheme for virtually any mutual differences in the amplitudes of one of the favored 1x signals provides for a forward or reverse pulse, which in turn in control unit 1 is converted into a series of forward or reverse pulses. When at the output of control unit 1 there is a series of pulses of one direction (direct or reversible), then at the outputs of trigger 3 of block 2, the fixations of the moment of change of the sign of control pulses of the values of signals 14 and 15 are unchanged (Fig. 2), and: at the output of differentiating links 4 and 5 poteitsial zero. Pulses are counted (direct or reversible) through one of the inputs of counter 8. As long as the size of the counter 8 is higher than the number of pulses issued by the control unit 1, the signal at the output of counter 8 is zero. Since the signals of the switching unit 7 of the switching modes are equal to zero on both inputs of the trigger, the control signal 20 and the iZl control signal are unchanged. The switch 9 is at the outset of the JHOM position on the piezoelectric motor 10 receives an analog signal (analog control mode). When the number of control chips from the output of control block 1 becomes higher than that of counter 8, a pulse appears at its output that switches over the trigger of the mode switching block 7, the signals 20 and 21 change their polarity. In this case, the switch 9 switches and stepping control commands are received at the input of the piezoelectric motor 10. Stepping mode occurs). Before the number of pulses became greater than the counter 8, the output of control unit 1 instead of just pulses (for example, direct) others (for example, reversible), then the trigger 3 of the block 2 fixing the moment of change of the sign of the control pulses moves to another stable position (signals 14 and I change sign), the pulse is generated on the differentiating links x 4 and 5, | passing through the adder 6, enters the zero reset input of the counter 8 and the input of the mode switching unit 7. The control device switches to analog control mode (signals 20 and 21 change sign), and the counter 8 starts counting the number of pulses forward or reverse Subsequently, the device is transferred to the stepwise control mode. FIG. 2, as an example, shows a diagram of the operation of the device in which the width of the counter 8 is chosen equal to 4 (up to 16). When at the inputs of trigger 3 of block 2 of fixing the moment of change of the sign of control pulses (12 and 13) the pulses change, not reaching the number 16, the signals at the output of the block 7 modes (20 and 21) are unchanged and the system is in analog control mode. Only when the number of control pulses, greater than 16, does an impulse 19 appear at the output of counter 8, which translates the system into a perfect jog. . Apparatus of the invention. A device for controlling a piezoelectric electrode containing a control unit, the first input of which is connected to a motor by means of a feedback element, which means that it contains a fixing unit to improve the accuracy of the device. the moment of change of the sign of the control, pulses, the switch, the mode switching unit and the counter, the output of which is connected to one input of the mode switching unit, the first output of the control unit is connected to the first inputs of the moment fixing unit 5744431 the sign of the control pulses, the counter and the switch, the second inputs of which are connected to the second output of the control unit, 1 output of the block of fixation of the moment of change of the control signal pulse is connected to the third 5 counter and to the other input of the mode switching unit, the first and second outputs of which are connected respectively to the third and fourth inputs of the switch, the fifth input of which and the second input of the control unit are connected to the input of the device, and the output of the switch to the output of the device. 2. The device according to claim 1, so that the fixing unit of the moment of change of the sign of the control pulses contains a trigger, the first and second differentiating link n the adder, the output of which is connected to the output of the fixing unit the moment of change of the sign of the control pulses, the first and second inputs of which are connected respectively to the first and second inputs of the trigger, the first output of which through the first differentiating link is connected to the first input of the adder, and the second output of the trigger through the second differentiating link is connected to the second input of the adder. Sources of information, npHHHTbie into account when examining 1. US patent N 3605000, cl. 318-619, okublik. 1969. 2. US patent N "3532958, cl. 318-685, published. 1968 (prototype).