WO2007118417A1 - Moteur à ultrasons et procédé de commande de celui-ci - Google Patents

Moteur à ultrasons et procédé de commande de celui-ci Download PDF

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Publication number
WO2007118417A1
WO2007118417A1 PCT/CN2007/001196 CN2007001196W WO2007118417A1 WO 2007118417 A1 WO2007118417 A1 WO 2007118417A1 CN 2007001196 W CN2007001196 W CN 2007001196W WO 2007118417 A1 WO2007118417 A1 WO 2007118417A1
Authority
WO
WIPO (PCT)
Prior art keywords
phase
ultrasonic motor
stator
piezoelectric elements
power source
Prior art date
Application number
PCT/CN2007/001196
Other languages
English (en)
Chinese (zh)
Inventor
Yi Li
Songhe Zhou
Original Assignee
Boly Media Communications (Shenzhen) Co., Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Boly Media Communications (Shenzhen) Co., Ltd filed Critical Boly Media Communications (Shenzhen) Co., Ltd
Publication of WO2007118417A1 publication Critical patent/WO2007118417A1/fr

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Classifications

    • 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
    • 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
    • H02N2/14—Drive circuits; Control arrangements or methods
    • H02N2/145—Large signal circuits, e.g. final stages
    • H02N2/147—Multi-phase circuits

Definitions

  • the invention relates to an ultrasonic motor and a driving method thereof.
  • the ultrasonic motor is a driving mechanism made of a specific structure by utilizing the inverse piezoelectric effect of the piezoelectric material. It is generally composed of functional components such as a stator and a rotor, and a piezoelectric element having an electrostrictive effect is usually fixed on the stator.
  • Existing ultrasonic motors are typically provided with four (or integer multiples) piezoelectric elements that are driven using a two-phase orthogonal power supply. In practical applications, the two-phase orthogonal power supply is mostly obtained by DC through inverter.
  • An object of the present invention is to provide an ultrasonic motor with good stability and a driving method thereof, which solves the problem that the input current of the existing ultrasonic motor is not uniform and the harmonics are large.
  • An ultrasonic motor comprising a rotor and a stator, wherein the stator or the rotor is provided with a piezoelectric element, and an inverse piezoelectric effect of the piezoelectric element is used to generate a relative rotational motion between the stator and the rotor, the piezoelectric
  • the number of components is 3, 5, 7, or an integral multiple thereof.
  • the number of the piezoelectric elements is an integral multiple of three.
  • the piezoelectric elements are symmetrically distributed on the stator, and the polarization directions of the piezoelectric elements are identical with respect to the mounting surface.
  • the stator includes a metal sleeve and a piezoelectric element, and the piezoelectric element is placed in a metal sleeve confirmation sheet On the tube.
  • An ultrasonic motor driving method includes:
  • A. Obtaining a multi-phase power supply, wherein the multi-phase power supply is a power supply with M phase phase difference of 2 ⁇ / ⁇ , wherein M is 3, 5, 7 or an integral multiple thereof;
  • Each phase voltage in the multi-phase power source is sequentially applied to a corresponding piezoelectric element having an electrostrictive effect fixed on a stator of the ultrasonic motor, the number of the piezoelectric elements being an integral multiple of M, and each phase power source is The connected piezoelectric elements are symmetrically distributed on the stator.
  • the multi-phase power source in the step A is a three-phase power source, and the output of the three-phase power source is an AC sinusoidal voltage with a phase difference of 120°, an AC square wave voltage, or an AC pulse voltage modulated by a P-mode.
  • the number of corresponding piezoelectric elements fixed to the stator in the ultrasonic motor is an integral multiple of three.
  • the three-phase power supply is obtained by inverter in three-phase full-bridge or half-bridge circuit, or is obtained by Y or ⁇ connection through three single-phase power sources.
  • step B adjacent phase voltages in the multi-phase power source are sequentially applied to adjacent piezoelectric elements.
  • the number of piezoelectric elements on the stator in the ultrasonic motor is an integral multiple of 3 or 3.
  • the multi-phase power source is a three-phase three-wire voltage of an alternating voltage or current having a phase difference of 120°, wherein three-phase voltages are sequentially applied to the positive electrodes of the respective piezoelectric elements.
  • the multi-phase power supply is a three-phase four-wire voltage of alternating voltage or current with a phase difference of 120°, wherein three-phase voltages are sequentially applied to the positive poles of the respective piezoelectric elements, and the neutral lines are applied to the respective piezoelectric elements.
  • On the negative electrode On the negative electrode.
  • the neutral line is directly connected to the housing.
  • the multi-phase power supply is three sets of three single-phase voltages with alternating voltages of 120°.
  • the positive and negative electrodes of each single-phase voltage are sequentially applied to the positive and negative electrodes of each piezoelectric element.
  • the beneficial technical effect of the invention is that the power source with M phase phase difference of 2 ⁇ / ⁇ is used, especially the alternating power source with three phase phases of 120° difference, and the three-phase power source has the characteristics of automatic balance of input power and does not change with time.
  • the load is driven, the output torque is automatically balanced and does not change with time.
  • the three-phase power source for driving the ultrasonic motor of the present invention has a waveform closer to a sine wave, and has fewer harmonics and less harmonic interference.
  • the three-phase power source for driving the ultrasonic motor of the present invention has a waveform closer to a sine wave at the same carrier frequency, has fewer higher harmonics, and has less harmonic interference. Therefore, compared with the prior art, the input current is balanced, the harmonic interference is small, the output torque stability is high, and when the DC-powered inverter system is used, the full-bridge circuit and the three-way output of the three-phase power source are also used. Only six switching devices are required, which saves switching devices compared to the two-phase orthogonal power supply system of the prior art, and the present invention is relatively low in cost.
  • FIG. 1 is a schematic structural view of an ultrasonic motor according to the present invention.
  • FIG. 2 is a perspective view of a stator according to Embodiment 1 of the present invention.
  • FIG. 3 is a top plan view of the stator of Figure 2;
  • FIG. 4 is a schematic view showing the electrical connection when the piezoelectric element of FIG. 1 is powered by a three-phase three-system power supply having a phase difference of 120°;
  • Figure 5 is a schematic view showing the electrical connection when the piezoelectric element of Figure 1 is powered by a three-phase four-system power supply having a phase difference of 120°;
  • FIG. 6 is a schematic structural view (top view) of another type of stator of the ultrasonic motor of the present invention
  • FIG. 7 is a schematic view showing the structure of the stator of the ultrasonic motor of the present invention (top view);
  • FIG. 8 is a view showing the piezoelectric element of FIG. Electrical diagram 9 when the five-phase power supply with phase difference of 72° is supplied is a schematic diagram of modulating the power supply by pulse width modulation.
  • the ultrasonic motor 1 of the present invention comprises a rotor 11 and a stator 12, and the stator 12 includes a piezoelectric ceramic tube 121 having an electrostrictive effect and an end pressing piece 122, and the piezoelectric ceramic tube 121 and the end pressing piece 122 are combined.
  • the piezoelectric ceramic tube 121 is divided into six piezoelectric elements 120, that is, the piezoelectric elements 1201 to 1206.
  • the outer surfaces of the piezoelectric elements 1201 to 1206 are respectively positive electrodes, and the inner surface of the piezoelectric ceramic tube 121 is a common negative electrode.
  • the six piezoelectric elements 1201 to 1206 are symmetrically distributed on the stator.
  • the rotor includes a rotating block 111, a rotating shaft 112, a nut 113 and a spring 114.
  • the rotating shaft 112 passes through the stator.
  • the two rotating blocks 111 are coupled to the rotating shaft 112 and clamped on both end faces of the stator 12.
  • the nut 113 is screwed on the rotating shaft 112.
  • the inner side abuts against the spring 114, and the spring 114 is sleeved on the rotating shaft 112.
  • the polarization direction of the piezoelectric element coincides with respect to the placement surface, that is, the polarization direction is from the outside to the inside of the placement surface.
  • the main driving process of the ultrasonic motor of the present invention is as follows:
  • the output of the three-phase power supply is an AC sinusoidal voltage or an AC square wave voltage with a phase difference of 120°, and the three-phase voltage can be obtained by three-phase full-bridge or half-bridge circuit inverter, or It is obtained by Y or ⁇ connection through three single-phase power supplies.
  • the pressure is connected to the adjacent piezoelectric element.
  • the stator is excited by the plurality of piezoelectric elements, including exciting the pressing pieces at both ends of the stator to generate circumferential and axial directions.
  • the vibrating traveling wave driven by the friction between the stator and the rotor, drives the rotor in contact with the end pressing piece to generate a relative rotational motion.
  • the three-phase terminals are U, V, W, respectively, and the three-phase terminals U, V, W They are sequentially applied to the positive electrodes of the respective piezoelectric elements 120, respectively.
  • SP from the left side, alternately, the three-phase ends U, V, W are respectively connected to the positive poles of the piezoelectric elements 1201, 1202, 1203, and then alternately, the three-phase end U, V and W are sequentially connected to the positive electrodes of the piezoelectric elements 1204, 1205, and 1206, respectively.
  • FIG. 4 shows that the three-phase power supply adopts a three-phase three-wire voltage with an alternating voltage or current of 120°
  • the three-phase terminals are U, V, W, respectively, and the three-phase terminals U, V, W They are sequentially applied to the positive electrodes of the respective piezoelectric elements 120, respectively.
  • SP from the left side, alternately, the three-phase ends U, V, W are respectively connected to the positive poles of the piezoelectric elements 1201,
  • the three-phase four-wire voltage includes three-phase terminals U, V, W, and ground Z. Interleaved, the three-phase ends U, V, W are respectively connected to the positive poles of the piezoelectric elements 1201, 1202, 1203, and are sequentially interleaved, and the three-phase ends U, V, W are sequentially connected to the piezoelectric elements 1204, 1205, respectively.
  • the neutral line Z is applied to the common negative electrode on the inner surface of the piezoelectric ceramic tube 121. If the negative electrode on the inner surface of the piezoelectric ceramic tube 121 is short-circuited with the metal casing of the ultrasonic motor, the neutral wire Z is directly connected to the metal casing.
  • the three-phase power supply uses three sets of three single-phase voltage systems with mutually alternating voltages of 120°, the positive and negative poles of each single-phase voltage are sequentially applied to the positive and negative poles of each piezoelectric element.
  • the three-phase power supply in the present invention can be obtained by pulse width modulation. As shown in FIG. 9, six switching devices Q1, Q2, Q3, Q4, Q5, and Q6 are modulated by a pulse width modulation generator, and the present embodiment is output. The required three-phase phases differ from each other by an alternating voltage U, V, W of 120°.
  • FIG. 6 is a schematic view showing another structure of the stator in the ultrasonic motor of the present invention.
  • the difference between the stator of the embodiment and the stator of the first embodiment is that: in the embodiment, the metal sleeve 121 having the outer surface of the regular hexagonal prism is used as the stator base, and the surface of each prism of the metal sleeve 121 is attached.
  • the piezoelectric element 120 is combined.
  • the hollow polyhedral metal sleeve 121 is used, which is more convenient for processing the stator base body, and the plane of the prism body is more favorable for closely fitting the piezoelectric element 120, and the third is a flat shape pressure. Electrical components are easier to manufacture.
  • FIG. 7 and FIG. 8 it is a schematic structural view of the stator of the ultrasonic motor of the present invention.
  • the difference between this embodiment and the stator of the ultrasonic motor in the second embodiment is that the stator base 121 is a positive ten-face.
  • the prism body has 10 piezoelectric elements 120, that is, piezoelectric elements 1201, 1202, 1203, 1204, 1205, 1206, 1207, 1208, 1209, and 1210, and 10 piezoelectric element sections are symmetrically distributed on the stator 121.
  • the multi-phase power supply is a 5-phase phase difference 72° power supply, and the five-phase ends are U, V, W, S, and T, respectively, and the five-phase terminals U, V, W, S, and T are respectively connected to the piezoelectric.
  • the five-phase ends U, V, W, S, T are sequentially connected to the positive poles of the piezoelectric elements 1206, 1207, 1208, 1209, 1210, respectively.
  • the piezoelectric elements connected to the power sources of the respective phases are symmetrically distributed on the stator.
  • the driving process of the ultrasonic motor using the stator of the present embodiment is the same as or similar to the driving process described in Embodiment 1, and will not be described herein.
  • stator drives the rotor either by driving the rotor in contact with the end face of the stator in the above embodiment or by driving the rotor mounted in the inner face of the stator through the inner face of the stator.
  • the driving may be a relative rotational motion between the stator and the rotor by friction, or may be a stator and a rotor through a screw connection. Relative rotational motion and axial movement occur between them.
  • the stator may be made of a piezoelectric ceramic tube 121 or a metal sleeve as a base.
  • the metal sleeve adopts a structure of a positive multi-faceted prism, which is more convenient for processing.
  • other non-metallic materials having electrostrictive effects can also be used.
  • the essence of the present invention is also that any number of piezoelectric elements can be used to constitute an ultrasonic motor, in particular, the number of piezoelectric elements previously considered to be unusable, such as 3, 5, 6, 7, 9, 10, etc., expands the ultrasound.
  • the range of applications of the motor is also that any number of piezoelectric elements can be used to constitute an ultrasonic motor, in particular, the number of piezoelectric elements previously considered to be unusable, such as 3, 5, 6, 7, 9, 10, etc.

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  • General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)

Abstract

L'invention concerne un moteur à ultrasons et un procédé de commande de celui-ci. Le moteur comprend un rotor et un stator, et des éléments piézoélectriques formés sur le stator ou le rotor, le nombre de ces éléments étant 3, 5, 7 ou des multiples entiers de ceux-ci. Le procédé de commande comporte les étapes consistant à: prévoir une source polyphasée à M phases, dans laquelle M égale 3, 5, 7 ou des multiples entiers de ceux-ci, la différence de phase étant de 2π/M; appliquer la tension de phases de la source aux éléments piézoélectriques, respectivement.
PCT/CN2007/001196 2006-04-14 2007-04-13 Moteur à ultrasons et procédé de commande de celui-ci WO2007118417A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN200610035077.8A CN1874134B (zh) 2006-04-14 2006-04-14 一种超声电机及其驱动方法
CN200610035077.8 2006-04-14

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Publication Number Publication Date
WO2007118417A1 true WO2007118417A1 (fr) 2007-10-25

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PCT/CN2007/001196 WO2007118417A1 (fr) 2006-04-14 2007-04-13 Moteur à ultrasons et procédé de commande de celui-ci

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WO (1) WO2007118417A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101158995B1 (ko) 2007-10-26 2012-06-21 볼리 미디어 커뮤니케이션스 (센젠) 캄파니 리미티드 초음파 모터 구동방법 및 초음파 모터

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100438307C (zh) * 2005-11-18 2008-11-26 清华大学 螺纹驱动多面体超声电机
CN101026343B (zh) * 2007-03-28 2011-07-27 哈尔滨工业大学 多行波弯曲旋转超声电机
CN101588141B (zh) * 2008-05-21 2013-04-17 汉能科技有限公司 压电陶瓷泵驱动电源
CN103195772B (zh) * 2013-04-17 2016-05-04 哈尔滨工业大学 压电致缸筒弯曲振动的低摩擦特性气缸

Citations (3)

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Publication number Priority date Publication date Assignee Title
JPH06121557A (ja) * 1992-10-06 1994-04-28 Hamitsuto:Kk 超音波モータ及び超音波モータの駆動方法
US5637937A (en) * 1993-11-30 1997-06-10 Citizen Watch Co., Ltd. Super-miniature motor
CN1299180A (zh) * 2000-12-08 2001-06-13 南京航空航天大学 多相式步进超声电机

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CN2252448Y (zh) * 1995-11-24 1997-04-16 中国科学院上海冶金研究所 一种压电超声电机
CN100438307C (zh) * 2005-11-18 2008-11-26 清华大学 螺纹驱动多面体超声电机

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06121557A (ja) * 1992-10-06 1994-04-28 Hamitsuto:Kk 超音波モータ及び超音波モータの駆動方法
US5637937A (en) * 1993-11-30 1997-06-10 Citizen Watch Co., Ltd. Super-miniature motor
CN1299180A (zh) * 2000-12-08 2001-06-13 南京航空航天大学 多相式步进超声电机

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101158995B1 (ko) 2007-10-26 2012-06-21 볼리 미디어 커뮤니케이션스 (센젠) 캄파니 리미티드 초음파 모터 구동방법 및 초음파 모터

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CN1874134B (zh) 2011-03-16
CN1874134A (zh) 2006-12-06

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