WO2020117097A2 - Device for powering a piezoelectric stepper motor (variant embodiments) - Google Patents

Abstract

The invention relates to electrical engineering and can be used for powering piezoelectric stepper motors used in everyday life, transportation and industry to actuate different mechanisms and pumps. The present device comprises three parallel-connected modules for generating pulses which impinge on the plates of a piezo actuator P_n of the respective module n (n=1,2,3). Each module n is connected by its output terminals to a direct current power supply (hereinafter DC) having a storage capacitor C1 connected thereto, and is formed by two half-bridges, the midpoints of which are connected by a storage choke L_n, and a device for controlling the electronic switches of the half-bridges. In a first embodiment, the modules are identical. The first half-bridge consists of series-connected controllable electronic switches К_1n and К_2n, and the second half-bridge consists of series-connected controllable electronic switches К_3n and К_4n (hereinafter switches). Said switches have diodes connected in parallel thereto, as follows: switch К1n to diode D_1n; switch К_2n to diode D_2n; switch К_3n to diode D_3n; and switch К_4n to diode D_4n. In a second embodiment, the middle module of the above-described device additionally contains a third half-bridge connected in parallel to the first half-bridge. The third half-bridge is formed by a diode D₅₂ and a switch К₅₂ connected in series. The cathode of diode D52 is connected to the positive terminal of DC, and the anode of diode D₅₂ is connected to the input of switch К₅₂. The output of switch К₅₂ is connected to the negative terminal of DC. A choke L₂₂ is connected in between the midpoints of the third half-bridge and the second half-bridge. In a third embodiment, all three modules are identical. The first half-bridge of each module consists of series-connected switches К_1n and К_2n. The second half-bridge is formed by a switch К3n and a diode D4n connected in series. Each of said switches has a diode connected in parallel thereto, as follows: switch К1n to diode D1n; switch К2n to diode D2n; switch К_3n to diode D_3n. The input of switch К_1n is connected to the positive terminal of DC. The output of switch К_2n is connected to the negative terminal of DC. The input of switch К_3n is connected to a positive contact of a piezo actuator P_n, the anode of diode D_4n is connected to a negative contact of the piezo actuator P_n and to the negative terminal of DC. In a fourth embodiment, a third half-bridge is additionally connected in parallel to the first half-bridge of the second module. The third half-bridge is formed by a diode D₅₂ and a switch К₅₂ connected in series. The cathode of diode D₅₂ is connected to the positive terminal of DC, the anode of diode D₅₂ is connected to the input of switch К₅₂. The output of switch К₅₂ is connected to the negative terminal of DC. The midpoints of the third half-bridge and the second half-bridge are connected by a choke L₂₂, the inductance of which is greater than the inductance of L₂. The design of the device is intended to generate electrical oscillations on the plates of each piezo actuator (P) in different phases of each step of a piezoelectric motor, thus allowing the working member of the piezoelectric stepper motor to perform translational or rotational movement with high energy efficiency. High energy efficiency is achieved by storing the energy released during the discharging of the piezo actuators and returning this energy for the subsequent charging of a piezo actuator in the next step of the motor.

Description

POWER STEPS PIEZOELECTRIC

ENGINE (OPTIONS)

FIELD OF THE INVENTION

The invention relates to electrical engineering and can be used to power stepper piezoelectric motors used in everyday life, in transport and in industry to drive various mechanisms and pumps, including when operating wells in the oil and coal industries.

BACKGROUND OF THE INVENTION

The most common for micro and nano positioning tasks are stepper piezoelectric motors. They work through a series of small steps. The movement can be either linear (LSPA engines) or rotational (RSPA engines).

A stepper piezoelectric motor is a functionally actuating device, which structurally consists of a housing, one or more piezoelectric actuators, and various elements supporting their operation. These can be elements that provide preliminary compression of actuators, their fine tuning and adjustment, kinematic connection with the control object, etc. There are a lot of design versions of piezoelectric motors, but they are usually designed to perform highly specialized tasks.

Known devices for powering piezoelectric engines for various purposes, allowing to obtain voltage pulses on the plates of the piezoelectric actuators in a wide range of changes in their duration and frequency in different phases of the control of the piezoelectric motor in step mode.

From EP 0464443 A1, a piezoelectric actuator is known which is charged from a capacitor through a charging coil. Part of the applied energy during discharge of the piezoelectric actuator is transferred through the discharge coil back to the capacitor, while the last part, also through the discharge coil, is destroyed due to a short circuit. During discharge, a negative voltage is present on the piezoelectric actuator.

The closest analogue of the invention is a piezoelectric motor control device (SU 1737407 A1), which allows power and control engine with one piezo actuator. Moreover, the discharge energy of the piezoelectric actuator is returned to the circuit due to the accumulation in the energy of the magnetic field of the transformer. The proposed scheme does not allow controlling a piezoelectric motor, consisting of three piezoelectric actuators, operating both in the motor mode and in the mode of oscillation generation.

Due to the use of modern electronic equipment in the proposed version, it was possible to simplify the control circuit and increase its functionality due to the possibility of generating oscillations in the generation mode, while maintaining the possibility of energy recovery during the discharge of the piezoelectric actuator due to the inclusion of storage chokes in a certain way.

Summary of the invention

The invention is based on the technical task of creating a device that works with minimal energy loss and has a simple structure for powering a stepper piezoelectric motor. The engine includes at least three piezo actuators. The device must save the stored energy when discharging piezo actuators during their cyclic operation. The device diagram is designed to create electrical vibrations on the plates of each piezoelectric actuator in different phases of each step by a piezoelectric motor, which provides translational with a given force or rotational with a given torque movement of the working body of a stepper piezoelectric motor with high energy efficiency. Greater energy efficiency is achieved by conserving the energy released during the discharge of piezoelectric actuators, and by returning the conservation of this energy for the subsequent charge of the piezo actuators in the next movement step.

The positive effect provided by the present invention is to increase the reliability of the device, increase uptime, and save energy.

The positive effect and the technical task are solved by the following means, described below.

The power device of the stepper piezoelectric motor contains n (n = 1,2,3) parallel-connected modules connected by their output terminals to a parallel-connected DC voltage source DC and storage capacitor Cl. Moreover, each of the modules contains a piezo actuator P „, a first half-bridge and a second half-bridge connected by a throttle L _n , and a key bridge control device.

In the first embodiment of the invention, the first half-bridge of each module is formed by series-connected controlled first electronic key Ki _n and controlled second electronic key Kg _p , and the input of the first electronic key Ki _n connected to the positive terminal of the DC voltage power source, the output of the second electronic key Kg _p connected to the negative terminal of the DC constant voltage power supply, and the output of the first key Ki _h is the midpoint of the first half-bridge. The second palmost of each module is formed by series-connected controlled third managed electronic key K _3p and controlled fourth electronic key K _4P , and the input of the third electronic key Kz connected to the positive terminal of the piezoelectric actuator R _p , the output of the fourth key * _n connected to the negative terminal of the DC power source DC and to the negative contact of the piezoelectric actuator R _p , and the output of the third key Kz _p is the midpoint of the second half-bridge. The first output of the inductor L _{n is} connected to the midpoint of the first half-bridge, and the second output of the inductor L _{n is} connected to the midpoint of the second half-bridge. The diodes Di, - D _{4n are} connected in parallel to the keys Ki „- K _4P in such a way that the cathode of the diode is connected to the key input and the diode anode is connected to the key output.

In an alternative embodiment of the invention, the first half-bridge of each module is formed by serially connected controlled by the first electronic key Ki _n and controlled by the second electronic key K _2P , and the input of the first electronic key K _P connected to the positive terminal of the DC voltage power source, the output of the second electronic key Kg _p connected to the negative terminal of the DC voltage power source, and the output of the first key Ki _n is the midpoint of the first half-bridge. The second half-bridge of each module is formed by series-connected third key K _3p and diode D _4n , the input of the third electronic key Kz connected to the positive contact of the piezoelectric actuator P _p , and the output of the third electronic key Kz _p connected to the cathode of the diode D _4n and is the midpoint of the second half-bridge, the anode of the diode D ₄ „is connected to the negative terminal 'of the piezoelectric actuator R _p and to the negative terminal of the source DC power supply DC. The first output of the inductor L „is connected to the midpoint of the first half-bridge, and the second output of the inductor L _{n is} connected to the midpoint of the second half-bridge. Parallel to the first K i _h , the second Kg _p and the third K _p electronic diodes are connected diodes Di „- D _3n so that the cathode of the diode is connected to the input of the key, and the anode of the diode is connected to the output of the key.

In an alternative embodiment of the invention, the first half-bridge of each module is formed by serially connected controlled by the first electronic key Ki _n and controlled by the second electronic key K _2P , and the input of the first electronic key Ki „connected to the positive terminal of the DC voltage power source, the output of the second electronic key Kg _p connected to the negative terminal of the DC voltage power source, and the output of the first key Ki _n is the midpoint of the first half-bridge. The second half-bridge of each module is formed by series-connected controlled third electronic key K _3p and controlled fourth electronic key K _4p , and the input of the third electronic key K _3p connected to the positive terminal of the piezoelectric actuator P, the output of the fourth key IQ connected to the negative terminal of the DC power source voltage DC and to the negative terminal of the piezo actuator Р „, and the output of the third switch K ₃ „ is the midpoint of the second half-bridge. The first output of the inductor L _{n is} connected to the midpoint of the first half-bridge, and the second output of the inductor L _{n is} connected to the midpoint of the second half-bridge. To the keys K _P - i _{n are} connected in parallel diodes Di _n - D ₄ , so that the cathode of the diode is connected to the input of the key, and the anode of the diode is connected to the output of the key. In the third embodiment, the average (n --2 ^g) a power device module further comprises connected in parallel to the first half-bridge and half bridge third inductor L _22, a first terminal of which is connected to a midpoint of the third half bridge and the second terminal of the inductor L ₂₂ is connected with the midpoint of the second half-bridge, the inductance of the inductor L ₂₂ is greater than the inductance of the inductor L ₂ . The third half-bridge is formed by the diode D ₅₂ connected in series and controlled by the fifth key K ₅₂ , the cathode of the diode D _{52 being} connected to the positive terminal of the DC voltage power supply, the anode of the diode D ₅₂ connected to the input of the fifth electronic key D ₂ and is the midpoint of the third half-bridge, output the fifth electronic switch D _{52 is} connected to the negative terminal of the DC power supply DC. In an alternative embodiment of the invention, the first half-bridge of each module is formed by serially connected controlled by the first electronic key Ki _n and controlled by the second electronic key Kg _p , and the input of the first electronic key Ki „connected to the positive terminal of the DC voltage power supply, the output of the second electronic key Kz _p connected to the negative terminal of the DC constant voltage power supply, and the output of the first switch Ksc is the midpoint of the first half-bridge. The second half bridge each module is formed by series-connected controllable third key Ks "and a diode D _4n, wherein the input of the third electronic key Ks _n is connected to the positive terminal of piezo actuator P _n, and an output of 'third electronic Ks Key" connected with cathode of the diode D _4n and a midpoint of the second half-bridge, the anode of the diode D _{n is} connected to the negative terminal of the piezoelectric actuator P „and to the negative terminal of the DC voltage source. The first output of the inductor L _{n is} connected to the midpoint of the first half-bridge, and the second output of the inductor L _{n is} connected to the midpoint of the second half-bridge. To the first К _{] П} , the second К _2П and the third КЗ „diodes D _| „- D ₃ ,,, so that the cathode of the diode is connected to the input of the key, and the anode of the diode is connected to the output of the key. The middle (n = 2) module of the power supply device additionally includes a third half-bridge connected in parallel with the first half-bridge and an inductor L ₂₂ , the first terminal of which is connected to the midpoint of the third half-bridge, and the second terminal of the inductor L _{22 is} connected to the midpoint of the second half-bridge, inductor inductance L ₂₂ , more inductor inductance L ₂ . The third half-bridge is formed in series by a diode D ₅₂ and controlled by a fifth key K ₅₂ , the cathode of the diode D _{52 being} connected to the positive terminal of a DC voltage power supply, the anode of the diode D _{5 being} connected to the input of the fifth electronic key D ₅₂ and is the midpoint of the third half-bridge, output the fifth electronic switch D _{52 is} connected to the negative terminal of the DC power supply DC.

The stated technical problem is achieved due to the presence of two half-bridges in each module connected by a throttle. This scheme allows you to create fluctuations in the electric charge on the piezoelectric accelerator of each module with different frequency, signal amplitude, and also allows you to create energy storage in the inductor during discharge of the piezoelectric actuator of each module for its further recovery. The advantage of this scheme over previously known analogues is that it allows you to recover a significant amount of energy spent on a charge. In this case, energy loss with this approach occurs when an electric current passes through the insignificant ohmic resistance of diodes, electronic switches and the inductor itself, while most of the energy returns back to the capacitor of the power source.

Brief Description of the Drawings

The invention is further explained in the description of the preferred embodiments with reference to the accompanying drawings, which show a schematic diagram of a power device for a stepper piezoelectric motor:

In FIG. 1 shows a diagram of the proposed device in the first embodiment.

In FIG. 2 shows a diagram of the proposed device in the second embodiment.

In FIG. 3 shows a diagram of the proposed device in the third embodiment.

In FIG. 4 shows a diagram of the proposed device in the fourth embodiment.

In FIG. 5 is a linear stepper motor diagram for describing the operation of all embodiments of the proposed power device.

Detailed Description of Embodiments

The present invention is directed to a device for powering a stepper piezoelectric motor having at least three piezoelectric actuators in operation, working in concert. In this case, a multi-cycle (multiphase) scheme for moving the runner with several spreaders is obtained.

The scheme of the proposed device in all embodiments (Fig. 1 - Fig. 4) is outlined by a closed dash-dotted rectangle and contains three independent modules connected in parallel to create pulses arriving at the piezoelectric actuator plates of the corresponding module. This device allows you to implement step-by-step motor control. The piezo actuator of each module in FIG. 1- FIG. 4 is represented by an actuating element (piezoelectric element) R _p , the order of the capacity of which is tenths of microfarads or more.

Each module n (n = 1,2,3) of the power device according to the present invention in all embodiments is connected by its output terminals to a DC voltage power source DC. The DC voltage source DC can be controlled and uncontrolled, with direct and intermediate conversion. DC power supplies may vary in rectifier output. An autonomous energy source can act as a constant voltage power source, which, as a rule, is a storage battery for the corresponding capacity and voltage.

The constant voltage power supply has a positive terminal “+” and a negative terminal “-”, to which a storage capacitor C 1 is connected in parallel with its plates.

Each module n (n = 1,2,3) contains a piezo actuator R _p and is formed by two half-bridges.

In the first embodiment (Fig. 1) of the device according to the invention, all three modules are made in an identical manner. The first half-bridge of each module consists of serially connected controlled electronic keys K] _P and K _2p , the second half-bridge consists of serially connected controlled electronic keys K _3p and K, (hereinafter - the "key" or "electronic key"). Each of the keys Kj _n - _{tn is} made with the ability to conduct electric current from its input to its output by a signal "openly" received at its control electric contact (controlled keys are closed), and also stop the flow of electric current from its input to its output through the signal is “closed”, arriving at its controlling electrical contact (controlled keys are open).

In parallel to each key, diodes are connected that pass electric current in one direction - from the output of the key to its input. Parallel key K) diode connected _{n D) n,} the key K ₂ "- diode D _{2n, 3n} key K - diode D _3n, K ₌ key, - the diode D _4n.

The input of the first electronic key Ki „is connected to the positive terminal of the DC power supply DC. The output of the second electronic key K _{2p is} connected to the negative terminal of the DC voltage power source. The output of the first key Ki „is the midpoint of the first half-bridge and is connected to the input of the key Kg _p . In the first module, the midpoint of the first half-bridge is indicated in FIG.

1 as “a,” for the second module as “c,” for the third as “e." The midpoint of the first half-bridge of each of the modules is connected and connected to the first output of the storage choke L _n .

The input of the third electronic key Кз _{п is} connected to the positive terminal of the piezo actuator Р „. The output of the fourth electronic switch is connected to the negative terminal of the DC power supply DC and to the negative terminal of the piezo actuator P „. Moreover, the output of the third key Kz _n is the midpoint of the second half-bridge. In the first module, the midpoint of the second half-bridge is indicated in FIG. 1 as “b”, in the second module as “d”, in the third as “f”.

All control electrical contacts of the keys Ki „- I _{n of the} modules are connected to the half-bridge key control device, which in FIG. 1 is shown schematically as “Control.”

In the second embodiment (Fig. 2) of the device according to the invention, the middle (second) module of the device described above further includes a third half-bridge connected in parallel with the first half-bridge of the second module.

The third half-bridge is formed by a series-connected diode D ₅₂ and controlled by a fifth key K ₅₂ . The cathode of the diode D _{52 is} connected to the positive terminal of the DC voltage power source DC, the anode of the diode D _{52 is} connected to the input of the fifth electronic switch K ₅₂ and is the midpoint of the third half-bridge “c1”. The output of the fifth electronic key K _{52 is} connected to the negative terminal of the DC power supply DC.

The first terminal of the additional storage choke L _{22 is} connected to the midpoint point of the third half-bridge “c1” _{. The} second terminal of the choke L _{22 is} connected to the midpoint of the second half-bridge. In this case, the inductance of the inductor L _{22 is} greater than the inductance of the inductor L ₂ .

A control signal from the key management device, which is shown in FIG. 2 is shown schematically as “Control”.

The control electronic key Ks _n , as well as the keys K _n - I m, is configured to conduct electric current from its input to its output by a signal “Open” to its control electric contact (controlled keys are closed), and also to stop the flow of electric current from its input to its output by the signal “closed” to its control electric contact (controlled keys are open).

In the third embodiment of the power supply device of the stepper piezoelectric motor (FIG. 3), all the device modules, as in the first embodiment of the invention, are made in an identical manner. The first half-bridge of each module consists of serially connected controlled electronic keys Ki _n and K2 _P. The second half-bridge of each module in the third embodiment is formed by series-connected controlled third electronic key to _3n And diode D _4n .

Each of the keys Ki „- К _{3п is} made with the ability to conduct electric current from its input to its output by a“ open ”signal supplied to its control electric contact (controlled keys are closed), as well as stop the flow of electric current from its input to its output by the signal “closed”, arriving at its controlling electrical contact (controlled keys are open).

In parallel to each key, diodes are connected that pass electric current in one direction - from the output of the key to its input. Key Ki _h parallel connected diode _{D) n,} key K _2n - diode D _{2n, 3n} key K - diode D _3n.

The input of the first electronic key Ki _{h is} connected to the positive terminal of the DC power supply. The output of the second electronic key K _{2p is} connected to the negative terminal of the DC voltage power source. The output of the first key Ki _h is the midpoint of the first half-bridge and is connected to the input of the key K _2p . In the first module, the midpoint of the first half-bridge is indicated in FIG. 1 as “a,” for the second module as “c,” for the third as “e." The midpoint of the first half-bridge of each of the modules is connected to the first output of the storage choke L _n .

The input of the third electronic key K _{3p is} connected to the positive terminal of the piezoelectric actuator R _p , the anode of the diode D _{4n is} connected to the negative terminal of the piezoelectric actuator R _p and to the negative terminal of the DC voltage power source. The output of the third electronic switch K _{3p is} connected to the cathode of the diode D _4n and is the midpoint second half bridge. In the first module, the midpoint of the second half-bridge is indicated in FIG. 3 as “b,” for the second module as “d,” for the third as “ί."

In the fourth embodiment of the power supply device of the stepper piezoelectric motor (Fig. 4), the second (middle) module of the above-described device further comprises a third half-bridge connected in parallel with the first half-bridge of the second module. The third half-bridge is formed in series by a diode D ₅₂ and a controlled fifth key K ₅₂ . The cathode of the diode D _{52 is} connected to the positive terminal of the DC voltage power source DC, the anode of the diode D _{52 is} connected to the input of the fifth electronic switch K ₅₂ and is the midpoint of the third half-bridge “c1”. The output of the fifth electronic key K _{52 is} connected to the negative terminal of the DC power supply DC.

With the middle exact point of the third half-bridge “c1”, the first output of the additional storage choke L22 is connected. The second output of the inductor L2 _{2 is} connected to the midpoint of the second half bridge. In this case, the inductance of the inductor L _{22 is} greater than the inductance of the inductor L ₂ .

On the control contact of each of the keys Ki "- Ks" K ₅₂ receives a control signal from the key management device, which in FIG. 4 is shown schematically as “Control”.

The control electronic key Ks „conducts electric current as well as the keys Ki _n - К _4П - from its input to its output.

In all embodiments of the device according to the present invention, any suitable key capable of opening can be used as a controlled electronic key, for example, semiconductor switches such as an insulated gate bipolar transistor (IGBT), a MOSFET, an integrated control lockable thyristor (IGCT) or thyristor with a lockable valve (GTO).

All controlled electronic keys of half-bridges have one-sided conductivity. Key switching can be performed synchronously or with a time delay installed in the half-bridge key control device.

Consider the connection of the piezoelectric stepper motor power device using the linear stepper motor shown in FIG. 5 as an example. The engine consists of a housing 1, a runner located in the housing and consisting of in series connected to the rear spacer piezoelectric slider 2, the traveling piezoelectric actuator 3 and the front spacer piezoelectric slider 4. The rear spacer piezoelectric slider 2 includes a rear piezoelectric actuator 6 located perpendicular to the imaginary longitudinal axis of the housing 1. The front spacer piezoelectric slider 4 also includes the front piezoelectric 7 located perpendicular to the imaginary longitudinal axis of the housing 1. With the front spacer piezoelectric slider 4 is connected to the load rod 5.

The electronic control unit 8 (Fig. 5) is connected by an electric wire 9 to the rear piezo actuator 7, the electric wire 10 is connected to the running piezo actuator 3, the electric wire 11 is connected to the front piezo actuator 7. Also, the electronic control unit 8 is connected by a common electric wire 12 to the rear piezo actuator 6 , running piezoelectric actuator 3 and front piezoelectric actuator 8. The electronic control unit 8 includes the claimed power supply device with a stepper piezoelectric motor, which can be controlled by a computer, microprocessor or any other control device via RS-232, USB and LPT ports. The motor is connected to the power device using a cable.

The method of operation of the described device is explained below. Piezoelectric actuators (piezoelectric actuators) P], P ₂ , Pz used to describe the power supply circuit of the stepper motor in alternative embodiments (Figs. 1 to 4) correspond to the rear piezoelectric actuator 6, the traveling piezoelectric actuator 3, and the front piezoelectric actuator 7 (Fig. 5 )

The runner of the piezoelectric motor moves in the housing 1 in small steps. The many small steps following each other represent a quasi-continuous reciprocating movement of the runner and the load rod connected to it between the extreme positions.

The movement when pushing the load rod 5 from the housing 1 (forward movement) occurs as follows.

1. In the first phase of the step in the initial position, the rear pressure piezoelectric slider 2 is in a free state, that is, the rear piezoelectric actuator 6 does not press against the housing 1 from the inside in the transverse direction. The front pressure piezoelectric slider 4 (Fig. 5) is in the open state, that is, the front piezoelectric actuator 7 of the slide 4 presses the housing 1 from the inside into transverse direction. The running piezo actuator 3 is in this case in a free state, that is, its length is minimal in the absence of electrical voltage on it.

Referring to the diagram of the power supply device according to the first (Fig. 1) or third embodiment (Fig. 3), the initial position is characterized by a charged actuating element P3, and discharged actuating elements Pi and Pr.

In the first phase of the step, the electric potential through the module 1 (Fig. 5) of the power supply device according to the first (Fig. 1) or third embodiment (Fig. 3) is supplied via wire 9 to the rear piezoelectric actuator 6 of the linear piezoelectric motor (Fig. 5).

The arrival of electric potential is as follows. During the first period of formation of the leading edge of the voltage pulse, the signals are “open” from the key control device of the half-bridge “Control” in the first embodiment (Fig. 1) of the device, are supplied to the keys Kc and K ₄₁ . At the same time, the keys “ ₂₁ ” are supplied to the K ₂₁ and K ₃₁ keys. The voltage of the DC power supply DC through the Kts and K ₄₁ keys is applied to the storage choke L1. The current flows from the DC voltage power source DC through the key Kc, the inductor L1 and the key K ₄₁ . At this time, energy from the DC power source is transmitted to the storage choke L. During the second period of the formation of the leading edge of the voltage pulse from the key control device of the half-bridge “Control” signals “closed” are sent to all keys Kts - K ₄₁ (all electronic keys are open). As a result, the electric energy stored in the inductor 1e causes the electric current to flow through the diodes D ₂₁ and D ₃₁ , charging the piezo actuator Pi to the maximum voltage determined by the energy balance condition.

In the third embodiment of the power device (FIG. 3), during the first period of formation of the leading edge of the voltage pulse from the control device “Control”, a “open” signal is sent to the key Kc (the key is in the closed state). The keys K ₂₁ and K ₃₁ receive signals “closed” (the keys open). As a result, the key K _{1 is} opened, and the supply voltage of the DC source through the key Kc and the diode D _{3 is} applied to the series circuit formed by the inductor Li and the capacitance of the piezoelectric actuator P]. As a result, the inductor current increases according to a law close to sinusoidal, and the voltage on the piezoelectric actuator Pi increases according to a law close to cosine.

When the current in the Li inductor reaches its maximum value, from the key control device of the half-bridge “Control” to all the keys Kc - K3 1 the signals are “closed” (electronic keys open). The voltage on the piezo actuator Pi in this case reaches a value slightly less than twice the voltage of the power source.

Thus, the power device in the first and third embodiments provides the charge of the piezoelectric actuator P]. During the entire formation of the leading edge of the voltage pulse. P] remains charged until the trailing edge of the pulse begins.

As a result of this, the rear pressure piezoelectric slider 2 goes into the open state. The running piezo actuator 3 is sandwiched between two piezoelectric sliders 2, 4, which are in the open state.

2. In the second phase of the step, the electric potential is removed from the piezoelectric actuator Pz by supplying control signals from the control device “Control” of the power device to the circuit of the power device module 3 according to the first or third embodiment (Fig. 1 or Fig. 3). In this case, the front pressure piezoelectric slider 4 (Fig. 5) goes into a free state, that is, its piezoelectric actuator 7 ceases to press on the housing 1 from the inside, or exerts minimal pressure. In this case, there is no gap between the housing and the slider 4.

The removal of electric potential is as follows. From the control device “Control”, the signals are “openly” supplied to the keys K33 and K23 of the module 3 of the power device according to the first embodiment (Fig. 1). The keys K13 and K43 receive signals "closed". The first period of time for the formation of the trailing edge of the voltage pulse begins. As a result, the charged piezoelectric actuator P3 through the keys K33 and K23 turns out to be closed to the inductor L3, forming a sequential oscillatory circuit. As a result, the inductor current rises according to a law close to sinusoidal, and the voltage at the piezoelectric actuator Pz decreases according to a law close to cosine. At the point in time when the voltage on the piezoelectric actuator becomes equal to zero, the second period of the formation of the trailing edge of the voltage pulse begins. From the key control device of the “Control” half-bridges to the keys K ₂₃ and K ₃₃ receive signals "closed" (the keys are in the open state). From this moment, the diodes D and D ₄₃ open and the second period begins - the return of energy from the inductor L ₃ to the storage capacitor C1. After this, the piezoelectric actuator Pz remains discharged until the momentum begins again.

In the third embodiment of the power device (Fig. 3), in the first time interval for the formation of the trailing edge of the voltage pulse, the signals are “open” from the key control device of the Control half-bridge keys to the keys K ₃₃ and K ₂₃ (the keys are closed). At the same time, the key Kp receives the signal “closed” (the key is opened). As a result, the keys K ₃₃ and K ₂₃ are opened, and the charged piezoelectric actuator Pz is closed to the storage choke L ₃ . As a result, the inductor current rises according to a law close to sinusoidal, and the voltage on the piezoelectric actuator Pz decreases according to a law close to cosine.

At the point in time when the voltage at the piezoelectric actuator Pz becomes equal to zero, the second period of time for the formation of the trailing edge begins. From the key control device of the half-bridges “Control” to the keys K ₂₃ and K _{33 the} signals “closed” are received (the keys are opened). From this moment, the diodes D ₁₃ and D ₄₃ open, and energy returns from the inductor L ₃ to the capacitor C1 of the power supply.

After this, the piezoelectric actuator P3 remains discharged until the momentum begins again.

3. In the third phase of the step, the electric potential enters through the module 2 of the power device, made according to the first (Fig. 1) or third (Fig. 3) alternative embodiment, through the electric wire 10 to the piezo actuator 3 (Fig. 5).

The circuit of the module 2 of the power supply device of the piezoelectric engine according to the first (Fig. 1) or third variant (Fig. 3) implementation provides a charge to the piezoelectric actuator P ₂ during the formation of the leading edge of the voltage pulse by supplying a sequence of control signals to the control contacts of the electronic keys of module 2 in a certain way by analogy with the above. The piezoelectric actuator Pr remains charged until the trailing edge of the pulse begins. As a result of this, the piezoelectric actuator 3 (FIG. 5) increases its length. The front piezoelectric slider 4 connected to it moves forward a small distance, increasing the length of the runner. Accordingly, the front pressure piezoelectric slider 4 pushes the load rod 5 out of the housing 1 over a short distance.

4. In the fourth phase of the step, the electric potential through the module 3 of the power device, made according to the first or third alternative embodiment, is supplied through the electric wire 11 to the front piezo actuator 7 (Fig. 5).

The circuit of module 3 of the power supply device of the piezoelectric engine according to the first or third embodiment provides charging the piezoelectric actuator Pz (Figs. 1, 3) during the rise time of the leading edge of the next voltage pulse by supplying a sequence of control signals to the control contacts of the electronic keys of module 3 in a certain way analogies to the one described above. Pezoaktyua ^t op Ps remains charged until the start until the trailing edge.

As a result of this, the front pressure piezoelectric slider 4 (FIG. 5) goes into the open state.

5. In the fifth phase of the step, the electric potential is removed from the piezo actuator Pi by supplying control signals from the control device “Control” of the power device to the control contacts of the electronic keys of the power device module 1 according to the first or third embodiment (Fig. 1 or Fig. 3) by analogy with the above. The circuit of module 1 provides a discharge of the piezoelectric actuator Pi during the formation of the trailing edge of the voltage pulse. The Pi piezo actuator remains discharged until the next impulse starts again.

In this case, the back pressure piezoelectric slider 2 (Fig. 5) goes into a free state, that is, it ceases to press on the housing 1 from the inside, or exerts minimal pressure. In this case, there is no gap between the housing and the slider 2. 6. In the sixth phase of the step, the electric potential is removed from the piezoelectric actuator Pr by supplying control signals to the control contacts of the electronic keys of the power supply module 2 in the first (Fig. 1) or third (Fig. 3) embodiment in a certain way by analogy with the above. The circuit of module 2 of the piezoelectric motor power supply device provides discharge of the piezoelectric actuating element Pr during the formation of the trailing edge of the voltage pulse. Rg remains discharged until the momentum begins.

Running piezo actuator 3 (Fig. 5) goes into a free state, that is, reduces its length. In this case, the rear pressure piezoelectric slider 2 moves a small distance towards the load rod 5.

Such a phase rotation during one step of the operation of the piezoelectric motor is repeated many times until the runner reaches the extreme forward position. The moment of reaching the extreme forward position is determined by the curve of the electric current in the wire 10. Also, this moment can be determined by the feedback sensor, indicating that the runner has reached the extreme forward position. The movement when the load rod 5 is pulled into the housing 1 (backward movement) occurs in a similar way: the phase of the step of the rear slider is carried out by the front slider, and vice versa.

If the power supply device of the stepper piezoelectric motor is executed according to the second or fourth alternative embodiment, then when the linear stepper motor (Fig. 5) is in operation, constant contact is maintained between the travel piezo actuator 3 and the front expansion slider 4, between the travel piezo actuator 3 and the rear expansion slider 2. This is achieved by the configuration of the electronic circuit of module 2, the power of which is carried out as follows:

When, at the desired phase of the step, the electric potential from the power supply unit 2 according to the second or fourth alternative embodiment is supplied to the traveling piezo actuator 3, as a result of which the traveling piezo actuator 3 increases its length, the executive piezoelectric element Pr (Fig. 2, 4) is charged over time rise of the leading edge of the voltage pulse. At the same time, in the first period of formation of the leading edge of the voltage pulse at the piezoelectric actuator P _{2, the} signals are “open” from the key control device of the “Half” half-bridges in the second embodiment (FIG. 2) of the device, they are sent to the keys K ₁₂ and K ₄₂ . The keys K ₂₂ , K ₃₂ and K ₅₂ receive signals "closed". The voltage of the DC voltage power source through the keys K ₁₂ and K _{42 is} applied to the storage choke L ₂ . Current flows from a DC voltage power source DC through key K ₁₂ , inductor L ₂ and key K ₄₂ . The energy from the DC power supply is transferred to the storage choke L ₂ . In the second period of the formation of the leading edge of the voltage pulse from the key control device of the half-bridge keys “Control”, all the keys K ₁₂ - K ₅₂ receive signals “closed” (all electronic keys are open). As a result, the electric energy accumulated in the inductor L ₂ causes the electric current to flow through the diodes D ₃₂ and D ₂₂ , charging the piezoelectric activator Pr to the maximum voltage determined by the energy balance condition.

In the fourth embodiment of the power supply device (Fig. 4), in the first time interval for the formation of the leading edge of the voltage pulse at the piezoelectric actuator P ₂ from the control device “Control”, a signal “open” is sent to key K ₁₂ (the key is in the closed state). At the same time, the keys K ₂₂ , K ₃₂ and K ₅₂ receive signals "closed" (the keys open). As a result, the key K _{12 is} opened, and the supply voltage of the DC source through the key K ₁₂ and the diode D _{2 is} applied to the series circuit formed by the inductor L ₂ and the capacitance of the piezo actuator P ₂ . As a result, the voltage at the piezoelectric actuator P ₂ rises.

When the current in the inductor L ₂ reaches its maximum value, from the key control device of the half-bridge “Control” to all the keys K ₁₂ - K _{52 the} signals “closed” are given (electronic keys open). As a result, the electric energy accumulated in the inductor L ₂ causes the electric current to flow through the diodes D ₃₂ and D ₂₂ , charging the piezoelectric activator Pr to the maximum voltage in the second period of time of formation of the leading edge of the pulse on the piezoelectric actuator Pr.

At the same time, connected to the running piezoelectric actuator 3 (Fig. 5), the front pressure piezoelectric slider 4 moves a small distance. In the corresponding phase of the step, when the electric potential is removed from the piezoelectric actuator Pr through the electric circuit from the module 2 of the power device according to the second or fourth alternative embodiment, the traveling piezoelectric actuator 3 (Fig. 5) goes into a free state.

According to the second embodiment (Fig. 2) of the power supply from the “Control” control device, the signals are “openly” supplied to the keys K ₃₂ and K _{52 of the} module 2. At the same time, the signals “closed” are received to the keys K ₂ , K ₂₂ and K ₄₂ . The first period of time for the formation of the trailing edge of the voltage pulse begins. As a result, the charged piezoelectric actuator Pr through the keys K ₃₂ and K ₅₂ turns out to be closed to the inductor L ₂₂ , the inductance of which is greater than the inductance of the inductor

As a result, the inductor current rises according to a law close to sinusoidal, and the voltage on the piezoelectric actuator Pr decreases according to a law close to cosine.

The voltage reduction time on the running piezoactuator 3 (Fig. 5) of the engine significantly exceeds the rise time of the pulse on this piezoelectric actuator. This provides improved contact between the running piezo actuator 3 and the spacer sliders 2, 4.

At the time when the voltage on the piezoelectric actuator becomes equal to zero, from the key control device of the half-bridge “Control” to the keys K ₃₂ and K ₅₂ (figure 2) the signals are “closed” (the keys are in the open state). From this moment, the diodes D52 and D42 open and the phase of energy return from the inductor L22 to the storage capacitor C1 begins during the second period of time for the formation of the trailing edge of the voltage pulse. After this, the piezoelectric actuator P ₂ remains discharged until the moment when the next impulse begins again.

In the fourth embodiment, the power device (Fig. 4) during the first period of formation of the trailing edge of the voltage pulse on the piezoelectric actuator Pr, the signals are “open” from the key control device of the “Half” half-bridge keys to the keys K ₃₂ and K ₅₂ (the keys are closed). At the same time, the keys Kp and K ₂₂ receive a “closed” signal (the keys open). As a result, the keys K ₃₂ and K ₅₂ are opened, and the charged piezoelectric actuator Pr turns out to be closed to the storage inductor L ₂₂ , the inductance of which is greater than the inductance of the inductor L ₂ . In this case, the inductor current increases according to a law close to sinusoidal, and the voltage on the piezoelectric actuator Pr decreases according to a law close to cosine. The voltage reduction time on the running piezoactuator 3 (Fig. 5) of the engine significantly exceeds the rise time of the pulse on this piezoelectric actuator. This provides improved contact between the running piezo actuator 3 and the spacer sliders 2, 4.

At the time when the voltage at the piezoelectric actuator Pr (Fig. 4) becomes equal to zero, the signals “closed” are received from the key control device of the half-bridge “Control” to the keys K ₃₂ and K ₅₂ (the keys are opened). From this moment, the diodes D ₅₂ and D ₄₂ open, and the phase of energy return from the inductor L ₂₂ to the capacitor C1 of the power supply unit begins during the second period of time for the formation of the trailing edge of the pulse. After this, in this phase, the piezoelectric actuator Pr remains discharged until the momentum begins again.

The running piezo actuator 3 (FIG. 5) goes into a free state, that is, reduces its length. Due to the elongated process of decreasing the electric potential on the running piezoactuator 3, the decrease in its length does not occur quickly. Having a large mechanical inertia, the rear piezoelectric slider 2 moves towards the front spacer piezoelectric slider 4 without creating a gap in the contact area with the traveling piezoelectric actuator 3 or with a reduced gap in this region. This provides improved contact between the running piezo actuator 3 and the spacer sliders 2, 4.

It should be clearly understood that the above description is intended to illustrate the present invention, and not to limit the scope of its protection. The scope of protection should be determined taking into account only the claims, along with the full scope of equivalents to which this claims gives the right.

Claims

CLAIM

1. Power device stepper piezoelectric motor containing

- n (n = 1,2,3) parallel-connected modules connected by their output terminals to a parallel-connected DC power supply DC and a storage capacitor C1,

wherein each of the modules contains:

piezo actuator P „

the first half-bridge, formed by series-connected controlled first electronic key Ki „and controlled by second electronic key K2 _П , and the input of the first electronic key Ki„ connected to the positive terminal of the DC power supply DC, the output of the second electronic key Kr _n connected to the negative terminal of the constant power source voltage DC, and the output of the first key Ki "is the midpoint of the first half-bridge, the second half-bridge is formed by series-connected controlled third managed electronic key Kz and controlled by the fourth electronic key I n, and the input of the third electronic key Kz" is connected to the positive terminal of the piezoelectric actuator P " , the output of the fourth switch K * ,, is connected to the negative terminal of the DC voltage power source DC and to the negative terminal of the piezo actuator Р „, and the output of the third switch K _3п is the midpoint of the second half-bridge, the inductor L _n , the first terminal of which is connected to the middle point of the first half-bridge, and the second output of the inductor L _{n is} connected to the midpoint of the second half-bridge, diodes Din-D4 _n , connected in parallel to the keys Ki „- K * _h so that the cathode of the diode is connected to the input of the key, and the anode of the diode is connected to key output

- key management device Kj _n - K4 „modules.

2. The power device stepper piezoelectric motor containing

- n (n = 1, 2,3) of parallel-connected modules connected by their output terminals to a parallel-connected DC power supply DC and a storage capacitor C1,

wherein each of the modules contains:

piezo actuator R _p the first half-bridge formed by serially connected controlled by the first electronic key Ki „and controlled by the second electronic key Kg _p , and the input of the first electronic key Ki _h connected to the positive terminal of the DC power supply DC, the output of the second electronic key Kz _n connected to the negative terminal of the constant power source voltage DC, and the output of the first key K] _P is the midpoint of the first half-bridge, the second half-bridge is formed by series-connected controlled third managed electronic key Kz _p and controlled by the fourth electronic key I n, and the input of the third electronic key Kz _{p is} connected to the positive terminal of the piezoelectric actuator P “, The output of the fourth switch I n is connected to the negative terminal of the DC voltage power source DC and to the negative terminal of the piezo actuator Р„, and the output of the third switch K _3п is the midpoint of the second half-bridge, the inductor L „, the first terminal of which is connected to the medium point of the first half-bridge, and the second output of the inductor L _{n is} connected to the midpoint of the second half-bridge, diodes Di _n - D _4n , parallel connected to the keys Ki _n - Cd _p so that the cathode of the diode is connected to the input of the key, and the anode of the diode is connected to key output, and the middle module additionally includes

connected in parallel to the first half-bridge, the third half-bridge, formed in series by a diode D ₅₂ and controlled by the fifth key K ₅₂ , the cathode of the diode D ₅₂ connected to the positive terminal of the DC voltage power supply, the anode of the diode D ₅₂ connected to the input of the fifth electronic switch D ₅₂ and is the midpoint of the third half bridge, the output of the fifth electronic switch D _{52 is} connected to the negative terminal of the DC voltage power supply DC, and the inductor L ₂₂ , the first output of which is connected to the midpoint of the third half bridge, and the second terminal of the inductor L _{22 is} connected to the midpoint of the second half bridge, inductance throttle L ₂₂ , greater than the inductance of the throttle L ₂ ,

- Key management device Ki _n - Ks _n modules.

3. The power device stepper piezoelectric motor containing

- n (n == 1,2,3) parallel-connected modules connected by their output terminals to a parallel-connected DC power supply DC and a storage capacitor C1, wherein each of the modules contains:

piezo actuator P „,

the first half-bridge formed by a serially connected controlled first electronic key Ki „and controlled by a second electronic key Kg _p , and the input of the first electronic key Ki„ connected to the positive terminal of the DC power supply DC, the output of the second electronic key Kg _n connected to the negative terminal of the constant power source DC voltage, and the output of the first switch Ki „is the midpoint of the first half bridge, the second half bridge formed by the connected third key Kz„ and the diode D4 _n connected in series, the input of the third electronic switch Kz „connected to the positive terminal of the piezoelectric actuator R _p , and the output of the third electronic of the key КЗ „is connected to the cathode of the diode D ^ and is the midpoint of the second half-bridge, the anode of the diode Di _{n is} connected to the negative terminal of the piezoelectric actuator Р„ and to the negative terminal of the DC voltage power supply, a choke L „, the first terminal of which is connected to the middle point of the first half-bridge , and the second output of the drossel L _{n is} connected to the midpoint of the second half-bridge, Din-D3 _n diodes are connected in parallel to the first Ki _h , the second Kg _p and the third Kz _p electronic keys in such a way that the diode cathode is connected to the key input and the diode anode is connected to the output key

- Key management device Ki „- KZ„ modules.

4. The power device stepper piezoelectric motor containing

- n (n = 1, 2, 3) parallel-connected modules connected by their output terminals to a parallel-connected DC power supply DC and a storage capacitor C1,

wherein each of the modules contains:

piezo actuator R _p

the first half-bridge formed by series-connected controlled first electronic key K] _P and controlled by the second electronic key K2 _P , and the input of the first electronic key K] _P connected to the positive terminal of the DC power supply DC, the output of the second electronic key Kg _p connected to the negative terminal of the source DC voltage supply, and the output of the first key Ki _h is the midpoint of the first half-bridge, the second half-bridge, formed by series-connected controlled third key КЗ „and diode D4 _n , and the input of the third electronic key Кз _{п is} connected to the positive terminal the piezoelectric actuator P _n , and the output of the third electronic switch K _{3p is} connected to the cathode of the diode D _4n and is the midpoint of the second half bridge, the anode of the diode D _{4n is} connected to the negative terminal of the piezoelectric actuator P „and to the negative terminal of the DC power supply DG, inductor L„, the first the output of which is connected to the midpoint of the first half-bridge, and the second output of the inductor L _{n is} connected to the midpoint of the second half-bridge, diodes Di „- D _3n , connected in parallel with the first Ki _h , the second Kg _p and the third K _3p electronic keys so that the cathode of the diode connected to the key input, and the anode of the diode connected to the key output, and the middle module further includes

connected in parallel to the first half-bridge, the third half-bridge, formed in series by a diode D ₅₂ and controlled by the fifth key K ₅₂ , the cathode of the diode D ₅₂ connected to the positive terminal of the DC voltage power supply, the anode of the diode D ₅₂ connected to the input of the fifth electronic switch D ₅₂ and is the midpoint of the third half bridge, the output of the fifth electronic switch D _{52 is} connected to the negative terminal of the DC voltage power supply DC, and the inductor L ₂₂ , the first output of which is connected to the midpoint of the third half bridge, and the second terminal of the inductor L _{22 is} connected to the midpoint of the second half bridge, inductance throttle L ₂₂ , greater than the inductance of the throttle L ₂ ,

- Key management device Ki „- K _3p , K ₅₂ modules.