Piezoelectric motor driving system and method and piezoelectric motor

Abstract

The embodiment of the invention discloses a piezoelectric motor driving system and method and a piezoelectric motor. According to the technical scheme provided by the embodiment of the invention, the first output end of the H-bridge circuit is connected with the first pole of the piezoelectric block, and the second output end of the H-bridge circuit is connected with the second pole of the piezoelectric block; a high-level square wave driving signal is input to the H-bridge circuit, so that the high-level square wave driving signal is output from the first output end of the H-bridge circuit to a first pole of the piezoelectric block, and a low-level square wave driving signal is output from the second output end of the H-bridge circuit to a second pole of the piezoelectric block; and a low-level square wave driving signal is input to the H-bridge circuit, so that the low-level square wave driving signal is output from the first output end of the H-bridge circuit to a first pole of the piezoelectric block, and a high-level square wave driving signal is output from the second output end of the H-bridge circuit to a second pole of the piezoelectric block. Therefore, the piezoelectric motor driving circuit is simplified, the design complexity and cost of the piezoelectric motor driving system are reduced, and the miniaturization design requirement of the piezoelectric motor is met.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of electric motor technology, and in particular, to a piezoelectric motor driving system, method and piezoelectric motor. Background Art

[0002] Piezoelectric motors are motors that use the piezoelectric inverse effect of piezoelectric bodies to convert electromechanical energy. The principle is significantly different from that of ordinary motors based on electromagnetic induction. Piezoelectric motors are motors that do not have electromagnetic windings and magnetic circuits, and do not transfer energy through electromagnetic interactions. Instead, they use the inverse piezoelectric effect of piezoelectric materials to generate ultrasonic vibrations. The positive and negative power supplies of the driving circuit output positive and negative signals, causing the polarized piezoelectric blocks to stretch and contract under the inverse piezoelectric effect, thereby amplifying the micro-deformation of the material through resonance, and the motor drive is achieved by the friction between the vibrating part and the moving part.

[0003] However, in order to achieve the extension and contraction of the piezoelectric block, the existing piezoelectric motor needs to set up corresponding circuits for the extension and contraction control of the piezoelectric block, and configure positive and negative power supplies to provide positive and negative signals. The driving circuit setting is relatively complicated, which is not conducive to the miniaturization application of the piezoelectric motor, and the design cost is relatively high. Summary of the invention

[0004] The embodiments of the present application provide a piezoelectric motor drive system, method and piezoelectric motor, which can simplify the piezoelectric motor drive circuit, reduce the design complexity and design cost of the drive system, and solve the technical problem of complex piezoelectric motor drive circuit design.

[0005] In a first aspect, an embodiment of the present application provides a piezoelectric motor drive system, including an H-bridge circuit and a piezoelectric block;

[0006] The first output end of the H-bridge circuit is connected to the first pole of the piezoelectric block, and the second output end of the H-bridge circuit is connected to the second pole of the piezoelectric block;

[0007] The H-bridge circuit is used to input a high-level square wave driving signal, output the high-level square wave driving signal from the first output terminal to the first pole of the piezoelectric block, and output a low-level square wave driving signal from the second output terminal to the second pole of the piezoelectric block;

[0008] The H-bridge circuit is also used to input a low-level square wave driving signal, output the low-level square wave driving signal from the first output terminal to the first pole of the piezoelectric block, and output a high-level square wave driving signal from the second output terminal to the second pole of the piezoelectric block;

[0009] The piezoelectric motor drive system further includes a double-pole double-throw switch, and the piezoelectric block includes a first piezoelectric sub-block and a second piezoelectric sub-block;

[0010] The double-pole double-throw switch is used to switch the H-bridge circuit to connect to the first piezoelectric sub-block or the second piezoelectric sub-block.

[0011] Preferably, the piezoelectric motor drive system further comprises a double-pole double-throw switch, and the piezoelectric block comprises a first piezoelectric sub-block and a second piezoelectric sub-block;

[0012] The double-pole double-throw switch is used to switch the H-bridge circuit to connect to the first piezoelectric sub-block or the second piezoelectric sub-block.

[0013] Preferably, the two common contacts of the double-pole double-throw switch are respectively connected to the first output end and the second output end, the first group of switching contacts of the double-pole double-throw switch are respectively connected to the two poles of the first piezoelectric block, and the second group of switching contacts of the double-pole double-throw switch are respectively connected to the two poles of the second piezoelectric block.

[0014] Preferably, the first piezoelectric sub-block includes a first piezoelectric body and a common piezoelectric body, and the second piezoelectric sub-block includes the second piezoelectric body and the common piezoelectric body;

[0015] The first piezoelectric body is connected to the common piezoelectric body, and one end of the first piezoelectric body is used as the first pole of the first piezoelectric sub-block, and one end of the common piezoelectric body is used as the second pole of the first piezoelectric sub-block;

[0016] The second piezoelectric body is connected to the common piezoelectric body, and one end of the common piezoelectric body is used as a first pole of the second piezoelectric sub-block, and one end of the second piezoelectric body is used as a second pole of the second piezoelectric sub-block.

[0017] Preferably, the H-bridge circuit is composed of four field effect transistors, the first output end is arranged between the two field effect transistors of the half bridge on one side of the H-bridge circuit, and the second output end is arranged between the two field effect transistors of the half bridge on the other side of the H-bridge circuit.

[0018] In a second aspect, an embodiment of the present application provides a driving method of a piezoelectric motor, which is applied to the piezoelectric motor driving system as described in the first aspect, comprising:

[0019] Inputting a high-level square wave driving signal to the H-bridge circuit, so as to output the high-level square wave driving signal from the first output terminal of the H-bridge circuit to the first pole of the piezoelectric block, and outputting a low-level square wave driving signal from the second output terminal of the H-bridge circuit to the second pole of the piezoelectric block;

[0020] A low-level square wave drive signal is input to the H-bridge circuit to output the low-level square wave drive signal from the first output end of the H-bridge circuit to the first pole of the piezoelectric block, and a high-level square wave drive signal is output from the second output end of the H-bridge circuit to the second pole of the piezoelectric block.

[0021] In a third aspect, an embodiment of the present application provides a piezoelectric motor, including a piezoelectric motor drive system, wherein the piezoelectric motor drive system is the piezoelectric motor drive system described in the first aspect.

[0022] Preferably, it also includes a signal processing module, the output end of the signal processing module is connected to the input end of the H-bridge circuit, for receiving a control signal transmitted by a host computer, and outputting a high-level square wave drive signal or a low-level square wave drive signal to the input end of the H-bridge circuit based on the control signal.

[0023] Preferably, it also includes a state detection module, which is used to obtain state information of the piezoelectric motor corresponding to the target of action, and feed back the state information to the signal processing module.

[0024] Preferably, the state information includes position information and motion state. The state detection module includes a grating reader, and the state information of the corresponding action target is read based on the grating reader.

[0025] In the embodiment of the present application, the first output end of the H-bridge circuit is connected to the first pole of the piezoelectric block, and the second output end of the H-bridge circuit is connected to the second pole of the piezoelectric block; a high-level square wave driving signal is input to the H-bridge circuit to output a high-level square wave driving signal from the first output end of the H-bridge circuit to the first pole of the piezoelectric block, and a low-level square wave driving signal is output from the second output end of the H-bridge circuit to the second pole of the piezoelectric block; a low-level square wave driving signal is input to the H-bridge circuit to output a low-level square wave driving signal from the first output end of the H-bridge circuit to the first pole of the piezoelectric block, and a high-level square wave driving signal is output from the second output end of the H-bridge circuit to the second pole of the piezoelectric block. Among them, the piezoelectric motor drive system also includes a double-pole double-throw switch, and the piezoelectric block includes a first piezoelectric sub-block and a second piezoelectric sub-block; the double-pole double-throw switch is used to switch the H-bridge circuit to the first piezoelectric sub-block or the second piezoelectric sub-block. In this way, a single signal is input to the H-bridge circuit, and driving signals of different levels are output to the two poles of the piezoelectric block, so that the polarized piezoelectric block stretches and contracts under the inverse piezoelectric effect, thereby realizing the driving of the piezoelectric motor. This reduces the power configuration, simplifies the piezoelectric motor drive circuit, reduces the design complexity and design cost of the piezoelectric motor drive system, and makes the design volume of the piezoelectric motor smaller, meeting the miniaturization design requirements of the piezoelectric motor. In addition, one drive circuit is used to drive two groups of piezoelectric motors, meeting the multi-point drive requirements of the piezoelectric motor in the corresponding scenario. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a structural schematic diagram of a piezoelectric motor drive system provided in an embodiment of the present application;

[0027] Figure 2is a flow chart of a piezoelectric motor driving method provided in an embodiment of the present application;

[0028] Figure 3 is a structural schematic diagram of another piezoelectric motor drive system provided in an embodiment of the present application;

[0029] Figure 4 is a schematic diagram of the structure of the piezoelectric block in an embodiment of the present application;

[0030] Figure 5 is a schematic diagram of the elongation movement of the piezoelectric block in the embodiment of the present application;

[0031] Figure 6 is a schematic diagram of the contraction movement of the piezoelectric block in the embodiment of the present application;

[0032] Figure 7 It is a structural schematic diagram of a piezoelectric motor provided in an embodiment of the present application.

[0033] In the figure: 11, H-bridge circuit; 12, piezoelectric block; 13, double-pole double-throw switch. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical scheme and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, only the part related to the present application but not all the contents are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow chart describes each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0035] Embodiment 1:

[0036] Figure 1 A schematic diagram of the structure of a piezoelectric motor drive system according to an embodiment of the present application is given. Figure 1The piezoelectric motor drive system includes an H-bridge circuit 11 and a piezoelectric block 12; the first output end of the H-bridge circuit 11 is connected to the first pole of the piezoelectric block 12, and the second output end of the H-bridge circuit 11 is connected to the second pole of the piezoelectric block 12; the H-bridge circuit 11 is used to input a high-level square wave drive signal, output a high-level square wave drive signal from the first output end to the first pole of the piezoelectric block 12, and output a low-level square wave drive signal from the second output end to the second pole of the piezoelectric block 12; the H-bridge circuit 11 is also used to input a low-level square wave drive signal, output a low-level square wave drive signal from the first output end to the first pole of the piezoelectric block 12, and output a high-level square wave drive signal from the second output end to the second pole of the piezoelectric block 12.

[0037] In order to simplify the driving circuit and reduce the power supply configuration of the driving circuit, the embodiment of the present application introduces an H-bridge circuit 11, and builds an output link of the positive and negative driving signals of the piezoelectric motor driving system based on the H-bridge circuit 11, so as to make the circuit design more lightweight and meet the miniaturization design requirements of the piezoelectric motor.

[0038] Among them, when driving signals of different polarities are applied to the piezoelectric block 12 with polarity, the piezoelectric block 12 will produce an inverse piezoelectric effect. The inverse piezoelectric effect refers to when an electric field is applied in the polarization direction of the dielectric, these dielectrics will produce mechanical deformation or mechanical pressure in a certain direction, and when the external electric field is removed, these deformations or stresses will disappear. If the polarity of the driving signal is the same as that of the piezoelectric block 12, the piezoelectric block 12 will stretch under the action of the inverse piezoelectric effect. Conversely, if the polarity of the driving signal is opposite to that of the piezoelectric block 12, the piezoelectric block 12 will shorten under the action of the inverse piezoelectric effect. Based on this principle, it is only necessary to provide driving signals of different polarities to the piezoelectric block 12 through the H-bridge circuit 11, so that the piezoelectric block 12 can be stretched and contracted to realize the driving of the piezoelectric motor.

[0039] The H-bridge circuit 11 can reverse the voltage / current at both ends of the connected load or output terminal, and can be used for forward and reverse control and speed control of a DC motor. Because its circuit shape resembles the letter H, it is named "H-bridge". The H-bridge circuit 11 is composed of four triodes or field effect transistors forming the four vertical legs of "H", and the motor is set on the horizontal bar in the "H". By inputting drive signals of different directions to the H-bridge circuit 11, the forward and reverse control of the motor can be achieved.

[0040] Based on this principle, the present solution uses the two signal output ends of the H-bridge circuit 11 for forward and reverse control to connect the positive and negative poles of the piezoelectric block 12 respectively, and define the two poles as the first pole and the second pole. By turning on or off the transistor or field effect tube of the H-bridge circuit 11, the two output ends output a driving signal in the same direction or opposite direction as the input signal. When the driving signal is applied to the two poles of the piezoelectric block 12, the reverse piezoelectric effect of the piezoelectric block 12 can be triggered.

[0041] Specifically, Figure 2 A flowchart of a piezoelectric motor driving method provided in an embodiment of the present application is given. The piezoelectric motor driving method provided in this embodiment can be executed by a signal processing module (DSP) of the piezoelectric motor. The piezoelectric motor driving method includes:

[0042] S110, inputting a high-level square wave driving signal to the H-bridge circuit, so as to output the high-level square wave driving signal from the first output terminal of the H-bridge circuit to the first pole of the piezoelectric block, and outputting a low-level square wave driving signal from the second output terminal of the H-bridge circuit to the second pole of the piezoelectric block;

[0043] S120, input a low-level square wave drive signal to the H-bridge circuit, so as to output the low-level square wave drive signal from the first output end of the H-bridge circuit to the first pole of the piezoelectric block, and output a high-level square wave drive signal from the second output end of the H-bridge circuit to the second pole of the piezoelectric block.

[0044] The present application drives the H-bridge circuit 11 by inputting two mutually inverse square wave drive signals to the H-bridge circuit 11. Wherein, based on the circuit characteristics of the H-bridge circuit 11, when a high-level drive signal is input, a high-level square wave drive signal is output at the first output terminal to the first pole of the piezoelectric block 12, and a low-level square wave drive signal is output at the second output terminal to the second pole of the piezoelectric block 12. At this time, the two levels of the piezoelectric block 12 are respectively applied with a high level and a low level. When the internal polarity of the piezoelectric block 12 is the same as the external polarity, the piezoelectric block 12 will stretch, and when the internal polarity of the piezoelectric block 12 is opposite to the external polarity, the piezoelectric block 12 will shorten. The polarity of the piezoelectric block 12 is adaptively set according to the actual driving requirements, and no fixed restrictions are made here. On the contrary, when a low-level drive signal is input, a low-level square wave drive signal is output at the first output terminal to the first pole of the piezoelectric block 12, and a high-level square wave drive signal is output at the second output terminal to the second pole of the piezoelectric block 12. Similarly, at this time, low level and high level are applied to the two poles of the piezoelectric block 12 respectively. When the internal polarity of the piezoelectric block 12 is the same as the external polarity, the piezoelectric block 12 will stretch. When the internal polarity of the piezoelectric block 12 is opposite to the external polarity, the piezoelectric block 12 will shorten.

[0045] Therefore, in the actual driving control process of the piezoelectric motor, by inputting two mutually inverse square wave driving signals to drive the H-bridge circuit 11, the piezoelectric block 12 can be driven in two opposite directions, driving the piezoelectric motor rotor to rotate in two opposite directions.

[0046] Optionally, the piezoelectric motor drive system also includes a double-pole double-throw switch 13, and the piezoelectric block 12 includes a first piezoelectric sub-block and a second piezoelectric sub-block; the double-pole double-throw switch 13 is used to switch the H-bridge circuit 11 to connect to the first piezoelectric sub-block or the second piezoelectric sub-block. By setting two piezoelectric sub-blocks and configuring corresponding double-pole double-throw switches 13, the control of the two piezoelectric sub-blocks can be switched by the double-pole double-throw switch 13 to achieve the driving of two groups of piezoelectric blocks. According to actual needs, the two groups of piezoelectric blocks can drive the same rotor or different rotors. In this way, one drive circuit can be used to drive two groups of piezoelectric motors. Meet the multi-point driving requirements of piezoelectric motors in corresponding scenarios.

[0047] Among them, the two common contacts of the double-pole double-throw switch 13 are respectively connected to the first output end and the second output end, the first group of switching contacts of the double-pole double-throw switch 13 are respectively connected to the two poles of the first piezoelectric block, and the second group of switching contacts of the double-pole double-throw switch 13 are respectively connected to the two poles of the second piezoelectric block. When the double-pole double-throw switch 13 is switched to the first group of switching contacts, so that the two common contacts are connected to the first group of switching contacts, the first output end and the second output end of the H-bridge circuit 11 are respectively connected to the two poles of the first piezoelectric block, and the first piezoelectric block is extended or shortened by outputting high and low level signals to the two poles of the first piezoelectric block respectively. Similarly, when the double-pole double-throw switch 13 is switched to the second group of switching contacts, so that the two common contacts are connected to the second group of switching contacts, the first output end and the second output end of the H-bridge circuit 11 are respectively connected to the two poles of the second piezoelectric block, and the second piezoelectric block is extended or shortened by outputting high and low level signals to the two poles of the second piezoelectric block respectively.

[0048] Correspondingly, when controlling the piezoelectric motor driving system, the above-mentioned piezoelectric motor driving method further controls the above-mentioned double-pole double-throw switch 13 to select the switching contacts, thereby realizing the driving control of different piezoelectric sub-blocks by automatically selecting the two groups of switching contacts of the double-pole double-throw switch 13.

[0049] More specifically, the first piezoelectric sub-block includes a first piezoelectric body and a common piezoelectric body, and the second piezoelectric sub-block includes a second piezoelectric body and a common piezoelectric body; the first piezoelectric body is connected to the common piezoelectric body, and one end of the first piezoelectric body is the first pole of the first piezoelectric sub-block, and one end of the common piezoelectric body is the second pole of the first piezoelectric sub-block; the second piezoelectric body is connected to the common piezoelectric body, and one end of the common piezoelectric body is the first pole of the second piezoelectric sub-block, and one end of the second piezoelectric body is the second pole of the second piezoelectric sub-block.

[0050] like Figure 3As shown, OUT1 is the first output terminal, OUT2 is the second output terminal, A and C are the first group of switching contacts, B and D are the second group of switching contacts, a is the first piezoelectric body, b is the common piezoelectric body, and c is the second piezoelectric body. When the H-bridge circuit 11 inputs a high-level square wave drive signal, OUT1 is at a high level and OUT2 is at a low level. The double-pole double-throw switch 13 connects the first group of switching contacts A and C, and the switching contact A is connected to the first piezoelectric body a, and the switching contact C is connected to the common piezoelectric body b. At this time, a high level is input to one end of the first piezoelectric body a, and a low level is input to one end of the common piezoelectric body b. Level signals of different polarities are applied to the two poles of the piezoelectric block to produce an inverse piezoelectric effect, thereby achieving lengthening or shortening; when the H-bridge circuit 11 inputs a low-level square wave drive signal, OUT1 is at a low level and OUT2 is at a high level. The double-pole double-throw switch 13 connects the first group of switching contacts A and C, and the switching contact A is connected to the first piezoelectric body a, and the switching contact C is connected to the common piezoelectric body b. At this time, a low level is input to one end of the first piezoelectric body a, and a high level is input to one end of the common piezoelectric body b. Level signals of different polarities are also applied to the two poles of the piezoelectric block to produce an inverse piezoelectric effect, thereby achieving shortening or lengthening.

[0051] Similarly, when the H-bridge circuit 11 inputs a high-level square wave drive signal, OUT1 is at a high level and OUT2 is at a low level. The double-pole double-throw switch 13 connects the second group of switching contacts B and D, and the switching contact B is connected to the common piezoelectric body b, and the switching contact D is connected to the second piezoelectric body c. At this time, a high level is input to one end of the common piezoelectric body b, and a low level is input to one end of the second piezoelectric body c. Level signals of different polarities are applied to the two poles of the piezoelectric block to produce an inverse piezoelectric effect, thereby achieving shortening or lengthening; when the H-bridge circuit 11 inputs a low-level square wave drive signal, OUT1 is at a low level and OUT2 is at a high level. The double-pole double-throw switch 13 connects the second group of switching contacts B and D, and the switching contact B is connected to the common piezoelectric body b, and the switching contact D is connected to the second piezoelectric body c. At this time, a low level is input to one end of the common piezoelectric body b, and a high level is input to one end of the second piezoelectric body c. Level signals of different polarities are applied to the two poles of the piezoelectric block to produce an inverse piezoelectric effect, thereby achieving lengthening or shortening.

[0052] For example, Figure 4 As shown, a structural connection diagram of the piezoelectric block 12 of the present application embodiment is provided, referring to Figure 4 The common piezoelectric body b is respectively connected to the two first piezoelectric bodies a and the second piezoelectric body c, and the two first piezoelectric bodies a are connected through leads, which are respectively connected to the upper end of one side and the lower end of the other side of the common piezoelectric body b.

[0053] The second piezoelectric body c is connected by leads, respectively connected to the lower end of one side and the upper end of the other side of the common piezoelectric body b. Three electrodes are respectively drawn from the first piezoelectric body a, the common piezoelectric body and the second piezoelectric body c for control. When the double-pole double-throw switch 13 connects the first piezoelectric body a and the common piezoelectric body b, the piezoelectric sub-block formed by the two generates an inverse piezoelectric effect due to the application of level signals of different polarities, thereby achieving overall extension and contraction. Figure 5 As shown in FIG. 1 , when the piezoelectric block 12 is extended, its piezoelectric front end realizes elliptical motion in one direction, driving the rotor to move. Figure 6 As shown, when the piezoelectric block 12 is shortened, its piezoelectric front end realizes an elliptical motion in the opposite direction, driving the rotor to move. Similarly, when the double-pole double-throw switch 13 connects the second piezoelectric body c and the common piezoelectric body b, the piezoelectric sub-block formed by the two generates an inverse piezoelectric effect due to the application of level signals of different polarities, thereby realizing overall shortening and elongation. In this way, the driving of two groups of piezoelectric sub-blocks is realized through a driving circuit, meeting the driving requirements of different piezoelectric blocks 12 in specific scenarios, further realizing the miniaturization of the driving circuit, and reducing the volume of the driving circuit.

[0054] Preferably, refer to Figure 1 , the H-bridge circuit 11 is composed of four field effect tubes, the first output end is arranged between the two field effect tubes of the half bridge on one side of the H-bridge circuit 11, and the second output end is arranged between the two field effect tubes of the half bridge on the other side of the H-bridge circuit 11. When the field effect tubes on the upper left and lower right of the H-bridge circuit 11 are turned on, by inputting a level signal of the H-bridge circuit 11, different level signals can be output at the first output end and the second output end. On the contrary, when the field effect tubes on the upper right and lower left of the H-bridge circuit 11 are turned on, by inputting a level signal of the H-bridge circuit 11, different level signals can be output at the first output end and the second output end. In this way, the application of two different polarity level signals to the piezoelectric block 12 is provided, so that the piezoelectric block 12 produces an inverse piezoelectric effect, thereby realizing the piezoelectric motor drive. In practical applications, the H-bridge circuit 11 can also be composed of four triodes, and the type of field effect tube can also be adaptively set. The embodiment of the present application does not impose fixed restrictions on the setting method of the H-bridge circuit 11. It only needs to ensure that the two output ends of the H-bridge circuit 11 output high and low signals respectively, which will not be elaborated here.

[0055] In this way, a single signal is input into the H-bridge circuit 11, and driving signals of different levels are output to the two poles of the piezoelectric block 12, so that the polarized piezoelectric block 12 stretches and contracts under the inverse piezoelectric effect, thereby driving the piezoelectric motor. In this way, the power supply configuration is reduced, the piezoelectric motor driving circuit is simplified, the design complexity and design cost of the piezoelectric motor driving system are reduced, and the design volume of the piezoelectric motor is smaller, meeting the miniaturization design requirements of the piezoelectric motor.

[0056] Based on the above embodiments, Figure 7The structural schematic diagram of a piezoelectric motor provided in an embodiment of the present application is a piezoelectric motor including a piezoelectric motor drive system 10, a signal processing module 20 and a state detection module 30. The piezoelectric motor drive system 10 is a piezoelectric motor drive system as described above. The piezoelectric motor is operated by driving the piezoelectric motor drive system 10 to rotate the rotor of the piezoelectric motor.

[0057] The output end of the signal processing module is connected to the input end of the H-bridge circuit 11, and is used to receive the control signal transmitted by the host computer, and output a high-level square wave drive signal or a low-level square wave drive signal to the input end of the H-bridge circuit 11 based on the control signal. The signal processing module is used to drive the piezoelectric motor directly through the H-bridge circuit 11, and the drive signal output by the signal processing module is input into the H-bridge circuit 11, so that the piezoelectric block 12 is extended or shortened based on the level signal output by the H-bridge circuit 11, thereby driving the motor rotor to rotate. The signal processing module is connected to the host computer and receives the control instructions sent by the host computer to control the motion state of the piezoelectric motor. By generating drive signals of different levels, the piezoelectric motor is driven by the H-bridge circuit 11. Optionally, according to the control state required by the piezoelectric motor, drive signals of different frequencies and durations can be adaptively generated so that the piezoelectric motor rotates at the corresponding frequency and duration under the action of the drive signal.

[0058] The state detection module is used to obtain the state information of the target corresponding to the piezoelectric motor and feed the state information back to the signal processing module. The state detection module uses a grating reader to collect the state information of the corresponding target, performs photoelectric conversion on the state information, and inputs the converted digital signal into the grating encoder to realize the state detection module to detect the state information of the target. After that, the state detection module inputs the processed orthogonal square wave to the FPGA of the signal processing module for processing, and calculates the position information and motion state of the current target. In this way, the signal processing module can know the motion state of the target under the current piezoelectric motor drive in real time. When the motion state of the target meets the requirements of the host computer control instruction, the driving of the piezoelectric motor can be terminated.

[0059] On the basis of the above embodiments, the present application also provides a piezoelectric motor driving device, the piezoelectric motor driving device comprising:

[0060] A first driving module, used for inputting a high-level square wave driving signal to the H-bridge circuit, so as to output the high-level square wave driving signal from the first output end of the H-bridge circuit to the first pole of the piezoelectric block, and outputting a low-level square wave driving signal from the second output end of the H-bridge circuit to the second pole of the piezoelectric block;

[0061] The second driving module is used to input a low-level square wave driving signal to the H-bridge circuit, so as to output the low-level square wave driving signal from the first output end of the H-bridge circuit to the first pole of the piezoelectric block, and output a high-level square wave driving signal from the second output end of the H-bridge circuit to the second pole of the piezoelectric block.

[0062] The piezoelectric motor driving device provided in the embodiment of the present application can be used to execute the piezoelectric motor driving method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0063] On the basis of the above embodiments, the embodiments of the present application also provide a storage medium containing computer executable instructions, which are used to execute a piezoelectric motor driving method when executed by a computer processor. The piezoelectric motor driving method includes: inputting a high-level square wave driving signal to the H-bridge circuit to output a high-level square wave driving signal from the first output end of the H-bridge circuit to the first pole of the piezoelectric block, and outputting a low-level square wave driving signal from the second output end of the H-bridge circuit to the second pole of the piezoelectric block; inputting a low-level square wave driving signal to the H-bridge circuit to output a low-level square wave driving signal from the first output end of the H-bridge circuit to the first pole of the piezoelectric block, and outputting a high-level square wave driving signal from the second output end of the H-bridge circuit to the second pole of the piezoelectric block.

[0064] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media, such as CD-ROM, floppy disk or tape device; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc. Storage media may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the first computer system in which the program is executed, or may be located in a different second computer system, which is connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media residing in different locations (for example, in different computer systems connected by a network). The storage medium may store program instructions (for example, embodied as a computer program) that can be executed by one or more processors. Of course, the computer executable instructions of a storage medium containing computer executable instructions provided in the embodiments of the present application are not limited to the piezoelectric motor driving method described above, and can also execute related operations in the piezoelectric motor driving method provided in any embodiment of the present application. The piezoelectric motor driving device and storage medium provided in the above embodiments can execute the piezoelectric motor driving method provided in any embodiment of the present application. For technical details not described in detail in the above embodiments, please refer to the piezoelectric motor driving method provided in any embodiment of the present application.

[0065] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A piezoelectric motor drive system, characterized in that: Includes H-bridge circuit and piezoelectric block; The first output end of the H-bridge circuit is connected to the first pole of the piezoelectric block, and the second output end of the H-bridge circuit is connected to the second pole of the piezoelectric block; The H-bridge circuit is used to input a high-level square wave driving signal, output the high-level square wave driving signal from the first output terminal to the first pole of the piezoelectric block, and output a low-level square wave driving signal from the second output terminal to the second pole of the piezoelectric block; The H-bridge circuit is also used to input a low-level square wave driving signal, output the low-level square wave driving signal from the first output terminal to the first pole of the piezoelectric block, and output a high-level square wave driving signal from the second output terminal to the second pole of the piezoelectric block; The piezoelectric motor drive system further includes a double-pole double-throw switch, and the piezoelectric block includes a first piezoelectric sub-block and a second piezoelectric sub-block; The double-pole double-throw switch is used to switch the H-bridge circuit to connect to the first piezoelectric sub-block or the second piezoelectric sub-block.

2. The piezoelectric motor drive system according to claim 1, characterized in that: The two common contacts of the double-pole double-throw switch are respectively connected to the first output end and the second output end, the first group of switching contacts of the double-pole double-throw switch are respectively connected to the two poles of the first piezoelectric block, and the second group of switching contacts of the double-pole double-throw switch are respectively connected to the two poles of the second piezoelectric block.

3. The piezoelectric motor drive system according to claim 1, characterized in that: The first piezoelectric sub-block includes a first piezoelectric body and a common piezoelectric body, and the second piezoelectric sub-block includes the second piezoelectric body and the common piezoelectric body; The first piezoelectric body is connected to the common piezoelectric body, and one end of the first piezoelectric body is used as the first pole of the first piezoelectric sub-block, and one end of the common piezoelectric body is used as the second pole of the first piezoelectric sub-block; The second piezoelectric body is connected to the common piezoelectric body, and one end of the common piezoelectric body is used as a first pole of the second piezoelectric sub-block, and one end of the second piezoelectric body is used as a second pole of the second piezoelectric sub-block.

4. The piezoelectric motor drive system according to claim 1, characterized in that: The H-bridge circuit is composed of four field effect transistors, the first output end is arranged between the two field effect transistors of the half bridge on one side of the H-bridge circuit, and the second output end is arranged between the two field effect transistors of the half bridge on the other side of the H-bridge circuit.

5. A piezoelectric motor driving method, applied to the piezoelectric motor driving system according to any one of claims 1 to 4, characterized in that: include: Inputting a high-level square wave driving signal to the H-bridge circuit, so as to output the high-level square wave driving signal from the first output terminal of the H-bridge circuit to the first pole of the piezoelectric block, and outputting a low-level square wave driving signal from the second output terminal of the H-bridge circuit to the second pole of the piezoelectric block; A low-level square wave drive signal is input to the H-bridge circuit to output the low-level square wave drive signal from the first output end of the H-bridge circuit to the first pole of the piezoelectric block, and a high-level square wave drive signal is output from the second output end of the H-bridge circuit to the second pole of the piezoelectric block.

6. A piezoelectric motor, characterized in that: It comprises a piezoelectric motor drive system, and the piezoelectric motor drive system is the piezoelectric motor drive system as described in any one of claims 1-4.

7. The piezoelectric motor according to claim 6, characterized in that: It also includes a signal processing module, the output end of which is connected to the input end of the H-bridge circuit, for receiving a control signal transmitted by a host computer, and outputting a high-level square wave drive signal or a low-level square wave drive signal to the input end of the H-bridge circuit based on the control signal.

8. The piezoelectric motor according to claim 7, characterized in that: It also includes a state detection module, which is used to obtain state information of the piezoelectric motor corresponding to the target of action, and feed the state information back to the signal processing module.

9. The piezoelectric motor according to claim 8, characterized in that: The state information includes position information and motion state.

10. The piezoelectric motor according to claim 8, wherein: The state detection module includes a grating reader, and reads state information of a corresponding target based on the grating reader.

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