JPH0236779A - Driving circuit for vibration wave motor - Google Patents
Driving circuit for vibration wave motorInfo
- Publication number
- JPH0236779A JPH0236779A JP63186439A JP18643988A JPH0236779A JP H0236779 A JPH0236779 A JP H0236779A JP 63186439 A JP63186439 A JP 63186439A JP 18643988 A JP18643988 A JP 18643988A JP H0236779 A JPH0236779 A JP H0236779A
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- Prior art keywords
- drive
- phase
- vibration wave
- wave motor
- voltage
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000002123 temporal effect Effects 0.000 claims description 2
- 230000018199 S phase Effects 0.000 abstract description 12
- 238000000034 method Methods 0.000 description 11
- 238000012545 processing Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000011017 operating method Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
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Abstract
Description
【発明の詳細な説明】 ［産業上の利用分野］ 本発明は振動波モータの駆動回路に関するものである。[Detailed description of the invention] [Industrial application field] The present invention relates to a drive circuit for a vibration wave motor.
［従来の技術］
進行性振動波を利用して移動体を摩擦駆動する振動波モ
ータは最近実用化されつつあり、その原理的概要を第３
図を参照して説明する。[Prior art] Vibration wave motors that frictionally drive moving objects using progressive vibration waves have recently been put into practical use, and an overview of their principles is given in Section 3.
This will be explained with reference to the figures.
全周長が成る長さλの整数倍であるような弾性材料製の
リング状の振動体３の片面に、周方向に配列された二群
の複数個の圧電素子４を固着したものをステータ２とす
る。これら圧電素λ
子４は各群内では−のピッチにて且つ交互に逆の伸縮極
性となるように配列されており、またλ
両群間には−の奇数倍のずれがあるように配置されてい
る、圧電素子の両群には夫々電極膜が施されている。い
ずれかの−群（以下Ａ相と称す）のみに交流電圧を印加
すれば、上記振動体３には、該Ａ相の各圧電素子の中央
点およびそこから−おきの点が腹の位置、また詰腹の位
置間の中央点が節の位置であるような曲げ振動の定在波
（波長λ）が該振動体３の全周に亘って発生する。他の
一群（以下Ｂ相と称す）のみに交流電圧を印加すれば、
同様に定在波が生ずるが、その腹および節の位置は前記
定在波に対しλ
時に印加すると、両者の定在波の合成の結果、振動体３
には周方向に進行する曲げ振動の進行波（波長λ）が発
生し、このとき、厚みを有する上記振動体３の他面上の
各点は一種の楕円運動をする。よりて、振動体３の該他
面にロータ１としてリング状移動体を加圧接触させてお
けば、該移動体１は振動体３から周方向の摩擦力を受け
、回転駆動される。その回転方向は、両Ａ、Ｂ相のＡ相
電ａｓａ、Ｂ相電極５ｂに印加する交流電圧の位相差を
正負に切換えることにより、反転できる。以上がこの種
の振動波モータの原理的概要である。A stator is a ring-shaped vibrating body 3 made of an elastic material whose total circumferential length is an integral multiple of the length λ, and two groups of piezoelectric elements 4 arranged in the circumferential direction are fixed to one side of the ring-shaped vibrating body 3. Set it to 2. These piezoelectric elements 4 are arranged at a pitch of - within each group so that they alternately have opposite expansion and contraction polarities, and are arranged so that there is a shift of an odd multiple of - between the two groups. Electrode films are applied to both groups of piezoelectric elements, respectively. If an alternating current voltage is applied only to one of the -groups (hereinafter referred to as A-phase), the vibrating body 3 will have an antinode position at the center point of each piezoelectric element of the A-phase and a point at - intervals from there. Further, a standing wave (wavelength λ) of bending vibration is generated over the entire circumference of the vibrating body 3, with the center point between the pad positions being the node position. If AC voltage is applied only to the other group (hereinafter referred to as B phase),
Similarly, a standing wave is generated, but when the antinode and node positions are applied at λ to the standing wave, as a result of the synthesis of both standing waves, the vibrating body 3
A traveling wave (wavelength λ) of bending vibration traveling in the circumferential direction is generated, and at this time, each point on the other surface of the thick vibrating body 3 moves in a kind of ellipse. Therefore, if a ring-shaped moving body as the rotor 1 is brought into pressure contact with the other surface of the vibrating body 3, the movable body 1 receives a circumferential frictional force from the vibrating body 3 and is rotationally driven. The direction of rotation can be reversed by switching the phase difference between the AC voltages applied to the A-phase electrodes asa and the B-phase electrode 5b of both the A and B phases to positive or negative. The above is an overview of the principle of this type of vibration wave motor.
このように構成した振動波モータにおいて、振動波モー
タの回転数の制御は、人相、Ｂ相に加える駆動用交流信
号の印加周波数を変化させる方式と、Ａ相、Ｂ相に加え
る駆動用交流信号の電圧を変化させる方式とがある。In the vibration wave motor configured as described above, the rotation speed of the vibration wave motor is controlled by changing the frequency of the driving AC signal applied to the human phase and B phase, and by changing the frequency of the driving AC signal applied to the A phase and B phase. There is a method that changes the voltage of the signal.
前者の回転数制御方式では、第５図に示すように、振動
波モータのａ１械的共振周波数より低い周波数側に急な
回転数変化があり、このため広い回転数領域に渡り安定
して駆動させるには問題点が多い。又、後者の回転数制
御方式は前者のような急な回転数の変化点がない為、広
い回転数領域に渡って利用する場合に適した制御方法で
、この場合振動波モータに印加する駆動用交流信号の周
波数は駆動効率が最も高い機械的共振周波数に固定され
るのが一般的である。In the former rotational speed control method, as shown in Figure 5, there is a sudden change in the rotational speed at a frequency lower than the a1 mechanical resonance frequency of the vibration wave motor, and therefore the drive is stable over a wide rotational speed range. There are many problems in doing so. In addition, the latter rotation speed control method does not have the sudden change point of rotation speed like the former, so it is a control method suitable for use over a wide rotation speed range.In this case, the drive applied to the vibration wave motor Generally, the frequency of the AC signal for use is fixed at the mechanical resonance frequency that provides the highest drive efficiency.
ところで、振動波モータの機械的共振周波数はモータ個
々や駆動時の温度等により変化するので、固定された周
波数では必らずしも機械的共振周波数になっているとは
かぎらなかった。By the way, since the mechanical resonance frequency of a vibration wave motor changes depending on the individual motor, the temperature during driving, etc., a fixed frequency does not necessarily correspond to the mechanical resonance frequency.
そこでこの種の振動波モータにおいて、上記Ａ相、Ｂ相
の圧電素子の他に、振動検出用圧電素子（以下Ｓ相と称
す）を振動板に固着し、該Ｓ相のＳ相電極５Ｓからの検
出出力に応じてＡ相、Ｂ相に印加する交流電圧の周波数
を自動的に共振周波数となして、振動波モータを最も効
率良く駆動させることができるＰＬＬ制御方式の駆動回
路が提供されている。Therefore, in this type of vibration wave motor, in addition to the above-mentioned A-phase and B-phase piezoelectric elements, a piezoelectric element for vibration detection (hereinafter referred to as S-phase) is fixed to the diaphragm, and from the S-phase electrode 5S of the S-phase. A PLL control type drive circuit is provided which can drive a vibration wave motor most efficiently by automatically setting the frequency of the AC voltage applied to the A-phase and B-phase as a resonance frequency according to the detection output of the There is.
［発明が解決しようとする課題］
しかし、このよりなＴ’ＬＬ制御方式による振動波モー
タの駆動回路にあっては、第４図に示すように、モータ
の起動時や、駆動用電圧の低電圧時にＳ相の出力が不定
的なため、ＰＬＬ制御が不能となる場合があフた。[Problems to be Solved by the Invention] However, in the vibration wave motor drive circuit using this more T'LL control method, as shown in FIG. PLL control sometimes became impossible because the S-phase output was unstable when the voltage was applied.
本発明の目的は、振動波モータの起動時や駆動用電圧が
低い時でも安定した回転数の制御を行える振動波モータ
の駆動回路を提供するものである。An object of the present invention is to provide a drive circuit for a vibration wave motor that can stably control the rotational speed even when the vibration wave motor is started or when the driving voltage is low.
［課題を解決するための手段］
本発明の目的を達成するための要旨とするところは、振
動体に配列固定された二群の駆動用電気−機械エネルギ
ー変換素子に対し互いに９０°の時間的位相差を有する
交流信号を印加する第１の駆動モード手段と、該振動体
に設けた振動検出用電気−機械エネルギー変換素子から
の検出信号に応じて該二群の駆動用電気−機械エネルギ
ー変換素子に印加する交流信号の周波数を共振周波数に
設定する第２のｍ！１ｌｌｌモード手段と、該二群の駆
動用電気−機械エネルギー変換素子に印加する交流電圧
を可変可能とする電源手段と、常時は該第２の駆動モー
ド手段を選択し、駆動用電圧が低電圧であることを検出
した時又は予め設定した起動初期時に、該第１の駆動モ
ード手段を選択する駆動モード選択手段を有することを
特徴とする振動波モータの駆動回路にある。[Means for Solving the Problems] The gist of the present invention is to set two groups of drive electro-mechanical energy conversion elements arranged and fixed on a vibrating body at a temporal angle of 90 degrees from each other. a first drive mode means for applying an alternating current signal having a phase difference; and an electric-to-mechanical energy converter for driving the two groups according to a detection signal from an electric-to-mechanical energy conversion element for vibration detection provided on the vibrating body. The second m! sets the frequency of the AC signal applied to the element to the resonance frequency. 1lll mode means, a power supply means that can vary the alternating current voltage applied to the two groups of drive electro-mechanical energy conversion elements, and the second drive mode means is normally selected, and the drive voltage is a low voltage. A drive circuit for a vibration wave motor is characterized in that it has drive mode selection means for selecting the first drive mode means when detecting that the first drive mode is the first drive mode or at a predetermined initial stage of startup.
［作 用］
上記の如く構成した振動波モータの駆動回路は、振動検
出用電気−機械エネルギー変換素子からの検出信号が不
安定となる振動波モータの起動時や駆動電圧が低下した
時には、第１の駆動モード手段で振動波モータの駆動を
行ない、低電圧低回転から高電圧高回転までの広範囲に
渡る速度制御が行なえる。[Function] The drive circuit for the vibration wave motor configured as described above performs the first operation when the vibration wave motor starts up or when the drive voltage decreases, when the detection signal from the electro-mechanical energy conversion element for vibration detection becomes unstable. The vibration wave motor is driven by the first drive mode means, and speed control can be performed over a wide range from low voltage, low rotation to high voltage, high rotation.
［実施例］
以下本発明を図面に示す実施例に基づいて詳細に説明す
る。[Example] The present invention will be described in detail below based on an example shown in the drawings.
第１図は本発明による振動波モータの駆動回路の一実施
例を示すブロック図で、振動波モータの回転数を電圧に
より制御するものである。FIG. 1 is a block diagram showing an embodiment of a vibration wave motor drive circuit according to the present invention, in which the rotation speed of the vibration wave motor is controlled by voltage.
６は振動波モータ、７は回路全体の駆動制御を行うマイ
クロコンピュータからなる制御部、８ａはＳ相用コンパ
レータ、８ｂはＡ相用コンパレータ、８Ｃはシフトレジ
スタ、８ｄ及び８ｍはエツジトリガ型位相比較器、８ｅ
はＡＮＤ回路、８ｆ及び８ｎはラグリードフィルタ、８
ｇ及び８ｐは電圧制御発振器、８ｈは正転逆転切換スイ
ッチ、８１及び８ｊは可変電圧源、８ｋ及び８系はマツ
チングコイル、８ｑはＮ次分周回路、８ｒはカウンタ回
路、８ｓは数値比較器、８ｔは閉ループ／開ループ切換
え器、８ｕは電圧制御発振器８ｇの自走周波数設定器、
９は振動波モータの駆動／停止、正転／逆転、加速／減
速等の指示を行うマイクロコンピュータからなる制御指
示手段で、制御部７へは数値比較器８ｓの出力信号が入
力され、正転逆転切換スイッチ８ｈ、閉／開ループ切換
え器８ｔ、自走周波数設定器８ｕ可変電圧源８１及び８
ｊへの制御信号が出力されている。なお、開ループとは
Ｓ相電極からの信号によらず振動波モータの回転数を制
御するモード、閉ループとはＳ相電極からの信号により
振動波モータの回転数を制御するモードと称する。6 is a vibration wave motor, 7 is a control unit consisting of a microcomputer that controls the drive of the entire circuit, 8a is an S phase comparator, 8b is an A phase comparator, 8C is a shift register, 8d and 8m are edge trigger type phase comparators. ,8e
is an AND circuit, 8f and 8n are lag lead filters, 8
g and 8p are voltage controlled oscillators, 8h is a forward/reverse switch, 81 and 8j are variable voltage sources, 8k and 8 series are matching coils, 8q is an N-th frequency divider circuit, 8r is a counter circuit, and 8s is a numerical comparison 8t is a closed loop/open loop switch, 8u is a free-running frequency setter for the voltage controlled oscillator 8g,
Reference numeral 9 denotes a control instruction means consisting of a microcomputer that instructs the vibration wave motor to drive/stop, forward/reverse, accelerate/decelerate, etc. The output signal of the numerical comparator 8s is input to the control section 7, Reverse changeover switch 8h, closed/open loop changeover 8t, free-running frequency setter 8u variable voltage sources 81 and 8
A control signal to j is output. Note that open loop refers to a mode in which the rotational speed of the vibration wave motor is controlled without using a signal from the S-phase electrode, and closed loop refers to a mode in which the rotational speed of the vibrational wave motor is controlled by a signal from the S-phase electrode.
振動波モータの電極６ａには電圧制御発振器８ｇからの
信号が可変電圧源８量で増幅されコイル８ｋを通して印
加される。A signal from a voltage controlled oscillator 8g is amplified by a variable voltage source 8 and applied to the electrode 6a of the vibration wave motor through a coil 8k.
電極６ｂにはＡ相コンパレータ８ｂからの信号のデータ
を電圧制御発振器８ｇの発振周波数ｆのＮ倍のクロック
信号でシフトするシフトレジスタで電圧制御発振器８ｇ
の信号と＋９０゜又は−９０’ずれた信号をとりだし可
変電圧源８ｊで増幅されコイル８ｆｔを通して印加され
る。The voltage controlled oscillator 8g is connected to the electrode 6b by a shift register that shifts the data of the signal from the A-phase comparator 8b using a clock signal N times the oscillation frequency f of the voltage controlled oscillator 8g.
A signal shifted by +90° or -90' from the signal is extracted, amplified by a variable voltage source 8j, and applied through a coil 8ft.
このとき制御部７の指示により正転／逆転切り換えスイ
ッチ８ｈを操作してシフトレジスタ８ｃからの信号を選
択する事によりＡ相とＢ相間に印加される信号の位相関
係が変わり振動波モータの回転方向が変化する。At this time, by operating the forward/reverse rotation switch 8h and selecting the signal from the shift register 8c according to instructions from the control unit 7, the phase relationship of the signals applied between the A phase and the B phase changes, causing the vibration wave motor to rotate. The direction changes.
位相比較器８ｄにはＳ相コンパレータ８ａの出力とＡ相
コンパレータ８ｂからの信号をシフトレジスタ８Ｃで９
０°ずらした信号が入力される。位相比較器８ｄの出力
パルスをカウンタ回路８ｒで計数し、その値を数値比較
器８Ｓで内部設定値と比較する事により現在の位相状態
を検出できる。The output of the S-phase comparator 8a and the signal from the A-phase comparator 8b are transferred to the phase comparator 8d by a shift register 8C.
A signal shifted by 0° is input. The current phase state can be detected by counting the output pulses of the phase comparator 8d with a counter circuit 8r and comparing that value with an internal setting value with a numerical comparator 8S.
また、制御部７が間ループ／閉ループ切り換え器８ｔを
操作する事により、電圧制御発振器８ｇは位相比較器８
ｄの出力が一定になるようにＰＬＬ駆動を行なう。In addition, the voltage controlled oscillator 8g is switched to the phase comparator 8 by the control unit 7 operating the interloop/closed loop switch 8t.
PLL driving is performed so that the output of d is constant.
次に制御部７の動作手順を第２図に示すフローチャート
の■〜＠ステップに従って説明する。Next, the operating procedure of the control unit 7 will be explained according to steps ① to @ of the flowchart shown in FIG.
（初期状態の設定）
■ 先ずシステムがスタート後電圧源８１及び８ｊに対
して電源オフを指示し、出力電圧レベルＬをＬ＝Ｏとし
て最低電圧設定し、マイコン内の時間カウンタをＴ＝Ｏ
とする。(Initial state settings) ■ First, after the system starts, it instructs the voltage sources 81 and 8j to turn off the power, sets the output voltage level L to the lowest voltage with L=O, and sets the time counter in the microcontroller to T=O.
shall be.
（駆動制御指示の入力）
■ 次に制御部７は制御指示手段９から駆動開始／停止
の指示を入力し、駆動開始指示であれば■へ分岐して駆
動方向入力処理を行なう。(Input of drive control instruction) (2) Next, the control unit 7 inputs a drive start/stop instruction from the control instruction means 9, and if it is a drive start instruction, branches to (2) and performs drive direction input processing.
又、駆動停止指示であれば、■へ分岐して初期状態を保
つ。If the instruction is to stop driving, the process branches to (2) and maintains the initial state.
■ 同様に制御部７は制御指示手段９から駆動方向指示
を入力し、正転／逆転切り換えスイッチ８ｈを設定する
。(2) Similarly, the control section 7 inputs a drive direction instruction from the control instruction means 9 and sets the forward/reverse rotation changeover switch 8h.
■ 同様に制御部７は制御指示手段９から加速／減速指
示を入力し、指示がなければ■へ分岐し時間カウンタＴ
のチエツクを行なう。■Similarly, the control section 7 inputs an acceleration/deceleration instruction from the control instruction means 9, and if there is no instruction, branches to ■ and returns the time counter T.
Check.
加速指示があれば■へ分岐して加速処理を行い、減速指
示があれば■へ分岐して減速処理を行なう。If there is an instruction to accelerate, the process branches to ■ to perform acceleration processing, and if there is an instruction to decelerate, the process branches to ■ to perform deceleration processing.
（加速処理）
■ 出力電圧レベルＬをチエツクし、Ｌが最大電圧レベ
ルＭと等しければ■へ分岐して時間カウンタＴのチエツ
クを行なう、又、Ｌ＜Ｍであれば■へ分岐する。(Acceleration Processing) (2) Check the output voltage level L, and if L is equal to the maximum voltage level M, branch to (2) and check the time counter T. If L<M, branch to (2).
■ 出力電圧レベルを１段増加して加速方向に設定する
。この後■へ分岐して時間カウンタＴのチエツクを行な
う。■ Increase the output voltage level by one step and set it in the acceleration direction. After this, the process branches to (2) and checks the time counter T.
（減速処理）
■ 出力電圧レベルＬをチエツクし、Ｌが最低電圧レベ
ル０であれば■へ分岐して時間カウンタＴのチエツクを
行なう。又、Ｌ〉０であれば■へ分岐する。(Deceleration Processing) (1) Check the output voltage level L, and if L is the lowest voltage level 0, branch to (2) and check the time counter T. If L>0, the process branches to ■.
■ 出力電圧レベルＬを１段減らして減速方向に設定す
る。この後のへ分岐して時間カウンタＴのチエツクを行
なう。■ Decrease the output voltage level L by one step and set it in the deceleration direction. The process branches to the next step and checks the time counter T.
（起動後安定時間の確認）
■ マイコン内時間カウンタＴと起動安定時間カウント
値Ｎを比較して、Ｔ＜Ｎであれば■へ分岐し、Ｔ≠Ｎで
あれば■へ分岐して出力電圧レベルのチエツクを行なう
。(Checking the stabilization time after startup) ■ Compare the time counter T in the microcontroller and the startup stabilization time count value N, and if T<N, branch to ■; if T≠N, branch to ■ and output voltage. Check the level.
■ マイコン内時間カウンタＴを１インクリメントして
起動後の経過時間をカウントする。■ Increment the time counter T in the microcomputer by 1 to count the elapsed time after startup.
この後［相］へ分岐して開ループ設定を行なう。After this, branch to [phase] and perform open loop setting.
（出力電圧レベルの確認）
■ 出力電圧レベルＬと閉ループ駆動電圧レベルＣと比
較してＬ＞Ｃであれば■へ分岐して閉ループ設定を行な
う。(Confirmation of output voltage level) ■ Compare the output voltage level L with the closed loop drive voltage level C, and if L>C, branch to ■ to perform closed loop setting.
又、Ｌ＜Ｃであれば［相］へ分岐して開ループ設定を行
なう。If L<C, branch to [phase] and open loop setting is performed.
（閉ループ設定）
■ 開ループ／閉ループ切り換えスイッチ８ｔを閉ルー
プへセット、■へ分岐して電圧源のオオンを指示する。(Closed loop setting) ■ Set the open loop/closed loop changeover switch 8t to closed loop, branch to ■ and instruct to turn on the voltage source.
（開ループ設定）
［相］ 間ループ／閉ループ切り換えスイッチ８ｔを開
ループへセット■へ分岐して電圧源のオンを指示する。(Open-loop setting) [Phase] Set the inter-loop/closed-loop changeover switch 8t to open loop. Branch to ■ and instruct to turn on the voltage source.
（電圧源のオン）
■ 電圧源８１及び８ｊに対して電源オンを指示し、出
力電圧レベルをＬと指示して振動波モータを駆動させる
。この後、駆動制御指示の人力■へ戻る。(Turning on the voltage source) ① Instruct the voltage sources 81 and 8j to turn on the power, instruct the output voltage level to be L, and drive the vibration wave motor. After this, return to the manual drive control instruction ■.
以上説明したように測定等により、あらかじめ起動安定
時間カウンタ値Ｎ及び閉ループ駆動電圧レベルＣを設定
しておけば、処理ルーチン■及び■にてＳ相出力信号が
安定な場合のみ閉ループ駆動となり、不安定な場合は開
ループとなり、ＰＬＬのロックレンジを外れて起動不能
となる事がなくなった。As explained above, if the startup stability time counter value N and closed-loop drive voltage level C are set in advance by measurement etc., closed-loop drive will be performed only when the S-phase output signal is stable in processing routines When it is stable, it becomes an open loop, and it is no longer possible to go out of the PLL lock range and become unable to start.
なお、本実施例は、振動波モータの起動時に招けるＳ相
出力信号の不安定な時間を起動安定時間カウンタ値Ｎと
して設定してるが、Ｓ相出力信号が不安定となる駆動電
圧範囲を予め測定等により求め、この値を基にして開／
閉ループの切換えを行ワても同様の効果が得られる。In addition, in this embodiment, the period of instability of the S-phase output signal that occurs when starting the vibration wave motor is set as the starting stability time counter value N, but the drive voltage range in which the S-phase output signal becomes unstable is set as the starting stability time counter value N. Determine this value in advance by measurement, etc., and open/open based on this value.
A similar effect can be obtained by performing closed loop switching.
［発明の効果］
以上説明したように、振動検出用電気−機械エネルギー
変換素子の相出力が安定している時だけ第２の駆動モー
ド手段の駆動とし、不安定なときは第１の駆動モード手
段の駆動とすることで、低電圧低回転数から高電圧高回
転数まで安定して駆動制御が可能となった。[Effects of the Invention] As explained above, the second drive mode means is used only when the phase output of the electro-mechanical energy conversion element for vibration detection is stable, and when it is unstable, the first drive mode is used. By using a drive means, it is possible to stably control the drive from low voltage and low rotation speed to high voltage and high rotation speed.
第１図は本発明による振動波モータの駆動回路の一実施
例を示すブロック図、第２図はその動作手順を示すフロ
ーチャート、第３図は振動波モータの概略図、第４図は
振動波モータの電圧対回転数特性を示す図、第５図は振
１３彼モータの周波数対回転数特性を示す図である。
１：ロータ、 ２：ステータ、３：振動体、
４：圧電素子、
６：振動波モータ、 ７：制御部。
党４図
第５図
敲初周波数ｒＫＨｚコFig. 1 is a block diagram showing an embodiment of the vibration wave motor drive circuit according to the present invention, Fig. 2 is a flowchart showing its operating procedure, Fig. 3 is a schematic diagram of the vibration wave motor, and Fig. 4 is a vibration wave motor drive circuit. FIG. 5 is a diagram showing the voltage versus rotation speed characteristic of the motor. FIG. 1: Rotor, 2: Stator, 3: Vibrating body,
4: piezoelectric element, 6: vibration wave motor, 7: control section. Part 4 Figure 5 First frequency rKHz
Claims (1)
エネルギー変換素子に対し互いに ９０゜の時間的位相差を有する交流信号を印加する第１
の駆動モード手段と、該振動体に設けた振動検出用電気
−機械エネルギー変換素子からの検出信号に応じて該二
群の駆動用電気−機械エネルギー変換素子に印加する交
流信号の周波数を共振周波数に設定する第２の駆動モー
ド手段と、該二群の駆動用電気−機械エネルギー変換素
子に印加する交流電圧を可変可能とする電源手段と、常
時は該第２の駆動モード手段を選択し、駆動用電圧が低
電圧であることを検出した時又は予め設定した起動初期
時に、該第１の駆動モード手段を選択する駆動モード選
択手段を有することを特徴とする振動波モータの駆動回
路。[Scope of Claims] 1. A first circuit that applies an AC signal having a temporal phase difference of 90° to two groups of drive electro-mechanical energy conversion elements arranged and fixed on a vibrating body.
The frequency of the AC signal applied to the two groups of drive electric-mechanical energy conversion elements according to the detection signal from the vibration detection electric-mechanical energy conversion element provided on the vibrating body is set as the resonance frequency. a second drive mode means set to , a power supply means capable of varying the alternating current voltage applied to the two groups of drive electro-mechanical energy conversion elements; and a power supply means that normally selects the second drive mode means; A drive circuit for a vibration wave motor, comprising drive mode selection means for selecting the first drive mode means when detecting that a drive voltage is a low voltage or at a preset initial startup time.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63186439A JPH0236779A (en) | 1988-07-26 | 1988-07-26 | Driving circuit for vibration wave motor |
| US07/752,966 US5146143A (en) | 1988-07-26 | 1991-08-29 | Vibration wave driven motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63186439A JPH0236779A (en) | 1988-07-26 | 1988-07-26 | Driving circuit for vibration wave motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0236779A true JPH0236779A (en) | 1990-02-06 |
Family
ID=16188467
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63186439A Pending JPH0236779A (en) | 1988-07-26 | 1988-07-26 | Driving circuit for vibration wave motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0236779A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62203574A (en) * | 1986-03-04 | 1987-09-08 | Canon Inc | Drive control circuit for supersonic motor |
| JPS63117672A (en) * | 1986-11-04 | 1988-05-21 | Matsushita Electric Ind Co Ltd | Method for driving ultrasonic motor |
| JPH01148080A (en) * | 1987-12-03 | 1989-06-09 | Matsushita Electric Ind Co Ltd | Controller for ultrasonic motor |
-
1988
- 1988-07-26 JP JP63186439A patent/JPH0236779A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62203574A (en) * | 1986-03-04 | 1987-09-08 | Canon Inc | Drive control circuit for supersonic motor |
| JPS63117672A (en) * | 1986-11-04 | 1988-05-21 | Matsushita Electric Ind Co Ltd | Method for driving ultrasonic motor |
| JPH01148080A (en) * | 1987-12-03 | 1989-06-09 | Matsushita Electric Ind Co Ltd | Controller for ultrasonic motor |
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