CN111049424B - Piezoelectric speed-regulating motor and driving control method thereof - Google Patents
Piezoelectric speed-regulating motor and driving control method thereof Download PDFInfo
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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
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/16—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors using travelling waves, i.e. Rayleigh surface waves
- H02N2/163—Motors with ring stator
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- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/12—Constructional details
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- H—ELECTRICITY
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- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
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Abstract
The invention discloses a piezoelectric speed regulating motor and a driving control method thereof, and relates to the field of piezoelectric material application, wherein the piezoelectric speed regulating motor comprises a stator, a rotor, a precompression mechanism, a power supply slip ring and an output shaft; exciting a row of traveling waves by using piezoelectric ceramic plates respectively, wherein the two rows of traveling waves are contacted with each other through friction contact surfaces of the stator and the rotor, and the stator drives the rotor to operate through friction force; the driving control method comprises the steps of adjusting the voltage and the frequency of excitation signals on the stator and the rotor and the phase difference of two-phase signals, obtaining a driving effect that the rotating speed is less than 1rpm and realizing a speed regulation function. The invention makes the piezoelectric motor obtain the characteristics of ultra-low speed operation and load capacity. By means of the method of producing traveling wave in the same direction on the stator and the rotor, the tangential vibration speed of the contacted driving points on the stator and the rotor is similar, so that the ultra-low speed driving characteristic is obtained, and the ultra-low speed driving device has good load capacity and wide speed regulating capacity.
Description
Technical Field
The invention belongs to the field of piezoelectric material application, relates to vibration utilization and piezoelectric material application, and particularly relates to a piezoelectric speed regulating motor and a driving control method thereof.
Background
The piezoelectric motor is also called an ultrasonic motor or an ultrasonic motor when operating in an ultrasonic frequency band. According to the working mode, piezoelectric motors are classified into traveling wave type, oscillating type, longitudinal torsion type, clamping type and the like. The annular traveling wave type piezoelectric motor has the characteristics of good working stability, low speed, large torque, silence, no magnetism of the body and the like. The japanese new generation motor corporation has commercialized the traveling wave type piezoelectric motor, and there are many domestic similar modified patents, such as CN201810993238.7, etc. The motor is applied to optical equipment such as optical zooming, medical equipment such as nuclear magnetic resonance, aerospace equipment such as microsatellite/lunar rover, national defense fields such as navigation guidance, various civil fields such as mute curtains and the like, and has wider application prospect in the future by virtue of the characteristics of the motor.
The traveling wave type piezoelectric motor is generally a low-speed motor, and the low-speed characteristic is better (10 rpm-1 rpm), but compared with an electromagnetic motor, the conventional driving and speed regulation mode and speed regulation range of the motor cannot meet the actual requirements for finer low-speed characteristic requirements (such as below 1 rpm) of target tracking and the like. We may call the ultra low speed 1rpm or less.
The speed regulating means of the travelling wave type piezoelectric motor comprises frequency modulation, amplitude modulation and phase modulation. The frequency modulation and the amplitude modulation weaken vibration, and the phase modulation phase difference leads the waveform of the traveling wave to be severely distorted, so that the driving effect is influenced in principle. Although a stepping-like low speed can be obtained by using a feeding mode of forming a stepping by a certain pulse number, the starting and stopping speed is in the millisecond level, and the response speed and the output power of the motor can be seriously influenced. How does a stable ultra-low speed with a lower rotational speed be obtained? This is still a problem to be solved for the traveling wave type piezoelectric motor. For this purpose, a new speed regulation method needs to be proposed.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention is to provide a stable and reliable ultralow speed adjusting method for a piezoelectric motor, particularly under the condition of ultralow speed application with load, the moment characteristics can be maintained without serious fading while the speed can be effectively adjusted.
In order to achieve the above purpose, the invention provides a piezoelectric speed-regulating motor and a driving control method thereof, which is characterized in that the piezoelectric speed-regulating motor comprises a stator, a rotor, a precompression mechanism, a power supply slip ring and an output shaft; piezoelectric ceramic plates are adhered to the stator and the rotor, a row of traveling waves are excited by the piezoelectric ceramic plates, the traveling waves in two rows are contacted through friction contact surfaces of the stator and the rotor, and the stator drives the rotor to operate through friction force;
the driving control method comprises the steps of adjusting the voltage and the frequency of excitation signals on the stator and the rotor and the phase difference of two-phase signals, obtaining a driving effect that the rotating speed is less than 1rpm and realizing a speed regulation function.
Further, the piezoelectric speed-regulating motor comprises the stator and the rotor which are driven independently; the working driving frequencies of the stator and the rotor can be the same or different; the number of vibrations contained in one circumference of the stator and the rotor may be the same or different.
Further, when the driving rotation speed of the stator and the rotor is 10rpm-1rpm or less than 1rpm, the propagation directions of the uplink waves of the stator and the rotor are the same.
Further, the driving control method comprises the following steps: the rated driving voltage, frequency and two-phase difference of the stator are kept unchanged, rated driving signals are applied to the rotor, and when waves on the stator and the rotor are transmitted in the same direction, the rotor realizes low-speed driving with the rotating speed close to zero; when the wave on the stator and the rotor counter-propagates, the rotating speed of the rotor is twice that of the conventional single-stator motor.
Further, the driving control method comprises the following steps: the rated driving voltage, frequency and two-phase difference of the stator are kept unchanged, the frequency and the phase difference of the two-phase driving signals of the rotor are kept unchanged, and the purpose of speed regulation is achieved by adjusting the driving voltage of the rotor: when waves on the stator and the rotor propagate in the same direction, the revolution number of the rotor rises along with the reduction of the driving voltage of the rotor; when the wave on the stator and the rotor propagates in the opposite direction, the number of revolutions of the rotor increases with an increase in the driving voltage of the rotor.
Further, the driving control method comprises the following steps: the driving voltage, the frequency and the two-phase difference of the stator are kept unchanged, rated driving voltage is applied to the rotor, the driving voltage of the rotor and the two-phase driving signal phase difference are kept unchanged, and the purpose of speed regulation is achieved by adjusting the driving frequency of the rotor: when waves on the stator and the rotor are transmitted in the same direction, the driving signal frequency of the rotor is far away from the resonance frequency, and the rotating speed of the rotor is increased; when the waves on the stator and the rotor are counter-propagating, the driving signal frequency of the rotor is far away from the resonance frequency, and the rotating speed of the rotor is reduced.
Further, the driving control method comprises the following steps: the driving voltage, the frequency and the two-phase difference of the stator are kept unchanged, rated driving voltage is applied to the rotor, the driving voltage and the frequency of the rotor are kept unchanged, and the purpose of speed regulation is achieved by adjusting the phase difference of the two-phase driving signals: when waves on the stator and the rotor are transmitted in the same direction, the two-phase vibration phase difference of the rotor deviates from 90 degrees, and the rotating speed of the rotor is increased; when the waves on the stator and the rotor are counter-propagated, the two-phase vibration phase difference of the rotor deviates from 90 degrees, and the rotating speed of the rotor is reduced.
Further, the driving control method comprises the following steps: the method comprises the steps of keeping the driving voltage, frequency and two-phase difference of a stator unchanged, keeping the frequency and phase difference of two-phase driving signals of a rotor unchanged, applying rated driving voltage on one-phase signals of the rotor, and achieving the purpose of speed regulation by adjusting the voltage of the other-phase signals: when waves on the stator and the rotor are transmitted in the same direction, the rotating speed of the rotor rises along with the voltage reduction of another phase signal of the rotor; when the wave on the stator and the rotor counter-propagates, the rotation speed of the rotor decreases as the voltage of the other phase signal of the rotor decreases.
Further, the stator and the rotor exchange driving strategies, and the driving and speed regulating effects are the same.
Compared with the prior art, the invention has the beneficial effects that traveling waves are excited on the stator and the rotor on the basis of the conventional traveling wave type piezoelectric motor, and the motor has two outstanding characteristics by a speed regulation method:
1. the ultra-low speed operation is achieved, and the ultra-low speed operation has the characteristic of carrying capacity. By means of the method of generating traveling waves in the same direction on the stator and the rotor, tangential vibration speeds of the driving points contacted with the stator and the rotor are similar, so that ultra-low speed driving characteristics are obtained, and the load capacity is good. Meanwhile, the two-row traveling wave driving method enables speed regulation at low speed/extremely low speed to be easy to realize;
2. wide speed regulating capability. The speed regulation range from zero to nearly twice the rotation speed of single stator drive can be achieved. The load capacity is also vice versa.
The conception, specific structure, and technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, features, and effects of the present invention. These descriptions are provided only to help explain the present invention and should not be used to limit the scope of the claims of the present invention.
Drawings
FIG. 1 is a schematic diagram of a traveling wave piezoelectric motor;
FIG. 2 is a schematic diagram of a piezoelectric speed regulating motor;
FIG. 3 is a schematic diagram of the decelerating contact state and driving principle of the piezoelectric speed regulating motor;
FIG. 4 is a timing principle;
FIG. 5 shows the principle of speed regulation at different wave numbers;
fig. 6 is a schematic diagram of the contact state and driving principle of the piezoelectric speed-regulating motor when the speed is increased.
Wherein 11-piezoceramic sheet, 12-stator, 13-rotor, 14-friction material, 15-end cap, 16-bearing, 17-disc spring, 18-base, 21-bearing, 22-screw, 23-base plate, 24-piezoceramic sheet, 25-stator, 26-friction layer on stator, 27-friction layer on rotor, 28-rotor, 29-piezoceramic sheet, 210-end cap, 211-disc spring, 212-spacer, 213-bearing, 214-sleeve, 215-contact power slip ring, 216-shaft, 217-sleeve, 31-elliptical vibration track of driving point on stator, 32-driving point on stator, 33-traveling wave propagating on stator and stator, 34-rotor and traveling wave propagating on rotor, 35-driving point on rotor, 36-elliptical vibration trace of driving point on rotor, 41-elliptical vibration trace of contact driving point on stator, 42-contact driving point on stator, 43-contact driving point on rotor, 44-elliptical vibration trace of contact driving point on rotor, 51-elliptical vibration trace of contact driving point on relatively slim rotor, 52-elliptical vibration trace of contact driving point on relatively flat rotor, 61-elliptical vibration trace of contact driving point on stator, 62-contact driving point on stator, 63-contact driving point on rotor, 64-elliptical vibration trace of contact driving point on rotor.
Detailed Description
The invention is described in further detail below with reference to the drawings and specific examples. It should be understood that the embodiments are merely illustrative of the present invention and are not intended to limit the scope of the invention in any way. The present invention may be embodied in many different forms of embodiments and the scope of the present invention is not limited to only the embodiments described herein.
In the drawings, like structural elements are referred to by like reference numerals and components having similar structure or function are referred to by like reference numerals. The dimensions and thickness of each component shown in the drawings are arbitrarily shown, and the present invention is not limited to the dimensions and thickness of each component. The thickness of the components is exaggerated in some places in the drawings for clarity of illustration.
Examples
As shown in fig. 2, the piezoelectric speed regulating motor comprises a stator 25, a rotor 28, a power supply slip ring 215, a pre-tightening supporting mechanism, shells 23 and 210 and the like. The stator and the rotor are similar in structure and are of thin plate-shaped vibration structures, the stator and the rotor comprise an outer cylinder, an inner cylinder and a connecting thin ring, one surface of the outer cylinder is provided with teeth, the other surface of the outer cylinder is stuck with piezoelectric ceramics, the stator or the rotor is of a main body structure, the inner cylinder plays a role in mounting and supporting, the connecting thin ring connects the outer cylinder and the inner cylinder together, and the stator and the rotor are also vibration isolation.
The stator 25 is arranged on the base 23; the rotor 28 is mounted on a shaft 216. The disc spring 211 presses the rotor 28 and the stator 25 together. The rotor 28 is connected to the rotary shaft 216 by friction with the disc spring 211 and the spacer 212.
The piezoelectric ceramics 24 and 29 excite traveling waves which are propagated circumferentially on the stator and the rotor respectively, the vibration tracks of the driving points which are contacted between the stator and the rotor are elliptical, and the stator 25 rotates through the friction rotor 28. The drive power on the rotor is taken from slip ring 215.
The wave numbers of the stator and the rotor can be the same or different. The stator and the rotor can be of similar structures, and the same wave number can be selected, but the wave number is usually one of 7, 9 and 11 vibration waves in a circle, but is not limited to the same wave number. The stator and the rotor have the same wave numbers, and the driving frequencies (operating frequencies) thereof are not necessarily the same, and they must be driven in accordance with the resonance frequencies of the stator and the rotor themselves.
The wave numbers of the stator and the rotor can be different, if the rotor is smaller and thinner, the stator can be selected to contain 9 vibration waves for one circle, and the rotor can be selected to contain 7 vibration waves for one circle.
Fig. 3 expands the traveling wave traveling circumferentially in a rectangular coordinate system. As can be seen from fig. 3, each wave is about 15 mm in length and about microns in height, so the traveling wave is a very short traveling wave, hardly touched by an instrument, and not observed.
The wave number determines the number of stator and rotor contact areas. One example is: if the stator and the rotor each have 9 waves in a circle, the contact area is theoretically 9. If the stator is 9 waves and the rotor is 7 waves, the contact area is 7. The contact area is not a single point, but a section of a certain length, due to the presence of deformation.
The number of teeth of the stator and the rotor can be the same or different. It is recommended to choose different to reduce the possibility of exciting periodically disturbing vibrations.
Fig. 3 shows a contact state and a driving principle at the time of low-speed driving of the motor. The traveling wave propagating through the stator 33 and the stator is located below, and the traveling wave propagating through the rotor 34 and the rotor is located above. The driving point 32 on the stator is in contact with the contact point 35 on the rotor and the vibration tracks are elliptical. When the traveling wave propagation directions on the stator and the rotor are the same, the elliptical vibration locus 31 of the driving point 32 on the stator is counterclockwise, and the elliptical vibration locus 36 of the driving point 35 on the rotor is clockwise. Two contact points are separated from each other. If the tangential speeds of the two contact points are the same during contact, the stator and the rotor have no tangential relative speed, and no driving effect is achieved. The rotor output speed is 0. If there is a small difference between the tangential speeds of the two contact points, the rotor will get a small rotational speed, and the driving torque output at low speed will not be lower than the torque when the single stator works because the stator and the rotor vibrate well. When the rotating speed is 0, the external load is heavier, and when the stator and the rotor are out of step, the instant speed difference of the contact point between the stator and the rotor is increased, so that the driving force is also increased, the load capacity is enhanced, and the out-of-step phenomenon is eliminated.
As illustrated in fig. 4, the speed regulation mechanism is illustrated by points 42 and 43 which are contact points on the stator and the rotor, respectively, and when the propagation directions of the upward waves of the stator and the rotor are the same, 41 is an elliptical vibration locus of the driving point 42 on the stator, and 44 is an elliptical vibration locus of the driving point 43 on the rotor. When the vibration state of the stator is unchanged, the rotor adjusts the amplitude of the rotor, and when the amplitude of the rotor is reduced, the driving action of the stator on the rotor is increased, and the output speed of the rotating shaft is increased. When the rotor amplitude is 0, the rotor is in a normal single-stator working state.
When the propagation directions of the uplink waves of the stator and the rotor are opposite, the vibration directions of the driving particles on the stator and the rotor are opposite, and the relative driving speed of the contact point is higher than that of the single stator, so that the rotating speed of the rotor is faster than that of the single stator. In the 5 operating states of fig. 4, the rotational speed of the rotor is gradually increased from 0 from left to right. Theoretically, the idle rotation speed can reach nearly twice the working rotation speed of a single stator.
Fig. 5 depicts motor deceleration contact states and driving schematic diagrams thereof at different wave numbers. The stator and the rotor work under different wave numbers, and the speed regulating mechanism is the same as that of the same wave number and the same driving frequency. As long as the horizontal tangential speeds of the contact points of the stator and the rotor are similar, low-speed driving can be realized. And 51 is an elliptical vibration track of a contact driving point on a relatively slender rotor, 52 is an elliptical vibration track of a contact driving point on a relatively flat rotor, when the frequencies are similar, the tangential speeds of the three contact states are the same, the driving speeds are similar, low-speed driving can be realized, and the three load capacities are different.
The driving control method comprises the following steps:
(1) The rated driving voltage, frequency and two-phase difference on the stator are kept unchanged, rated driving signals are applied to the rotor, when waves on the stator and the rotor are transmitted in the same direction, the rotor realizes ultra-low speed driving close to zero speed, the load characteristic is good, when waves on the stator and the rotor are transmitted in opposite directions, the rotating speed of the rotor is close to twice that of a conventional single-stator motor with similar parameters, and the load characteristic is also good.
(2) The rated driving voltage, frequency and two-phase difference on the stator are kept unchanged, the frequency and the phase difference of the two-phase driving signals of the rotor are kept unchanged, the driving voltage on the rotor is adjusted, and the purpose of speed regulation is achieved: when waves on the stator and the rotor are transmitted in the same direction, the smaller the driving voltage on the rotor is, the larger the rotating speed of the rotor is. When the wave on the stator and the rotor counter-propagates, the higher the driving voltage on the rotor is, the higher the rotor rotating speed is.
(3) The drive voltage, frequency and two-phase difference on the stator are kept unchanged, rated drive voltage is applied to the rotor, the drive voltage and two-phase drive signal phase difference on the rotor are kept unchanged, and the drive frequency of the rotor is adjusted, so that the aim of speed regulation is fulfilled: when the waves on the stator and the rotor are propagated in the same direction, the frequency of the rotor driving signal is far away from the resonance frequency, the rotating speed of the rotor is increased, and when the waves on the stator and the rotor are propagated in the opposite direction, the frequency of the rotor driving signal is far away from the resonance frequency, and the rotating speed of the rotor is reduced.
(4) The drive voltage, frequency and two-phase difference on the stator are kept unchanged, rated drive voltage is applied to the rotor, the drive signal voltage and frequency on the rotor are kept unchanged, the phase difference of the two-phase drive signals is adjusted, and the purpose of speed regulation is achieved: when the waves on the stator and the rotor are transmitted in the same direction, the phase difference of the two-phase vibration of the rotor deviates from 90 degrees, the rotating speed of the rotor is increased, and when the waves on the stator and the rotor are transmitted in opposite directions, the phase difference of the two-phase vibration of the rotor deviates from 90 degrees, and the rotating speed of the rotor is reduced.
(5) The drive voltage, frequency and two-phase difference on the stator are kept unchanged, the frequency and phase difference of two-phase drive signals on the rotor are kept unchanged, rated drive voltage is applied to one phase of signal on the rotor, and the voltage of the other phase of signal is adjusted, so that the aim of speed regulation is fulfilled: when the waves on the stator and the rotor are propagated in the same direction, the voltage of the other phase signal of the rotor is reduced, the rotating speed of the rotor is increased, and when the waves on the stator and the rotor are propagated in the opposite direction, the voltage of the other phase signal of the rotor is reduced, and the rotating speed of the rotor is reduced.
(6) The stator and the rotor exchange driving strategies, and the driving and speed regulating effects are vice versa.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention without requiring creative effort by one of ordinary skill in the art. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (1)
1. The driving control method of the piezoelectric speed regulating motor is characterized in that the piezoelectric speed regulating motor comprises a stator, a rotor, a precompression mechanism, a power supply slip ring and an output shaft; piezoelectric ceramic plates are adhered to the stator and the rotor, a row of traveling waves are excited by the piezoelectric ceramic plates, the traveling waves in two rows are contacted through friction contact surfaces of the stator and the rotor, and the stator drives the rotor to operate through friction force; the propagation directions of the uplink waves of the stator and the rotor are the same when the driving rotation speed of the stator and the rotor is 10rpm-1rpm or less than 1 rpm;
the driving control method comprises the steps of adjusting the voltage and the frequency of excitation signals on the stator and the rotor and the phase difference of two-phase signals, obtaining a driving effect that the rotating speed is less than 1rpm and realizing a speed regulation function; the drive control method includes: the rated driving voltage, frequency and two-phase difference of the stator are kept unchanged, rated driving signals are applied to the rotor, and when waves on the stator and the rotor are transmitted in the same direction, the rotor realizes low-speed driving with the rotating speed close to zero; when waves on the stator and the rotor are counter-propagating, the rotating speed of the rotor is twice as high as that of a conventional single-stator motor;
the drive control method includes: the rated driving voltage, frequency and two-phase difference of the stator are kept unchanged, the frequency and the phase difference of the two-phase driving signals of the rotor are kept unchanged, and the purpose of speed regulation is achieved by adjusting the driving voltage of the rotor: when waves on the stator and the rotor propagate in the same direction, the revolution number of the rotor rises along with the reduction of the driving voltage of the rotor; when waves on the stator and the rotor are counter-propagated, the revolution number of the rotor rises along with the increase of the driving voltage of the rotor;
the drive control method includes: the driving voltage, the frequency and the two-phase difference of the stator are kept unchanged, rated driving voltage is applied to the rotor, the driving voltage of the rotor and the two-phase driving signal phase difference are kept unchanged, and the purpose of speed regulation is achieved by adjusting the driving frequency of the rotor: when waves on the stator and the rotor are transmitted in the same direction, the driving signal frequency of the rotor is far away from the resonance frequency, and the rotating speed of the rotor is increased; when waves on the stator and the rotor are counter-propagated, the driving signal frequency of the rotor is far away from the resonance frequency, and the rotating speed of the rotor is reduced;
the drive control method includes: the driving voltage, the frequency and the two-phase difference of the stator are kept unchanged, rated driving voltage is applied to the rotor, the driving voltage and the frequency of the rotor are kept unchanged, and the purpose of speed regulation is achieved by adjusting the phase difference of the two-phase driving signals: when waves on the stator and the rotor are transmitted in the same direction, the two-phase vibration phase difference of the rotor deviates from 90 degrees, and the rotating speed of the rotor is increased; when waves on the stator and the rotor are counter-propagated, the two-phase vibration phase difference of the rotor deviates from 90 degrees, and the rotating speed of the rotor is reduced;
the drive control method includes: the method comprises the steps of keeping the driving voltage, frequency and two-phase difference of a stator unchanged, keeping the frequency and phase difference of two-phase driving signals of a rotor unchanged, applying rated driving voltage on one-phase signals of the rotor, and achieving the purpose of speed regulation by adjusting the voltage of the other-phase signals: when waves on the stator and the rotor are transmitted in the same direction, the rotating speed of the rotor rises along with the voltage reduction of another phase signal of the rotor; when the wave on the stator and the rotor counter-propagates, the rotation speed of the rotor decreases as the voltage of the other phase signal of the rotor decreases.
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