Three-legged platform driven by piezoelectric ceramic actuator and control method thereof

Abstract

The invention relates to a three-legged platform driven by a piezoelectric ceramic actuator. The three-legged platform comprises: an upper plate; a lower plate positioned below the upper plate; and three piezoelectric actuators, wherein the two ends of each piezoelectric actuator are respectively connected with the upper plate and the lower plate, and the piezoelectric actuators control the inclined angle of the upper plate relative to the lower plate through stretching. The control method of the three-legged platform driven by a piezoelectric ceramic actuator comprises the following steps of:establishing an equilateral triangle on a rectangular coordinate system, setting the three vertexes of the equilateral triangle to be A, B and C, determining the value of the height h required by a gravity center to lift and an orientation angle [alpha] of the gravity center, determining the size of the [alpha], and calculating the elongation Ha of an A-point actuator, the elongation Hb of a B-point actuator and the elongation Hc of a C-point actuator. The three-legged platform driven by the piezoelectric ceramic actuator is high in use precision, low in cost, small in size and easy and convenient to control, and the control method is high in universality and low in use technical threshold.

Description

technical field [0001] The invention relates to the field of high-precision control micro-platforms, in particular to a three-legged platform driven by a piezoelectric ceramic actuator and a control method. Background technique [0002] The precision of the piezoelectric ceramic actuator platform has a positive correlation with the cost, and the volume of the platform also directly affects the cost of the platform. The platform composed of piezoelectric ceramic actuators generally has a high cost. At present, there are six piezoelectric actuators. There is a parallel platform with ceramic actuators, but its cost is extremely high, its control is complicated, its structure is complicated, its maintenance is inconvenient, and its modular design has not been realized, and the arrangement of the actuators makes it only capable of two-dimensional movement, and cannot Achieve three-dimensional deflection. In addition, most of the existing piezoelectric ceramic actuator platform c...

AI Technical Summary

Problems solved by technology

[0002] The precision of the piezoelectric ceramic actuator platform has a positive correlation with the cost, and the volume of the platform also directly affects the cost of the platform. The platform composed of piezoelectric ceramic actuators generally has a high cost. At present, there are six piezoelectric actuators. There is a parallel platform with ceramic actuators, but its cost is extremely high, its control is complicated, its structure is complicated, its maintenance is inconvenient, and its modular design has not been realized, and the arrangement of the actuators makes it only capable of two-dimensional movement, and cannot Achieve three-dimensional deflection

In addition, most of the existing piezoelectric ceramic actuator platform control methods are targeted and unique, that is, designed for a specific platform structure, and most of the platform designs are relatively delicate, so the method flow is also relatively complicated. It is difficult to transfer to other platforms, the portability is not strong, and the platform control program has high professional requirements, so it is also difficult to control the platform

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