WO2022122436A2 - Effizienter antrieb für piezoelektrische trägheitsmotoren - Google Patents
Effizienter antrieb für piezoelektrische trägheitsmotoren Download PDFInfo
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- WO2022122436A2 WO2022122436A2 PCT/EP2021/083293 EP2021083293W WO2022122436A2 WO 2022122436 A2 WO2022122436 A2 WO 2022122436A2 EP 2021083293 W EP2021083293 W EP 2021083293W WO 2022122436 A2 WO2022122436 A2 WO 2022122436A2
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- 238000000034 method Methods 0.000 claims abstract description 50
- 230000008569 process Effects 0.000 claims abstract description 42
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- 229910002601 GaN Inorganic materials 0.000 claims description 17
- JMASRVWKEDWRBT-UHFFFAOYSA-N Gallium nitride Chemical compound [Ga]#N JMASRVWKEDWRBT-UHFFFAOYSA-N 0.000 claims description 17
- 230000010287 polarization Effects 0.000 claims description 16
- 230000007704 transition Effects 0.000 claims description 15
- 230000001939 inductive effect Effects 0.000 claims description 9
- 230000002441 reversible effect Effects 0.000 claims description 3
- 230000021715 photosynthesis, light harvesting Effects 0.000 abstract description 3
- 230000009467 reduction Effects 0.000 abstract description 2
- 230000004044 response Effects 0.000 description 24
- 239000003990 capacitor Substances 0.000 description 15
- 230000010355 oscillation Effects 0.000 description 12
- 230000008602 contraction Effects 0.000 description 8
- 238000013016 damping Methods 0.000 description 6
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- 230000001965 increasing effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
- 101100112673 Rattus norvegicus Ccnd2 gene Proteins 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
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- 238000010168 coupling process Methods 0.000 description 1
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- 230000001419 dependent effect Effects 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/0075—Electrical details, e.g. drive or control circuits or methods
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/021—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors using intermittent driving, e.g. step motors, piezoleg motors
- H02N2/025—Inertial sliding motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/06—Drive circuits; Control arrangements or methods
- H02N2/065—Large signal circuits, e.g. final stages
- H02N2/067—Large signal circuits, e.g. final stages generating drive pulses
Definitions
- the present invention relates to a control device and a control method for a piezoelectric inertia motor.
- the tangential component of reciprocating motion produces motion at a contact between a slider and a stator.
- the stator element In one direction of tangential movement, the stator element is slowly activated. During this activation period, the “sticking phase” or “slow phase,” the inertial force acting on the slider is less than the frictional force: the slider sticks to the contact surface of the stator and moves with it.
- the stator In the opposite direction of tangential movement, the stator is deactivated faster relative to its initial position.
- the “sliding phase” or “fast phase” the inertial force acting on the slider is greater than the frictional force, so the slider slides on the stator and lags behind the contact surface of the stator element.
- the slider makes a microscopic step. The accumulation of these microscopic steps creates macroscopic motion.
- Fig. 1 shows a stator 10 of a piezoelectric inertia motor, which comprises an elastic frame 14, a friction tip 12 as a contact, and screws 13 for adjusting preload and tolerance.
- the stator of an inertia motor can have two actuators 11ab, for example multilayer actuators 1 and 2 with multiple superimposed crystal layers, each having capacitances Ca1 and Ca2. As one of the two actuators expands, the other actuator contracts to produce the back-and-forth tangential motion illustrated by arrow 15 .
- Fig. 2 shows a stator 20 of a piezoelectric inertia motor with a single actuator 21 or multi-layer actuator as driving source, similar elements having the same designation as in Fig. 1. Here only one electronic channel needs to be connected to the actuator.
- Multilayer actuators can be understood as capacitive elements in electronic circuits.
- actuators are referred to as “capacitive piezoelectric actuators" in the present description. In general, they are used according to a capacitor in a low-pass filter.
- two piezoelectric, single-crystal multilayer, or bulk actuators in a stator element are driven by two anti-phase (“mirrored”) sawtooth-like signals. In such a structure, expansion and contraction take place synchronously in opposite directions. As one actor expands, the other actor must contract (or shrink or contract).
- a signal applied to the piezoelectric element within a motor typically has a sawtooth shape.
- a typical idealized sawtooth signal waveform for an inertial motor is shown in FIG.
- one actuator slowly expands and the other actuator slowly contracts.
- Slowly expanding and contracting a multilayer actuator is equivalent to, or equivalent to, slowly charging or discharging a capacitor.
- one piezoelectric actuator expands rapidly while the other contracts rapidly. Rapid expansion or contraction is equivalent to rapidly charging or discharging a capacitor.
- the capacitor here is the capacitance of a multi-layer actuator.
- actuators are treated largely like capacitor elements used in filter components of drive circuits.
- the two waveforms plotted correspond to the control signals for two counter-expanding and contracting actuators in a stator of a piezoelectric inertia motor.
- actuators with only one multi-layer actuator it is sufficient to consider one of the two sawtooth waveforms.
- Sawtooth-shaped signal waveforms of the control signals for the actuators can have flattened sections between the slow and fast phase or at the transition from the slow to the fast phase. This is shown in an idealized way in FIG.
- Simple audio amplifiers cannot drive an inertial motor even if the frequency of the sawtooth signal is in the range of several hundred kHz to 20 kHz. This is because the fast phase of the sawtooth signal needs to be as short as possible, in the 0.5 to 2 ps range, regardless of the operating frequency. When the operating frequency is around 20kHz, as in the case of standard audio amplifiers, it is not possible to drive a fast phase of 0.5ps.
- a drive should have at least 1 MHz bandwidth. It is an object of the present invention to provide a method for efficiently driving piezoelectric inertia motors. The efficiency here refers to the electrical energy used for the drive and the possibility of miniaturizing drive circuits.
- the invention is based on the idea of using an inductance and an actuator capacitance in order to drive a piezoelectric actuator with a sawtooth-like, non-symmetrical voltage waveform.
- resistive elements resistive elements
- the use of inductors instead of resistive elements is made possible by the high-frequency operation of switching elements such as GaN (gallium nitride) transistors.
- a voltage waveform has a sinusoidal shape.
- non-symmetrical signal waveforms can be achieved by operating GaN transistors at very high frequencies even when using inductive elements.
- a particular approach of the present invention is the adaptation of the class D amplifier topology for driving piezoelectric inertia motors in which switching elements such as GaN transistors, which can be operated at high frequencies with low on-resistance, are implemented.
- the drive and control methods described in the present disclosure can be applied to piezoelectric inertia motors with either two actuators as the drive source or with a single actuator.
- a half-bridge high-frequency circuit of the H-bridge high-frequency circuit charges or discharges the capacitor of a piezoelectric actuator, or in the case of two piezoelectric actuators, two half-bridge (or H-bridge) high-frequency circuits charge and discharge the two capacitors of the actuators in parallel.
- the actuator capacitance and small inductances which are operated in resonance, cause the capacitor to be charged or discharged quickly.
- the capacitors of the actuators charge according to a step response or discharge according to a natural response of an RLC (resistance-inductance-capacitance) series configuration.
- Slow charging and discharging takes place by applying high-frequency pulse width modulation (PWM) signals, in the case of two actuators synchronously and in opposition to the inputs of a single half-bridge.
- PWM pulse width modulation
- the current passing through an inductor is stored in it as electrical energy instead of being completely dissipated (dissipated) as heat. This stored energy is used during the subsequent rapid discharge or charge period. As a result, the current to be supplied by the source and thus the dissipated energy in the inductance and in the actuator is reduced. Because GaN transistors can operate as switching elements at high frequencies (1 to 40 MHz), small inductances capable of operating at high frequencies with high efficiency can be used. As a result, a heat sink can be eliminated, enabling miniaturization of drive circuits.
- a wireless control method for driving a piezoelectric inertia motor is also provided. Electromagnetic energy is generated by driving a transmitting coil at high frequency through switching elements such as GaN transistors. The electromagnetic energy is picked up by a receiving coil (or coils) and converted into electricity. This current is used to charge or discharge the capacitor(s) of the piezoelectric actuators (or the actuator) and thus produce expansion or contraction of the piezoelectric actuators.
- a control device for a piezoelectric inertia motor comprising: a capacitive piezoelectric actuator, an inductance, a first switching element connecting the capacitive piezoelectric actuator to a first potential via the inductance, a second switching element that connects the capacitive piezoelectric actuator via the inductance to a second potential that is different from the first potential; and a control element which is suitable for repeatedly switching the first switching element and the second switching element with pulse width modulation in opposition to one another in a sticking phase of the piezoelectric inertia motor, wherein in the pulse width modulation a time proportion of a first switching state of switching states on and off increases compared to a time proportion of a second switching state and the pulse width modulation is filtered by the capacitive piezoelectric actuator and the inductance, and thereby gradually carrying out a first charging process of charging processes charging and discharging on the capacitive piezoelectric actuator, and at
- a control method for a piezoelectric inertia motor comprising, in a sticking phase of the piezoelectric inertia motor, repeatedly switching a first switching element, which connects a capacitive piezoelectric actuator to a first potential via an inductance, and a second switching element in opposite directions , which connects the capacitive piezoelectric actuator to a second potential via the inductance, with pulse width modulation, wherein in the pulse width modulation a time portion of a first switching state of switching states on and off increases compared to a time portion of a second switching state and the pulse width modulation by the capacitive piezoelectric actuator and the inductance is filtered, whereby a first charging process of charging processes charging and discharging is carried out step by step on the capacitive piezoelectric actuator, and at the beginning n a sliding phase of the piezoelectric inertia motor, reversal of the time portion of the first switching
- a damped resonant circuit containing the capacitive piezoelectric actuator and the inductor may exhibit overshoot in the transition from the floating phase to the sticking phase.
- the inductance may be a first inductance
- the first switching element connects the capacitive piezoelectric actuator to the first potential via the first inductance
- the device includes a second inductance, a third switching element connecting the capacitive piezoelectric actuator to the second inductance connects to the first potential, and a fourth switching element, which connects the capacitive piezoelectric actuator to the second potential via the second inductance
- the control element is suitable, in the sliding phase, to switch the third switching element during the first charging process (of charging and discharging or charging in and opposite to the direction of polarization of the capacitive piezoelectric actuator) to switch in the same way as the first switching element and to switch the fourth switching element in the same way as the second switching element during the second charging process.
- the inductance may be a first inductance, and the capacitive piezoelectric actuator connected to the first switching element and the second switching element via the first inductance
- the controller may include: a third inductance, a fifth switching element connecting the capacitive piezoelectric actuator via the third inductance connects to the first potential, and a sixth switching element, the capacitive connects the piezoelectric actuator to the second potential via the third inductor, the control element being suitable for switching the fifth switching element to the second switching element and the sixth switching element to the first switching element.
- the inductance represents a receiving inductance
- the controller includes a transmitting inductance
- the capacitive piezoelectric actuator is inductively connected to the first switching element and the second switching element via the receiving inductance and the transmitting inductance.
- the control device can be designed to carry out the first charging process and the second charging process without contact via the transmitting inductance and the receiving inductance.
- the capacitive piezoelectric actuator constitutes a first capacitive piezoelectric actuator
- the receiving inductance constitutes a first receiving inductance
- the controller includes a second receiving inductance and a second capacitive piezoelectric actuator inductively across the second receiving inductance and the transmitting inductance is connected to the first switching element and the second switching element, and the first piezoelectric actuator and the second piezoelectric actuator are aligned in the opposite polarization direction.
- the controller may include a transformer containing the transmitting inductor and the receiving inductor.
- the capacitive piezoelectric actuator is a first capacitive piezoelectric actuator
- the control device comprises a second capacitive piezoelectric actuator connected in parallel or in series to the first capacitive piezoelectric actuator in the opposite polarization direction.
- the capacitive piezoelectric actuator represents a first capacitive piezoelectric actuator
- the inductance represents a first inductance
- the control device comprises a second capacitive piezoelectric actuator, which is connected via the fourth inductance by a seventh switching element to the first potential and via an eighth switching element is connected to the second potential, and the control element is adapted to switch the seventh switching element in the opposite direction to the first switching element and to switch the eighth switching element in the opposite direction to the second switching element.
- a frequency of the pulse width modulation is at least 1 MHz.
- the frequency of the pulse width modulation can be at least 30 times higher than a charging frequency of the capacitive piezoelectric actuator.
- control device includes gallium nitride transistors as switching elements (the first to eighth switching elements).
- the first and the second charging process can include charging and discharging or charging in the polarization direction of the capacitive piezoelectric actuator and charging counter to the polarization direction of the capacitive piezoelectric actuator.
- FIG. 1 shows a stator of a piezoelectric inertia motor with two actuators.
- FIG. 2 shows a stator of a piezoelectric inertia motor with an actuator.
- Fig. 4 shows an idealized waveform of a signal for a piezoelectric
- Fig. 5 shows an idealized waveform of a signal for a piezoelectric
- Fig. 8 Opposite idealized waveforms of signals for two actuators of a piezoelectric inertia motor.
- FIGS. 11-14 show a circuit topology
- Figures 15-17 show a circuit topology. 18 shows a full bridge circuit with capacitive actuators connected in parallel.
- Figures 24-25 measured signal curves of current and voltage on capacitive piezoelectric actuators.
- Fig. 26 PWM signals for generating voltage waveforms on capacitive piezoelectric actuators with the idealized waveforms.
- FIG. 27 shows a PWM signal for generating a voltage waveform on a fast charge and slow discharge actuator with experimental waveform.
- Fig. 29 Phases of voltage waveforms on capacitive piezoelectric actuators.
- Fig. 30 shows a transition period from the sliding phase to the sticking phase.
- FIGS. 31-33 the dependency of the voltage signal on actuators on the frequency of a pulse width modulation signal.
- 35 shows a circuit topology as an example of an RLC tank circuit.
- Figures 37-38 a comparison between measured and modeled current curve.
- Fig. 39 shows a configuration of an RLC tank circuit during the natural response fast phase.
- FIG. 40 shows a configuration of an RLC tank circuit during the fast phase with step response.
- a circuit topology according to an example embodiment is shown in FIG. 6 . Only output sections with inductive elements that are connected in series with the actuators can be seen here.
- a capacitive piezoelectric actuator 621 is connected via an inductor 631 to a first potential 641 by a first switching element 611 and to a second potential 642 by a second switching element 612 .
- the second potential 642 is referred to as ground (GRN). In general, however, it is sufficient for the potentials 641 and 642 to be different from one another.
- the actuator 621 is connected to the potentials 641 and 642 via a further inductance 632 by switching elements 613 and 614 .
- the elements mentioned above are sufficient for controlling a single actuator. However, if a piezoelectric inertia motor is driven by two actuators, the topology described, as shown in FIG. is connected to the second potential 642 .
- each actuator is driven and operated by a dual half-bridge circuit topology.
- the switching elements 611 and 612 are controlled with a suitable pulse width modulation signal, which causes the switching elements 611 and 612 to be opened and closed synchronously, so that the slow charging or discharging can take place.
- the switching elements 611 and 612 are repeatedly switched in opposition to one another, as shown schematically in FIG. 7 using the example of the slow charging and rapid discharging of the capacitive actuator 621. While switching element 611 is on, switching element 612 is off. 7 schematically shows the switching times and switching durations of the switching elements, the switching durations, switching times and synchronization of the switching elements not being to scale and not to be construed as limiting in any way.
- a time component of a first switching state of on and off increases compared to the respective one opposite switching state.
- the off pulses are getting longer and the on pulses are correspondingly getting shorter, while at the switching element 612 the on pulses are getting longer and longer and the off pulses are getting shorter and shorter synchronously and in opposition to this.
- This increase in the time portion of one switching state and the associated decrease in the time portion of the other switching state does not occur abruptly, but rather monotonously or continuously during the slow phase.
- an average time portion of the first switching state can be greater than an average time portion of the second switching state in order to reach the charge state to be achieved by the charging process in the slow phase.
- charging outweighs discharging when the actuator is being charged in the slow phase, and discharging outweighs charging when the actuator is being discharged.
- GaN transistors can be used as switching elements 611-614, 611-614'.
- switching elements 611 and 612 should not be turned on at the same time, nor should switching element pairs 613-614, 611-612' and 613'-614'.
- inductor 631 and capacitive actuator 621 which are connected in series to each other, are connected to a voltage source having potential +Vin, or applied with voltage +Vin. Under this condition, the capacitive actuator 621 charges up.
- the series-connected actuator 621 and inductor 631 are connected to ground (GRN) or, more generally, to the second potential 642 via switching element 612 .
- GNN ground
- the capacitive actuator 621 discharges.
- the capacitive actuator retains its charge or the voltage/potentials applied to it and no current flows through those labeled L1 and L2 Inductances 631 and 632.
- an equivalent resistance R can be connected in series with capacitive actuator 621 and inductance 631 (Ca1-L1) and with capacitive actuator 621 and inductance 632 (Ca1-L2) in series, respectively.
- the switching elements 611-614 are used to control the current flowing through the inductors 631 and 632 to drive the capacitive piezoelectric actuator 621 charge or discharge.
- switching elements 611 and 612 can be used for slowly charging or discharging the actuator 621 .
- a suitable PWM signal opens and closes the switching elements 611 and 622 with a relatively high frequency (1 to 40 MHz) in the slow phase, the potentials or the voltage at the actuator 621 can be changed by charging and discharging.
- the PWM signal causes the average time, averaged over the PWM pulses, in which the switching element 611 is switched on to be longer than the average time period in which the switching element 611 is switched off, the electrical voltage at the actuator 621 increases.
- the same PWM signal makes the average time that switching element 622 is off longer than its average time that it is on.
- the switching elements 613 and 614 can also be activated or switched during the rapid discharging in the rapid phase.
- switching elements 612 and 614 may be placed in the on position together for a short period of time (e.g., 0.1 to 6 ps). This is shown in FIG. 7 where switching element 614 is turned ON by a short or narrow pulse.
- the other discharge switching element 612 is already in the ON position at this time, so during this short pulse in the fast phase, the switching elements 612 and 614 are turned on simultaneously.
- Such a configuration has the effect that inductances 631 and 632 are connected in parallel between the capacitive actuator 621 and the ground connection (or connection at the second potential 642).
- the discharge duration of capacitive actuator 621 in a natural response of the RLC circuit is short because the equivalent inductance L (as a combined inductance of L1//L2) due to the parallel connection of the inductive elements 631 and 632 is reduced.
- the RLC circuit response is a step response of a second-order underdamped system, overshoot can occur, followed by a cycle of damped oscillation, also known as "ringing".
- Fast discharge including overshoot and damped oscillation can be done within a short duration of 0.1 to 6 ps.
- the subsequent slow phase with the charging of capacitive actuator 621 by switching elements 611 and 612 is then initiated.
- the damped resonant circuit which has the capacitive piezoelectric actuator 621 and the inductance 631 and any equivalent resistance R and, in the case of a double half bridge, also the inductance 632, exhibits overshooting in the transition from the sliding phase to the sticking phase. So while the inertia motor transitions from the sliding phase to the next sticking phase at the end of a cycle, in this transition from sliding to sticking phase, the control signal that controls the charging and discharging of the capacitive actuator 621 or actuators 621, 622 have a transient phase that includes overshoot and damped oscillation.
- Charging and discharging a second capacitive actuator 622 occurs in an identical manner with the signals being mirrored. 8 shows idealized voltage waveforms at actuators 621 (left) and 622 (right) which have the flattened sawtooth profile of the waveforms of FIG.
- switching element 611 is switched or activated identically to switching element 612'
- switching element 612 is identical to switching element 611'
- switching element 613 is identical to switching element 614'
- switching element 614 is switched or actuated identically to switching element 613'.
- switching element 613 need not be activated during either the slow phase or the fast phase and can remain in the off position throughout the cycle.
- the switching topology shown in FIG. 6 can also be implemented without the switching element 613 .
- the presence of four switching elements per actuator allows reversibility of the switching operations performed in the slow phase and fast phase and thereby the tangential movement of the slider on the stator.
- the present invention can be implemented with a simple half-bridge per capacitive actuator, that is to say without inductance 632 and associated switching elements 613 and 614.
- a second inductor 612 accelerates the rapid charging or discharging and also improves the reduction in energy dissipation through its energy absorption.
- the switching elements are switched in the topology shown in FIG. 6 for driving each actuator through two half-bridges and two inductances when the capacitive actuator 621 is slowly discharged and quickly charged.
- switching element 611 is OFF and switching element 612 is ON, as in Figure 9, then capacitive actuator 621 and inductor 631 connected in series with each other are connected to second potential 642 (ground, GRN). In this state, the capacitive actuator 621 discharges.
- a suitable PWM signal opens and closes the switching elements 611 and 621 in opposition to one another at a relatively high frequency (1 to 40 MHz), as shown schematically in FIG Actuator 621 are slowly discharged.
- the switching elements 613 and 614 can be activated or switched in parallel with the switching elements 611 and 612 for fast charging of the capacitive actuator 621 in the fast phase or sliding phase to build up a voltage in the range of +Vin.
- switching elements 611 and 613 are set to the ON state for a short time (0.1 to 6 ps). This is shown in FIG. 10, where switching element 613 is turned ON by a short or narrow pulse, while the other charging switching element 611 is already in the ON state. While switching elements 611 and 613 are in the ON state, switching elements 612 and 614 should be in the OFF state at the same time.
- switching element 614 need not be activated during fast charging in the fast phase.
- the switching times and the synchronization of the switching elements are also shown in FIG. 10 in simplified form and not true to scale.
- the charging of the capacitive actuator behaves because the equivalent inductance L is also reduced because of the parallel connection of the inductances 631 and 632 (L1//L2). is according to a step response or impulse response of an RLC circuit (taking into account an equivalent resistance R).
- the operating condition described here with reference to FIGS. 9 and 10 causes the capacitive actuator 621 (the capacitive element of capacitance Ca1) to slowly discharge and rapidly charge, which is equivalent to the actuator 621 contracting slowly and expanding rapidly.
- the capacitive piezoelectric actuator 622 is controlled in such a way that it is charged/expanded slowly and discharged/contracted quickly together.
- the switching conditions are such that switching element 611 is actuated identically to switching element 612', switching element 612 is actuated identically to switching element 611', switching element 613 is actuated identically to switching element 614' and switching element 614 is actuated identically to switching element 613'.
- Idealized voltage waveforms corresponding to the switching conditions described with reference to FIGS. 9 and 10 are shown in FIG. 11 for the capacitive actuator 621 (left) in and for the capacitive actuator 622 (right).
- each actuator (a single actuator 621 or two actuators 621 and 622) is driven by two full-bridge (or H-bridge) switching topologies, although only a single H-bridge topology is possible.
- the capacitive actuator 621 is connected in series to the first potential 641 by the switching element 1111 via the inductance 1131 and to the second potential 642 by the switching element 1112′ via the inductance 1131′.
- Switching element 1112 connects actuator 621 to the inductor 1131 via a further connection second potential 642, and switching element 1111' connects the actuator 621 via the inductor 1131' to the first potential in series.
- the topology can include an inductance 1132, via which the actuator 621 is connected to the first potential through the switching element 1113 and to the second potential through the switching element 1114, and an inductance 1132, via which the actuator 621 is connected to the first potential via the switching element 1113' and to the second potential via the switching element 1114'.
- actuator 621 there is a second actuator 622 for driving the piezoelectric motor, then this is, as shown in FIG 1211-1214 and 121 T-1214' are connected to potentials 641 and 642, respectively.
- Charging a capacitive piezoelectric actuator can create an electric field in the actuator. If, after charging, the electric field is oriented in the same direction as the polarization direction of the piezoelectric actuator, the capacitance of the actuator (or the capacitor that the actuator acts as in the circuit) can be said to be “positively charged”. If, after charging, the electric field is charged in the opposite direction to the polarization direction of the piezoelectric actuator, the capacitance of the actuator can be described as negatively charged. While a positively charged or positively charging actuator expands, a negatively charged or negatively charging actuator contracts.
- Capacitance or capacitor 621 can be slowly charged to a positive potential by simultaneously switching switching elements 1111 and 1112' through inductances 1131 and 113T with PWM signals, switching elements 1111' and 1112 during the slow phase as before for switching elements 511 and 612 described with reference to Fig. 7 are repeatedly switched in opposition to the switching elements 1111 and 1112'. After the potential or the charge of the actuator has reached a specific value, the switching elements 1112, 1114, 1111′ and 1113′ are switched simultaneously to the switching state ON in a narrow pulse, and actuator 621 is quickly opened in the fast phase charged a negative potential. Such driving produces slow expansion in the sticking phase and rapid contraction in the sliding phase. At the same time, a second actuator 622, as shown in FIG. to contract in the sticking phase and to expand in the sliding phase.
- actuator 621 In order to produce actuator 621 slow contraction in the sticking phase and rapid extension or expansion in the sliding phase, actuator 621 is slowly charged to a negative potential as shown in FIG. 13 . This can be done with the switching elements 1111′ and 1112 through the inductances 1131 and 1131′ using a suitable PWM signal. After the potential at the actuator 621 has reached a specific negative value, the capacitance of the actuator 621 is increased by all the inductances 1131, 1132, 1131′ and 1132′ and switching elements 1111, 1113, 1112′ and 1114′ shown with a narrow pulse in the ON State switched to a positive potential.
- a waveform of the charge signal that is mirrored with respect to the actuator 621 is generated.
- the capacitance of the actuator 622 can be slowly charged to a positive potential with a PWM signal through the switching elements 1211 and 1212' and inductances 1231 and 1231'. After the potential at the actuator 622 has reached a certain value, it is charged to a negative potential by a narrow pulse of the switching elements 1211, 1214, 1211′ and 1213′. Such activation produces slow expansion and rapid contraction of actuator 622.
- each actuator is driven with a simple half-bridge circuit topology.
- a second inductor and the switching elements connected thereto are missing.
- the switching element 611 which connects the actuator 621 to the first potential 641 via the inductance 631
- the switching element 612' which connects the actuator 622 via the inductance 631'. connects to the second potential 642, synchronized.
- the two switching elements 611 and 622' are controlled by the PMW signal in such a way that both switching elements are ON and OFF at the same time.
- Ca1 and Ca2 are the capacitances of the two actuators 621 and 622.
- the capacitive actuator 621 charges because it is connected to the first potential 541 of the source voltage +Vin1. and Ca2 discharges because it is connected to the second potential (eg, ground as shown in Figure 15).
- the ON-state current path of the switching elements 611 and 612' during a PWM pulse is shown in solid line in FIG. Fast charging or discharging takes place at the end of each cycle of the PWM signal.
- the current path of the driving signals is shown in FIG.
- the value -Vin1 is given as an alternative to earth.
- the present invention is not limited to earth or a reciprocal of the first potential with regard to a value for the second potential; other negative or positive values different from the first potential 641 (eg smaller than the first potential) are also possible.
- the slow rise and fall of the voltage at the capacitive actuators is shown as linear in an idealized or simplified manner in the schematic voltage curves shown in FIG.
- the use of GaN transistors as switching elements allows the PWM frequency to be significantly higher than the resonant frequency of the RLC circuit comprising the respective actuator and the inductor.
- the operating frequency of the PWM signal can be 1 to 40 MHz when GaN transistors are operated at high frequency.
- switching element 612 is on for a short time in the fast phase, and switching element 611 is OFF.
- the capacitor of the actuator 621 (e.g. the multi-layer actuator) discharges quickly. Discharging takes place according to a natural response of an RLC circuit. Since the inductance 631 actuator capacitance Ca1 of the actuator 621 together have a small inductance (e.g. 1 to 10 pH) and capacitance (e.g. 50 to 100 nF), the natural frequency of the RLC circuit (e.g. 200 kHz to 500 kHz) is compared to the The operating frequency of the motor (the sawtooth signal from the stick and glide phase) is relatively high. As a result, the (rapid) discharge lasts only about 0.5 to 2 ps. After 4 to 6 ps, the next slow phase then begins with the corresponding PWM signal. The frequency of the PWM signal is greater than 1MHz.
- switching element 61T is switched on for a short time and switching element 612' is switched off.
- the (rapid) charging of the actuator 622 behaves according to a step response of an RLC circuit. Due to the small inductance and capacitance values of inductance 631'resp. actuator 622, the actuator reaches an overshoot value within approximately 1 to 2 ps. After a small, heavily damped oscillation, the subsequent (slow) discharge period occurs.
- the current path for the fast phase of the drive signals according to a simple half-bridge topology is also illustrated in FIG. 17 using open and closed switching elements, the respective resistance R of the RLC circuit also being shown here.
- the capacitive actuator 621 discharges.
- the capacitive actuator 622 is connected via the resistor R and the Inductance 631' and the switching element 611' are connected to the first potential of the source voltage +Vin and charges under this condition.
- switching elements 611 and 612' are ON or OFF at the same time. Also, switching elements 612 and 611' are switched ON or OFF at the same time.
- the resistance R in FIG. 17 corresponds to the total equivalent of the resistance of switching elements, connections, and losses at the inductance and at the capacitance.
- FIG. Another exemplary embodiment is shown in FIG. Since the two half-bridges have been combined here, i.e. connected, the circuit here is a full-bridge configuration.
- the two capacitive piezoelectric actuators 511 and 612 are connected in parallel and both are connected via inductances 1131 and 1131' to the first potential through switching elements 1111 and 1111 and to the second potential through switching elements 1112 and 1112'.
- Both actuators 611 and 612, which are driven in parallel, are charged by a current path along the switching elements 1111 and 1112 or by a current path along the switching elements 1112 and 1111'.
- the two opposite charging processes can also correspond to charging with respectively opposite polarity or polarization. Due to the mutually opposite polarization directions of the piezoelectric actuators 611 and 612, expansion and contraction in each phase (sticking phase and sliding phase) take place in opposite directions, i.e. one of the two actuators contracts while the other expands.
- FIG. 18 A further embodiment with a full bridge arrangement is shown in FIG. This arrangement differs from that shown in FIG. 18 in that the two piezoelectric actuators 621 and 622 are connected to one another in series. They are activated simultaneously by switching elements 1111 and 1112' or 1111' and 1112. Inductors 113I and 113T are connected in series to both actuators. The directions of polarization of the two actuators are opposite to each other and the charging processes are reverse polarity charging. In this configuration, one actuator contracts while the other actuator expands. Since the two actuators are connected in series, the total capacitance of the drive electronics roughly corresponds to half of one of the capacitances Ca1 and Ca2.
- the capacitive piezoelectric actuator 621 or the two actuators 621 and 622 are inductively connected to the two potentials 641 and 642 via a receiving inductance and a transmitting inductance.
- the transmitting inductance is connected to the two potentials 641 and 642 via the switching elements 1111 and 1111' or 1112 and 1112', and the receiving inductance is connected to at least one of the two actuators 621 and 622.
- the transmitting inductance transfers electrical energy to the receiving inductance.
- the receiving inductance and the transmitting inductance are contained in a transformer as input coil and output coil, respectively.
- a transformer element can increase or decrease the magnitude of the control signal for the actuators.
- a transformer 2031 at the output portion of an H-bridge circuit topology is connected to the first potential 641 and the second potential 642 via the switching elements 1111 and 1111', and 1112 and 1112', respectively.
- the output signal of a transformer is generally sinusoidal, sawtooth-like signals such as signals that approximate a sawtooth or flattened sawtooth can be generated at the piezoelectric actuators by switching at very high frequencies, as can be done, for example, by using GaN transistors as switching elements .
- the output coil or receiving coil of the transformer 2031 also functions as an inductance that is connected to the capacitances of the piezoelectric actuators. As shown in FIG. 20, the two actuators 621 and 622 are connected in series (with opposite directions of polarization). Alternatively, a parallel connection is also possible, or a single actuator connected to the output coil of the transformer 2031.
- FIGS. 21 to 23 show further embodiments in which the first charging process and the second charging process can take place without contact via a transmitting inductance and a receiving inductance or receiving inductances.
- the inductive element is replaced by coils for inductive wireless power transfer, a transmitting coil 2130 and two receiving coils 2031 and 2032.
- a transmitting coil 2130 By high-frequency operation of GaN transistors as switching elements 1211, 121T, 1112 and 1112' the transmitting coil 2130 (or transmitting inductor) operated at its operating frequency.
- a PWM signal causes the energy to be transferred to the receiving coils (or inductors) 2131 and 2132 to be varied like an (approximate) sawtooth signal or sawtooth-like waveform.
- the receiving coils 2131 and 2132 can absorb the wirelessly or contactlessly transmitted energy and convert it into a current that flows through them with a high signal frequency. Since the inductance of the receiving coil and the capacitance of the Actuators each act as an RLC circuit, the voltage waveform or a voltage drop across the actuator capacitance corresponds to a sawtooth signal.
- the inductive element is replaced by a pair of transmitting coil 2130 and receiving coil 2031, respectively.
- the transmitting coil 2130 is driven at its operating frequency by the high-frequency operation of the GaN transistors used as switching elements, and a PWM signal generates the transmitted energy as a sawtooth-varying waveform.
- the receiving coil takes the energy from the transmitting coil and supplies it to the actuators 621 and 622.
- the actuators 621 and 622 can either be connected in series, as shown in Fig. 22, or in parallel, as in Fig. 23. In both cases, the directions of polarization of the piezoelectric actuators are arranged opposite one another. As a result, the voltage generated across the receiving coil 2131 causes one actuator to expand while the other actuator contracts when current is passed through them.
- the present invention provides a control device for a piezoelectric inertia motor.
- this control device also includes a control element that is suitable for controlling the switching elements of the control device in the sticking and sliding phases Control to generate at the actuator or actuators the voltage signal waveforms which cause the opposite charging processes in the sticking phase and in the sliding phase of the piezoelectric inertia motor and thus the expansion and contraction.
- This control element can be included in the control device, for example in the form of an integrated circuit which generates the PWM signals as digital signals and/or a computer interface which receives the digital signals.
- Figures 24 and 25 show measured voltage and current waveforms on multilayer actuators.
- 24 shows how the actuator capacitance Ca1 of a first actuator 621 charges up slowly after each fast phase (gliding phase) in the sticking phase.
- the voltage here drops from about 40 volts to about -18 volts.
- the PWM signal starts to slowly recharge the actuator.
- the charging of the capacitance of the multilayer actuator is clearly visible in the current waveform.
- the opposite measured voltage and current waveforms are shown for multilayer actuator 622 with actuator capacitance Ca2 in Figure 25 (the time in Figures 24 and 25 are not synchronized).
- the actuator voltage reaches an overshoot at a value of 58 V within 2 ps.
- the fast charging can be done according to a step response of an RLC tank circuit.
- R includes the total equivalent resistance R on of the switching elements (GaN transistors) and equivalent resistances of the inductance and the capacitive actuator.
- the PWM signal starts to slowly discharge the actuator as the voltage curve decreases.
- the discharging of the multilayer actuator capacitance is clearly visible in the current waveform.
- Fig. 26 PWM signals of two channels Ch1 and Ch2 are shown for driving a two-channel inertia motor to generate the desired voltage waveforms on the actuator capacitances Ca1 and Ca2 of two actuators of a piezoelectric inertia motor.
- the frequency can be, for example, between 100 Hz and 40 kHz (in the illustrated example of Fig. 26 with a period of about 33 ps at 30 kHz).
- PWM signals are first generated in digital form with a high frequency (e.g. 0.5 to 5 MHz).
- the PWM signals are amplified by GaN transistor switching elements and amplified by the RLC circuit to get the final form of modified sawtooth waveforms as voltage waveforms for driving and driving the piezoelectric actuators.
- FIG. 26 While in Fig. 26 the waveforms of the voltage profiles at the actuators are shown in an idealized form, Figures 27 and 28 show the PWM signals in connection with experimentally generated waveforms of the voltage profiles at the actuators.
- the period T1 of the sawtooth (asymmetric) voltage signal is 33 ps (corresponds to 30 kHz), and the period T2 of the PWM signal is 0.4 ps (corresponds to 2.5 MHz).
- a step response of a series-connected (serial) RLC circuit which is a second-order underdamped system, is shown in fast charging in the fast phase.
- a damped oscillation (“ringing") begins, but is quickly dampened and dies away.
- the slow discharging then takes place in the slow phase through the PWM signal (the pulses of the PWM signal can also be seen in the voltage signal on the actuator, but in a filtered form).
- the actuator's capacity is fully discharged, and the voltage at the capacitance (at the actuator) is 0V, which gives the sawtooth curve of the voltage signal its flattened form.
- the fast discharging of the actuator capacitance in the fast phase occurs with a natural response of a series-connected RLC circuit (second-order underdamped system), starting from a voltage across the capacitance of 40 V.
- a damped oscillation that is quickly damped and decays. This is followed by slow charging by the PWM signal in the slow phase until the voltage at the actuator is again at a voltage Vcc of 40 V and the curve has flattened out.
- the voltage signal at the charging and discharging actuators also has a transition phase or transition period at the transition from the sliding phase to the sticking phase, as already mentioned .
- This transient phase is characterized by the described damped oscillation associated with the step response or natural response of the RLC tank circuit, as shown in FIG. A transition period exists for both the step response and the natural response.
- the transition period from the floating phase to the sticking phase is also shown in FIG. 30 as an example of a transition from fast discharging to slow charging.
- the drop in voltage during fast discharging (or the increase during fast charging) can be assigned to the fast phase of the voltage signal, and the subsequent damped oscillation to the (short) transition phase between the floating phase and the sticking phase. Since driving the inertia motor generally distinguishes between two phases (sliding phase and sticking phase), the transition period can be regarded as a separate phase, assigned to the sliding phase or the sticking phase, or divided between them.
- the frequency (f2) of the pulse width modulation is advantageously at least 1 MHz. In addition, it is advantageously higher by a factor of 30 than a charging frequency of the capacitive piezoelectric actuator, ie the frequency of the voltage signal that corresponds to period T1 of the voltage signal.
- a charging frequency of the capacitive piezoelectric actuator ie the frequency of the voltage signal that corresponds to period T1 of the voltage signal.
- the period (T1) of the sawtooth signal (the actuator voltage) is 33 ps and corresponds to a frequency f1 of 30 kHz.
- the period T2 of the PWM signal is 0.4 ps (PWM frequency f2 is 2.5 MHz).
- the period T2 of the PWM signal is 1.0 ps (1.0 MHz).
- the period T2 of the PWM signal is 4.0 ps (0.25 MHz).
- the frequency or the period T2 of the PWM signal controls the course of the slow phase (stick phase) of the sawtooth-like voltage signal at the actuators.
- High-frequency operation or the high-frequency properties of the switching elements that generate or amplify the PWM signal play a role in generating an advantageous voltage curve at the capacitive actuators. If the PWM signal frequency f2 is not sufficiently large, e.g., less than 1MHz, the waveforms in the course of the slow phase (slow charging or discharging) will be disturbed as shown in FIG.
- the fast phase sliding phase results from the natural response or the step response of the RLC circuit and is not affected.
- the half-bridge topology shown in FIG. 35 is given below as an example.
- the equivalent resistance R can be determined from the measured current and voltage waveforms, as shown below with reference to FIG.
- the damping angular frequency or natural angular frequency
- the modeled waveform l_model (dotted curve) according to equation (12) fits the measured current waveform for the initial 5 to 6 ps (Fig. 38 shows the highlighted section). 37). Later, the slow charge will start and the PWM signal will prevail.
- Measured voltage and current waveforms with associated configurations of RLC tank circuits with multilayer actuators with capacitances Ca1 and Ca2 during the fast phase (gliding phase) are shown in Fig. 39 (fast discharging) and Fig. 40 (fast charging).
- Fig. 39 fast discharging
- Fig. 40 fast charging
- the natural response, as shown in Figure 39, and the step response, as shown in Figure 40, of an underdamped second-order RLC tank configuration dominate for a duration of 5 to 6 ps.
- the present invention relates to a control device and a control method for a piezoelectric inertia motor.
- a first switching element and a second switching element are switched in opposite directions by pulse width modulation, with a time component of a first switching state of on and off increasing compared to a time component of a second switching state of on and off, the pulse width modulation being filtered by the capacitive piezoelectric actuator and an inductor , and a first charging process is carried out, and at the beginning of a sliding phase the time components of the first switching state and the second switching state are reversed, and thereby a second charging process opposite to the first charging process is carried out on the capacitive piezoelectric actuator.
- the configuration provided enables mitigation of energy dissipation as heat by storing electromagnetic energy in the inductor and can contribute to energy-efficient driving for inertial motors.
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
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US18/265,631 US20240030834A1 (en) | 2020-12-08 | 2021-11-29 | Efficient drive for piezoelectric inertia motors |
EP21823233.8A EP4260453A2 (de) | 2020-12-08 | 2021-11-29 | Effizienter antrieb für piezoelektrische trägheitsmotoren |
CN202180082552.XA CN116601862A (zh) | 2020-12-08 | 2021-11-29 | 用于压电惯性电机的有效驱动 |
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DE102020132640.8A DE102020132640B3 (de) | 2020-12-08 | 2020-12-08 | Effizienter Antrieb für piezoelektrische Trägheitsmotoren |
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DE19714616A1 (de) | 1997-04-09 | 1998-10-15 | Bosch Gmbh Robert | Verfahren und Vorrichtung zum Laden und Entladen eines piezoelektrischen Elements |
JP3832396B2 (ja) | 2002-07-17 | 2006-10-11 | コニカミノルタフォトイメージング株式会社 | 駆動装置、位置制御装置およびカメラ |
US7309943B2 (en) | 2003-09-08 | 2007-12-18 | New Scale Technologies, Inc. | Mechanism comprised of ultrasonic lead screw motor |
US7436101B1 (en) | 2004-11-04 | 2008-10-14 | Elliptec Resonant Actuator Ag | Multistage piezoelectric drive |
US8305200B2 (en) * | 2009-12-02 | 2012-11-06 | Analog Devices, Inc. | Reactive networks to reduce acoustic noise and ensure maximum efficiencies in driving piezoelectric elements in haptic applications |
WO2011099272A1 (ja) * | 2010-02-12 | 2011-08-18 | マクセルファインテック株式会社 | 駆動装置、画像取得装置および電子機器 |
US8797152B2 (en) * | 2011-06-28 | 2014-08-05 | New Scale Technologies, Inc. | Haptic actuator apparatuses and methods thereof |
US8912707B2 (en) | 2011-07-13 | 2014-12-16 | Academia Sinica | Friction-driven actuator |
US9257936B2 (en) * | 2011-08-04 | 2016-02-09 | President And Fellows Of Harvard College | System and method for efficient drive of capacitive actuators with voltage amplification |
GB2496871A (en) * | 2011-11-23 | 2013-05-29 | Inca Digital Printers Ltd | Drive circuit for repetitively energising a print head |
DE102015216848A1 (de) | 2015-09-03 | 2017-03-09 | Robert Bosch Gmbh | Verfahren zum Betreiben eines piezoelektrischen Elements, Vorrichtung zur Durchführung des Verfahrens, Steuergerät-Programm und Steuergerät-Programmprodukt |
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