CN103166502A - Space phase modulation annular traveling wave ultrasonic motor and control method thereof - Google Patents

Abstract

The invention provides a space phase modulation annular traveling wave ultrasonic motor and a control method thereof. The motor is divided into a piezoelectric ceramics area A and a piezoelectric ceramics area B. The width of each polarization subarea of the piezoelectric ceramics is a quarter of the wavelength of traveling waves and half of that of a traditional traveling wave ultrasonic motor. The directions of polarization are arranged clockwise according to '++--'. The space of the piezoelectric ceramics area A and the space of the piezoelectric ceramics area B have a differential of one quarter of the wavelength of the traveling waves. The piezoelectric ceramics area A and the space of the piezoelectric ceramics area B are respectively provided with two power sources, totally four power sources. The two power sources in the same area have the same time phase and different voltage amplitude values. The time phases of the power sources in the different areas have a differential of pi/2. The voltage amplitude values of the piezoelectric ceramics subareas which are in the same area and have the spacing of a half of wavelength of the traveling waves, are identical. The space phase modulation annular traveling wave ultrasonic motor has all the functions and advantages of the traditional traveling wave motor, and is capable of achieving phase-shifting control in the space and replacing traditional time phase-shifting control through a simple voltage amplitude regulation method.

Description

Space phase modulation annular Traveling Ultrasonic Motor and control method thereof

Technical field

The present invention relates to supersonic motor manufacturing and control field, particularly relate to a kind of annular traveling wave supersonic motor and control method thereof.

Background technology

The annular traveling wave supersonic motor is the many a kind of supersonic motors of present usage comparison, and the essence that its speed is controlled is to change the elliptical orbit of wave amplitude, speed and the particle of capable ripple, and three corresponding base control amounts are voltage magnitude, frequency and phase difference.Control program commonly used is that voltage, frequency, three kinds of control modes of phase place are combined, suitable way is, utilizing voltage and frequency to realize on the basis of motor body control, utilize phase place to realize servo output control, so phase difference control is being one of important core.

Generally the phase difference control program of use is to realize by the controllable power supply of two-phase relation time phase at present, it is independently standing wave of each autoexcitation of supersonic motor two-phase, these two standing waves in the locus be fix and mutual deviation four/delegation wave-wave long, but be adjustable time phase, and time phase, size depended on the time phase of power supply separately.When the power supply actuation duration during phase place mutual deviation pi/2, its synthetic pure row ripple.And when the power supply actuation duration, phase place mutual deviation value departed from pi/2 gradually, comprise capable ripple and standing wave inside synthetic waveform, and bias is larger, and standing wave is larger, thereby has changed motor speed.In order to realize the continuous control of motor speed, must obtain continuously adjustable time phase, the employing Direct Digital that people are many, but control non-linearly, and circuit is complicated.

Summary of the invention

The object of the invention is to address the above problem, provide a kind of space phase of utilizing to regulate the phase-adjusted annular traveling wave supersonic motor of takeover time and control method.

The present invention is by the following technical solutions:

a kind of space phase modulation annular Traveling Ultrasonic Motor, comprise piezoelectric ceramic, it is characterized in that, described piezoelectric ceramic comprises A district's piezoelectric ceramic and B district piezoelectric ceramic, it is long that A district piezoelectric ceramic and piezoelectric ceramic space, B district differ four/delegation wave-wave, A district piezoelectric ceramic and B district piezoelectric ceramic adopt the long piezoelectric patches polarization subregion of four/delegation wave-wave, and along clockwise direction, and the polarised direction of the piezoelectric ceramic in each district polarization subregion all is arranged in order by " ++--", described piezoelectric ceramic adopts power supply one, power supply two, power supply three, power supply four excitations, power supply one and power supply two in the direction of the clock interval action in the subregion that respectively polarizes of A district piezoelectric ceramic, power supply three and power supply four in the direction of the clock interval action in the subregion that respectively polarizes of B district piezoelectric ceramic, power supply one and power supply two have the same time phase place, power supply three and power supply four have the same time phase place, the time phase of power supply three and power supply four and power supply one and power supply two differ pi/2, power supply one and power supply four have identical voltage magnitude, power supply two and power supply three have identical voltage magnitude.

Further, the identical voltage magnitude that setting power supply one and power supply four have is a, and the identical voltage magnitude that power supply two and power supply three have is b, and voltage magnitude a and b satisfy a=|b|, and the amplitude of implementation space phase modulation annular Traveling Ultrasonic Motor is controlled.

Further, the identical voltage magnitude that setting power supply one and power supply four have is a, and the identical voltage magnitude that power supply two and power supply three have is b, and voltage magnitude a and b satisfy

Voltage magnitude a presses

B does variation with voltage magnitude, and the spatial Phase-shifting Method of implementation space phase modulation annular Traveling Ultrasonic Motor is controlled.

Further, the identical voltage magnitude that setting power supply one and power supply four have is a, and the identical voltage magnitude that power supply two and power supply three have is b, changes the symbol of voltage magnitude b, and voltage magnitude a just is always, and the rotating of implementation space phase modulation annular Traveling Ultrasonic Motor is controlled.

Beneficial effect of the present invention:

1, space phase modulation annular Traveling Ultrasonic Motor has this new base control amount of space phase, and this is that the conventional ultrasonic wave motor is not available;

2, the time phase shifting control controlled with the traditional endless travelling wave motor of the spatial Phase-shifting Method of space phase modulation annular Traveling Ultrasonic Motor has similar effect, but its to be change by the supply voltage amplitude realize, historical facts or anecdotes is now comparatively simple and convenient.

Description of drawings

Accompanying drawing 1 is electric machine structure schematic diagram of the present invention.

Accompanying drawing 2 is piezoelectric ceramic polarization partition scheme of the present invention and power supply connectivity scenario schematic diagram.

Embodiment

Below in conjunction with accompanying drawing, the present invention is described further.

As shown in Figure 1, this motor comprises end cap 1, bearing 1, bearing 23, rotating shaft 4, rotor 5, stator 6, base 7, piezoelectric ceramic.Except the polarization partitioned mode of piezoelectric ceramic, other structure of motor, material and assembling scheme and conventional ultrasonic wave motor are in full accord.The piezoelectric ceramic of motor is divided into A district piezoelectric ceramic 8 and B district piezoelectric ceramic 9.As shown in Figure 2, during machine operation, be distributed with the spatial row ripple of nine wavelength on stator circumference, count space phase 2 π as each row wave-wave length, whole circumference can be counted space phase 18 π.In the direction of the clock, the original position of definition A district piezoelectric ceramic 8 is original position, and 8 π places are the end position of A district piezoelectric ceramic 8, and 9.5 π places are the original position of B district piezoelectric ceramic 9, and 17.5 π places are the end position of B district piezoelectric ceramic 9.The polarization partition scheme of segmentation has been adopted respectively in A district piezoelectric ceramic 8 and piezoelectric ceramic 9 inside, B district, and the space phase length of each polarization subregion is all pi/2s, and also namely four/delegation wave-wave is long, is half of traditional Traveling Ultrasonic Motor.The polarization subregion of A district piezoelectric ceramic 8 and piezoelectric ceramic 9 inside, B district all polarizes by " ++--" direction along clockwise direction.The polarization of "+" expression forward, "-" expression reverse polarization.

Space phase modulation annular Traveling Ultrasonic Motor must coordinate the new power source design could the implementation space phase shifting control.New power source design has adopted four power supplys: power supply 1, power supply 2 11, power supply 3 12, power supply 4 13.A district piezoelectric ceramic 8 in the direction of the clock, being divided into is 16 piezoelectric ceramic polarization subregions, wherein in the A district first, three, five, seven, nine, ten one, 13,15 amount to eight piezoelectric ceramic polarization subregions is connected with power supply 1, and the second, four, six, eight, ten, 12,14,16 amount to eight piezoelectric ceramic polarization subregions is connected with power supply 2 11; B district piezoelectric ceramic 9 in the direction of the clock, being divided into is 16 piezoelectric ceramic polarization subregions, wherein in the B district first, three, five, seven, nine, ten one, 13,15 amount to eight piezoelectric ceramic polarization subregions is connected with power supply 3 12, and the second, four, six, eight, ten, 12,14,16 amount to eight piezoelectric ceramic polarization subregions is connected with power supply 4 13.Power supply 1 and power supply 2 11 have identical time phase; Power supply 3 12 and power supply 4 13 have identical time phase, and differ pi/2 with power supply 1 and power supply 2 11 on time phase.Power supply 1 and power supply 4 13 have identical voltage magnitude, and power supply 2 11 and power supply 3 12 have identical voltage magnitude, and two voltage magnitudes are adjustable.

The power supply expression formula is described as power supply 1 and is asin ω t for bcos ω t, power supply 3 12 for bsin ω t, power supply 4 13 for acos ω t, power supply 2 11; A is the voltage magnitude of power supply 1 and power supply 4 13, and b is the voltage magnitude of power supply 2 11 and power supply 3 12, and voltage magnitude a and b are per unit value.

Four power supplys excite four standing waves on stator, wherein power supply two standing wave expression formulas exciting in A district are

w ₁=ar sin(nx+π/4)cosωt w ₂=brsin(nx-π/4)cosωt

Two standing wave expression formulas that B district power supply excites are

w ₃=brcos(nx+π/4)sinωt w ₄=arcos(nx-π/4)sinωt

Two standing waves that excite of same piezoelectric regions synthesize a new standing wave, and its expression formula is

$w_A=w_1+{\mathrm{<figure-callout\; id="2"\; label="w"\; filenames="HDA00002797171400011.png"\; state="\{\{state\}\}">w</figure-callout>}}_2=r\sqrt{a^2+{\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="HDA00002797171400011.png"\; state="\{\{state\}\}">b</figure-callout>}}^2}\sin (\mathrm{nx}+\mathrm{\&theta;})\cos \mathrm{\&omega;t}$

$w_B={\mathrm{<figure-callout\; id="3"\; label="w"\; filenames="HDA00002797171400011.png"\; state="\{\{state\}\}">w</figure-callout>}}_3+w_4=r\sqrt{a^2+{\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="HDA00002797171400011.png"\; state="\{\{state\}\}">b</figure-callout>}}^2}\cos (\mathrm{nx}-\mathrm{\&theta;})\sin \mathrm{\&omega;t}$

On final stator, the expression formula of synthetic complex wave is:

$w=w_A+w_B=r\sqrt{a^2+{\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="HDA00002797171400011.png"\; state="\{\{state\}\}">b</figure-callout>}}^2}\sin (\mathrm{nx}+\mathrm{\&theta;})\cos \mathrm{\&omega;t}+r\sqrt{a^2+{\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="HDA00002797171400011.png"\; state="\{\{state\}\}">b</figure-callout>}}^2}\cos (\mathrm{nx}-\mathrm{\&theta;})\sin \mathrm{\&omega;t}$

Ar wherein, br is standing wave transverse vibration amplitude, r be the standing wave amplitude with respect to the coefficient of voltage magnitude, x is the locus angle, ω is the angle of throw frequency, n=l/ λ is the wave number along stator circumference, l is the stator girth, λ is the elasticity wavelength, t is the time.In specification, same-sign represents identical implication.The expression formula of composite wave has identical expression formula form with conventional ultrasonic wave motor time phase shifting control, and it is equivalent to conventional ultrasonic wave motor time phase-shift control angle and is $2\mathrm{\&theta;}=2\arctan \frac{a-b}{a+b}$ Phase shifting control, corresponding therewith, the spatial Phase-shifting Method pilot angle of definition space phase modulation annular travelling wave motor is $\mathrm{\&beta;}=2\mathrm{\&theta;}=2\arctan \frac{a-b}{a+b},$ The spatial Phase-shifting Method angle is $\mathrm{\&beta;}-\frac{\mathrm{\&pi;}}{2}=2\mathrm{\&theta;}-\frac{\mathrm{\&pi;}}{2}=-2\arctan \frac{b}{a}.$ Change a, b can change spatial Phase-shifting Method pilot angle and spatial Phase-shifting Method angle, also can change the amplitude of complex wave simultaneously

For the convenience of controlling, take the voltage magnitude b of power supply 2 11 and power supply 3 12 as controlled quentity controlled variable, the voltage magnitude a of power supply 1 and power supply 4 13 is related controlled quentity controlled variable:

1. amplitude is controlled

As related controlled quentity controlled variable voltage magnitude a with the controlled quentity controlled variable voltage magnitude | b| does identical variation, i.e. a=|b|, but the amplitude of implementation space phase modulation annular Traveling Ultrasonic Motor is controlled.

2. spatial Phase-shifting Method is controlled

When related controlled quentity controlled variable voltage magnitude a presses When doing variation with controlled quentity controlled variable voltage magnitude b, and

But the spatial Phase-shifting Method of implementation space phase modulation annular Traveling Ultrasonic Motor is controlled,

The time speed maximum.

3. rotating is controlled

Change the symbol of controlled quentity controlled variable voltage magnitude b, and related controlled quentity controlled variable voltage magnitude a just is always, but the rotating of implementation space phase modulation annular Traveling Ultrasonic Motor is controlled.

Claims (4)

1. space phase modulation annular Traveling Ultrasonic Motor, comprise piezoelectric ceramic, it is characterized in that, described piezoelectric ceramic comprises A district's piezoelectric ceramic and B district piezoelectric ceramic, it is long that A district piezoelectric ceramic and piezoelectric ceramic space, B district differ four/delegation wave-wave, A district piezoelectric ceramic and B district piezoelectric ceramic adopt the long piezoelectric patches polarization subregion of four/delegation wave-wave, and along clockwise direction, and the polarised direction of the piezoelectric ceramic in each district polarization subregion all is arranged in order by " ++--", described piezoelectric ceramic adopts power supply one, power supply two, power supply three, power supply four excitations, power supply one and power supply two in the direction of the clock interval action in the subregion that respectively polarizes of A district piezoelectric ceramic, power supply three and power supply four in the direction of the clock interval action in the subregion that respectively polarizes of B district piezoelectric ceramic, power supply one and power supply two have the same time phase place, power supply three and power supply four have the same time phase place, the time phase of power supply three and power supply four and power supply one and power supply two differ pi/2, power supply one and power supply four have identical voltage magnitude, power supply two and power supply three have identical voltage magnitude.

2. a space according to claim 1 phase modulation annular Traveling Ultrasonic Motor is carried out the method that amplitude is controlled, it is characterized in that, the identical voltage magnitude that setting power supply one and power supply four have is a, the identical voltage magnitude that power supply two and power supply three have is b, voltage magnitude a and b satisfy a=|b|, and the amplitude of implementation space phase modulation annular Traveling Ultrasonic Motor is controlled.

3. a space according to claim 1 phase modulation annular Traveling Ultrasonic Motor is carried out the method that spatial Phase-shifting Method is controlled, it is characterized in that, the identical voltage magnitude that setting power supply one and power supply four have is a, and the identical voltage magnitude that power supply two and power supply three have is b, and voltage magnitude a and b satisfy

Voltage magnitude a presses

B does variation with voltage magnitude, and the spatial Phase-shifting Method of implementation space phase modulation annular Traveling Ultrasonic Motor is controlled.

4. a space according to claim 1 phase modulation annular Traveling Ultrasonic Motor realizes the method for rotating, it is characterized in that, the identical voltage magnitude that setting power supply one and power supply four have is a, the identical voltage magnitude that power supply two and power supply three have is b, change the symbol of voltage magnitude b, and voltage magnitude a just is always, and the rotating of implementation space phase modulation annular Traveling Ultrasonic Motor is controlled.

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