A multi-mode ultrasonic motor driving circuit

Abstract

The application discloses a multi-mode ultrasonic motor driving circuit, which comprises a signal generator, a driving logic circuit, a power amplification circuit, a transformer and a matching inductor. A When the mode switch is opened, the signal generator generates a square wave signal with a frequency of f B , and four groups of driving signals SinA1, SinA2, CosA1 and CosA2 for driving the first mode of the ultrasonic motor are generated through the driving logic circuit; when the mode switch is closed, the signal generator generates a square wave signal with a frequency of f B , and four groups of driving signals SinB, -SinB, CosB and -CosB for driving the second mode of the ultrasonic motor are generated through the driving logic circuit. The above scheme can be used for driving a multi-mode ultrasonic motor. The driver of the multi-mode ultrasonic motor of the application is more than 40% smaller than that of a single-mode driver combination scheme, and the circuit structure is simpler; when applied to mode switching in different scenes and different loads, the average electromechanical conversion efficiency of the ultrasonic motor is increased by about 20% on the basis of the original.

Description

Technical Field

[0001] This invention belongs to the field of ultrasonic motor power drive power supply, specifically a multi-mode ultrasonic motor drive circuit. Background Technology

[0002] An ultrasonic motor is a novel type of motor that utilizes the inverse piezoelectric effect of piezoelectric materials. An alternating electric field is generated by applying an AC signal to the piezoelectric material, which in turn excites the material to vibrate in the ultrasonic frequency range. This vibration is amplified and converted into the motion of the motor rotor through friction, serving as power output to drive other loads. Compared to traditional motors, ultrasonic motors offer advantages such as low speed, high torque, fast response, power-off self-locking, and no electromagnetic interference. Therefore, ultrasonic motors are widely used in aerospace, bionic machinery, and medical devices.

[0003] The response speed and accuracy of ultrasonic motors are also greatly improved compared to electromagnetic motors. Due to the special driving mechanism, the response time of ultrasonic motors is greatly improved compared to electromagnetic motors, and the response speed can be improved to within 0.01s. Furthermore, due to the presence of friction, the positional accuracy of ultrasonic motors is also greatly improved compared to electromagnetic motors.

[0004] Multimodal ultrasonic motors have two operating modes. When applied to different scenarios and under different loads, the driving mode can be switched to improve electromechanical conversion efficiency. Under the same working conditions, switching the operating mode can also improve response speed and response accuracy.

[0005] Ultrasonic motors require two sinusoidal AC signals of orthogonal phase ultrasonic frequencies to drive the A and B phase ceramic plates of the stator. However, the phase difference between the two drive signals of the second mode of a multimode ultrasonic motor is 180° different from the phase difference between the two drive signals of the first mode. Single-mode ultrasonic motor drivers are insufficient to drive the two modes of a multimode ultrasonic motor. A scheme combining two single-mode ultrasonic motor drivers requires a coprocessor to switch between the two operating modes, and the drivers are larger, the circuit structure is more complex, and the electromechanical conversion efficiency is relatively low. Summary of the Invention

[0006] Purpose of the invention: To address the aforementioned existing technologies, a multimodal ultrasonic motor drive circuit is proposed.

[0007] Technical solution: A multimodal ultrasonic motor drive circuit includes a signal generation circuit, a drive logic circuit, a power amplifier circuit, a transformer circuit, and a matching inductor circuit. One end of the drive logic circuit is connected to the signal generation circuit, and the other end is connected to the power amplifier circuit. The other end of the power amplifier circuit is connected to the transformer circuit, and a matching inductor circuit is connected to the transformer.

[0008] Preferably, the signal generation circuit includes a DDS direct digital frequency synthesizer chip and peripheral circuitry. When the ultrasonic motor is operating in mode one, the signal generator produces a frequency of f. A The square wave signal; when the ultrasonic motor is in mode two operation, the signal generator produces a frequency of f. B The square wave signal.

[0009] Preferably, the driving logic circuit includes one dual D flip-flop 4013BD, five 4-way XOR gates 4030BD, four 4-way 2-input AND gates 4081BD, a forward / reverse switch S1, and a mode switch S2.

[0010] The dual D flip-flop 4013BD includes flip-flops U1A and U1B. The SD1 and CD1 pins of flip-flop U1A and the SD2 and CD2 pins of flip-flop U1B are connected to GND. The square wave signal generated by the DDS direct digital frequency synthesizer chip is input to the CP1 and CP2 pins of flip-flops U1A and U1B. The D1 pin of flip-flop U1A is connected to the O2 pin of flip-flop U1B, and the D2 pin of flip-flop U1B is connected to the O2 pin of flip-flop U1A. Pin connection;

[0011] The 4030BD contains five 4-way XOR gates, namely five XOR gates U2A to U6A and five XOR gates U2B to U6B. The signal at pin O2 of the flip-flop U1B and the signal from the forward / reverse switch S1 are the input signals for XOR gate U2A. The pin signal and the signal of switch S1 are the input signals of U2B; the O1 pin signal of the trigger U1A and the mode switch S2 are the input signals of the XOR gate U3A, and the trigger U1A's Pin O1 of the flip-flop U1A and mode switch S2 are the input signals of XOR gate U3B, the output signal of XOR gate U2A and mode switch S2 are the input signals of XOR gate U4A, the output signal of XOR gate U2B and mode switch S2 are the input signals of XOR gate U4B, the O1 pin signal of the flip-flop U1A and mode switch S2 are the input signals of XOR gate U5A, the output signal of XOR gate U2B and mode switch S2 are the input signals of XOR gate U5B, and the flip-flop U1A's... The pin signal and mode switch S2 are the input signals of XOR gate U6A, and the output signal of XOR gate U2A and mode switch S2 are the input signals of XOR gate U6B.

[0012] The 4081BD 4-channel 2-input AND gates are divided into four AND gates U7A~U10A and four AND gates U7B~U10B. The output signals of XOR gates U3A and U4A are the input signals of AND gate U7A, and the output signal of AND gate U7A is Output1+. The output signals of XOR gates U3B and U4B are the input signals of AND gate U7B, and the output signal of AND gate U7A is Output1-. The output signals of XOR gates U5A and U5B are the input signals of AND gate U8A, and the output signal of AND gate U8A is Output2+. The output signals of XOR gates U6A and U6B are the input signals of AND gate U8B, and the output signal of AND gate U8B is Output2-. The O1 pin signal of the flip-flop U1A and the output signal of U2A are the input signals of AND gate U9A, and the output signal of AND gate U9A is Output3+. The pin signal and the output signal of XOR gate U2B are the input signal of AND gate U9B, and the output signal of AND gate U9B is Output3-. The O1 pin signal of flip-flop U1A and the output signal of XOR gate U2B are the input signal of AND gate U10A, and the output signal of AND gate U10A is Output4+. The pin signal and the output signal of the XOR gate U2A are the input signals of the AND gate U10B, and the output signal of the AND gate U10B is Output4-. Preferably, the forward / reverse switch S1 is a single-pole double-throw switch. When the right-hand input of the forward / reverse switch S1 is a logic high level, the ultrasonic motor rotates forward; when the right-hand input of the forward / reverse switch S1 is connected to GND, the ultrasonic motor rotates in reverse.

[0013] Preferably, the mode switch S2 is a single-pole double-throw switch. When the right end of the mode switch S2 is connected to GND, the ultrasonic motor operates in mode one; when the right end of the mode switch S2 is at a logic high level, the ultrasonic motor operates in mode two.

[0014] Preferably, the power amplifier circuit includes four dual-channel power amplifiers U11 to U14; the transformer circuit includes four transformers Ts1, Ts2, Tc1, and Tc2; the matching inductor circuit includes four inductors Ls1, Ls2, Lc1, and Lc2. Signals Output1+ and Output1- are amplified by dual-channel power amplifier U11 and used as the input signal Output1 to the primary side of transformer Ts1. Inductor Ls1 is connected in parallel with the secondary side of transformer Ts1. The actual output signal of transformer Ts1 is SinA1 when the ultrasonic motor is operating in mode one and SinB when operating in mode two. Signals Output2+ and Output2- are amplified by dual-channel power amplifier U12 and used as the input signal Output2 to the primary side of transformer Tc1. Inductor Lc1 is connected in parallel with the secondary side of transformer Tc1. The actual output signal of transformer Tc1 is CosA1 when the ultrasonic motor is operating in mode one and rotating forward. 1. When operating in mode 2 and rotating forward, the signal is CosB; when operating in mode 1 and rotating backward, the signal is -CosA1; when operating in mode 2 and rotating backward, the signal is -CosB. The signals Output3+ and Output3- are amplified by the dual-channel power amplifier U13 and used as the primary input signal Output3 of transformer Ts2. The inductor Ls2 is connected in parallel with the secondary side of transformer Ts2. The actual output signal of transformer Ts2 is SinA2 when the ultrasonic motor is operating in mode 1 and -SinB when operating in mode 2. The signals Output4+ and Output4- are amplified by the dual-channel amplifier U11 and used as the primary input signal Output1 of transformer Tc2. The inductor Lc2 is connected in parallel with the secondary side of Tc2. The actual output signal of transformer Tc2 is CosA2 when the ultrasonic motor is operating in mode 1 and rotating forward, -CosB when operating in mode 2 and rotating forward, -CosA2 when operating in mode 1 and rotating backward, and CosB when operating in mode 2 and rotating backward.

[0015] Beneficial effects: The present invention uses a logic drive circuit to generate drive models for two modes of driving a multimodal ultrasonic motor. Only two switches are needed to realize the forward / reverse switching and mode switching of the multimodal ultrasonic motor. The driver volume is more than 40% smaller than that of the single-mode driver combination scheme, and the circuit structure is simpler. When applied to different scenarios and different loads for mode switching, the average electromechanical conversion efficiency of the ultrasonic motor is increased by about 20% on the original basis. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the multimodal ultrasonic motor drive circuit of the present invention;

[0017] Figure 2 This is a schematic diagram of the multimodal ultrasonic motor zoned drive of the present invention;

[0018] Figure 3 (a) is a schematic diagram of the output waveform of the first mode driver for forward rotation of the multimodal ultrasonic motor of the present invention;

[0019] Figure 3 (b) is a schematic diagram of the output waveform of the second mode driver for forward rotation of the multimodal ultrasonic motor of the present invention;

[0020] Figure 4 (a) is a schematic diagram of the output waveform of the first mode driver for the multimodal ultrasonic motor reversal according to the present invention;

[0021] Figure 4 (b) is a schematic diagram of the output waveform of the second mode driver for the multimodal ultrasonic motor reversal according to the present invention;

[0022] Figure 5 (a) is a schematic diagram of the actual driving waveform of the first forward rotation mode of the multimodal ultrasonic motor of the present invention;

[0023] Figure 5 (b) is a schematic diagram of the actual driving waveform of the second forward rotation mode of the multimodal ultrasonic motor of the present invention;

[0024] Figure 6 (a) is a schematic diagram of the actual driving waveform of the first mode of the multimodal ultrasonic motor reversal according to the present invention;

[0025] Figure 6 (b) is a schematic diagram of the actual driving waveform of the second mode of the multimodal ultrasonic motor reversal according to the present invention. Detailed Implementation

[0026] The invention will now be further explained with reference to the accompanying drawings.

[0027] This invention can be implemented in many different forms and should not be considered as limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully express the scope of the invention to those skilled in the art.

[0028] like Figure 2 As shown, when the mode switch is turned on, the signal generator produces a signal with a frequency of f. A The square wave signal is processed by a drive logic circuit, a power amplifier circuit, and a transformer to generate four sets of drive signals SinA1, SinA2, CosA1, and CosA2, which are used to drive the ultrasonic motor in its first mode. When the mode switch is closed, the signal generator produces a signal with a frequency of f. B The square wave signal is processed by a drive logic circuit, a power amplifier circuit, and a transformer to generate four sets of drive signals SinB, -SinB, CosB, and -CosB, which are used to drive the second mode of the ultrasonic motor.

[0029] like Figure 3As shown in (a), when the right-hand input of S1 is a logic high level (+5V power supply in the figure), the motor rotates forward. When the right-hand input of S2 is connected to GND, the motor operates in the first mode, and DDS generates f. A The square wave signal has the same frequency. Output1 and Output3 signals are the same, and Output2 and Output4 signals are the same. The phase of Output2 signal is 90° ahead of Output1 signal, and the motor rotates in the forward direction.

[0030] like Figure 3 As shown in (b), when the right end of S2 is connected to a +5V power supply, the motor operates in the second mode, and DDS generates f. B The frequency is a square wave signal. The Output1 signal is opposite to the Output3 signal (phase difference 180°), the Output2 signal is opposite to the Output4 signal (phase difference 180°), the phase of the Output2 signal is 90° ahead of the Output1 signal, and the phase of the Output4 signal is 90° ahead of the Output2 signal.

[0031] like Figure 4 As shown in (a), when the right end of S1 is connected to GND, the motor reverses. When the right end of S2 is connected to GND, the motor operates in the first mode, and DDS generates f. A The square wave signal has the same frequency as Output1 and Output3, and the same frequency as Output2 and Output4. The phase of Output2 lags behind Output1 by 90°.

[0032] like Figure 4 As shown in (b), when the right end of S2 is connected to a +5V power supply, the motor operates in the second mode, and DDS generates f. B The frequency is a square wave signal. The Output1 signal is opposite to the Output3 signal (phase difference 180°), the Output2 signal is opposite to the Output4 signal (phase difference 180°), the phase of the Output2 signal lags behind the Output1 signal by 90°, and the phase of the Output4 signal lags behind the Output2 signal by 90°.

[0033] like Figure 5As shown in (a), when the multimodal ultrasonic motor is operating in the first mode forward rotation state, the four signals Output1, Output3, Output3, and Output4, after passing through the transformer and matching circuit, actually output drive signals as SinA1, CosA1, SinA2, and CosA2; when the multimodal ultrasonic motor is operating in the second mode forward rotation state, the four signals Output1, Output3, Output3, and Output4, after passing through the transformer and matching circuit, actually output drive signals as SinB, CosB, -SinB, and -CosB.

[0034] like Figure 6 As shown in (a), when the multimodal ultrasonic motor is operating in the first mode reversal state, the four signals Output1, Output3, Output3, and Output4, after passing through the transformer and matching circuit, actually output drive signals as SinA1, -CosA1, SinA2, and -CosA2; when the multimodal ultrasonic motor is operating in the second mode reversal state, the four signals Output1, Output3, Output3, and Output4, after passing through the transformer and matching circuit, actually output drive signals as SinB, -CosB, -SinB, and CosB.

[0035] This invention uses a DDS chip to generate the original square wave signal required to drive a multimodal ultrasonic motor. This original square wave signal can also be generated by PSoC, CPLD, DSP, ARM, FPGA and other chips and logic circuits that can achieve the same function.

[0036] This invention uses D flip-flop chips, XOR gate chips, and AND gate chips to construct a logic circuit for driving a multimodal ultrasonic motor. The D flip-flop chips, XOR gate chips, and AND gate chips used in the circuit can also be replaced with other chips or logic circuits that can achieve the same function.

[0037] The power amplifier circuit used in this invention employs four dual-channel power amplifiers. This power amplifier circuit can also be replaced by other chips or logic circuits that can achieve the same function.

[0038] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless defined as herein.

[0039] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0040] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A multimodal ultrasonic motor drive circuit, characterized in that, It includes a signal generation circuit, a drive logic circuit, a power amplifier circuit, a transformer circuit, and a matching inductor circuit. One end of the drive logic circuit is connected to the signal generation circuit, and the other end is connected to the power amplifier circuit. The other end of the power amplifier circuit is connected to the transformer circuit, and a matching inductor circuit is connected to the transformer. The signal generation circuit includes a DDS direct digital frequency synthesizer chip and peripheral circuitry. When the ultrasonic motor is operating in mode one, the signal generator produces a frequency of f. A The square wave signal; when the ultrasonic motor is in mode two operation, the signal generator produces a frequency of f. B Square wave signal; The driving logic circuit includes one dual D flip-flop 4013BD, five 4-way XOR gates 4030BD, four 4-way 2-input AND gates 4081BD, a forward / reverse switch S1, and a mode switch S2; The dual D flip-flop 4013BD includes flip-flop U1A and flip-flop U1B. The SD1 and CD1 pins of flip-flop U1A and the SD2 and CD2 pins of flip-flop U1B are connected to GND. The square wave signal generated by the DDS direct digital frequency synthesizer chip is input to the CP1 and CP2 pins of flip-flops U1A and U1B. The D1 pin of flip-flop U1A is connected to the O2 pin of flip-flop U1B, and the D2 pin of flip-flop U1B is connected to the O2 pin of flip-flop U1B. U1A Pin connection; The five 4-way XOR gates 4030BD are divided into five XOR gates U2A to U6A and five XOR gates U2B to U6B. The signal at pin O2 of the flip-flop U1B and the signal from the forward / reverse switch S1 are the input signals for XOR gate U2A. The trigger U1B The pin signal and the signal of switch S1 are the input signals of U2B; the trigger U1A's Pin O1 and mode switch S2 are the input signals of XOR gate U3A, and the trigger U1A... Pin O1 of the flip-flop U1A and mode switch S2 are the input signals of XOR gate U3B, the output signal of XOR gate U2A and mode switch S2 are the input signals of XOR gate U4A, the output signal of XOR gate U2B and mode switch S2 are the input signals of XOR gate U4B, the O1 pin signal of the flip-flop U1A and mode switch S2 are the input signals of XOR gate U5A, the output signal of XOR gate U2B and mode switch S2 are the input signals of XOR gate U5B, and the flip-flop U1A's... The pin signal and mode switch S2 are the input signals of XOR gate U6A, and the output signal of XOR gate U2A and mode switch S2 are the input signals of XOR gate U6B. The 4081BD 4-channel 2-input AND gates are divided into four AND gates U7A~U10A and four AND gates U7B~U10B. The output signals of XOR gates U3A and U4A are the input signals of AND gate U7A, and the output signal of AND gate U7A is Output1+. The output signals of XOR gates U3B and U4B are the input signals of AND gate U7B, and the output signal of AND gate U7A is Output1-. The output signals of XOR gates U5A and U5B are the input signals of AND gate U8A, and the output signal of AND gate U8A is Output2+. The output signals of XOR gates U6A and U6B are the input signals of AND gate U8B, and the output signal of AND gate U8B is Output2-. The O1 pin signal of the flip-flop U1A and the output signal of U2A are the input signals of AND gate U9A, and the output signal of AND gate U9A is Output3+. The pin signal and the output signal of XOR gate U2B are the input signal of AND gate U9B, and the output signal of AND gate U9B is Output3-. The O1 pin signal of flip-flop U1A and the output signal of XOR gate U2B are the input signal of AND gate U10A, and the output signal of AND gate U10A is Output4+. The pin signal and the output signal of the XOR gate U2A are the input signals of the AND gate U10B, and the output signal of the AND gate U10B is Output4-; the forward / reverse switch S1 is a single-pole double-throw switch. When the right end of the forward / reverse switch S1 is at a logic high level, the ultrasonic motor rotates forward; when the right end of the forward / reverse switch S1 is connected to GND, the ultrasonic motor rotates in reverse. The mode switch S2 is a single-pole double-throw switch. When the right end of the mode switch S2 is connected to GND, the ultrasonic motor operates in mode one; when the right end of the mode switch S2 is at a logic high level, the ultrasonic motor operates in mode two.

2. The multimodal ultrasonic motor drive circuit as described in claim 1, characterized in that, The power amplifier circuit includes four dual-channel power amplifiers U11 to U14; the transformer circuit includes four transformers Ts1, Ts2, Tc1, and Tc2; the matching inductor circuit includes four inductors Ls1, Ls2, Lc1, and Lc2. Signals Output1+ and Output1- are amplified by dual-channel power amplifier U11 and used as the input signal Output1 to the primary side of transformer Ts1. Inductor Ls1 is connected in parallel with the secondary side of transformer Ts1. The actual output signal of transformer Ts1 is SinA1 when the ultrasonic motor is operating in mode one and SinB when operating in mode two. Signals Output2+ and Output2- are amplified by dual-channel power amplifier U12 and used as the input signal Output2 to the primary side of transformer Tc1. Inductor Lc1 is connected in parallel with the secondary side of transformer Tc1. The actual output signal of transformer Tc1 is CosA1 when the ultrasonic motor is operating in mode one and rotating forward. When operating in mode 2 and rotating forward, the signal is CosB; when operating in mode 1 and rotating backward, the signal is -CosA1; when operating in mode 2 and rotating backward, the signal is -CosB. Signals Output3+ and Output3- are amplified by dual-channel power amplifier U13 and used as the primary input signal Output3 of transformer Ts2. Inductor Ls2 is connected in parallel with the secondary side of transformer Ts2. The actual output signal of transformer Ts2 is SinA2 when the ultrasonic motor is operating in mode 1 and -SinB when operating in mode 2. Signals Output4+ and Output4- are amplified by dual-channel amplifier U11 and used as the primary input signal Output1 of transformer Tc2. Inductor Lc2 is connected in parallel with the secondary side of Tc2. The actual output signal of transformer Tc2 is CosA2 when the ultrasonic motor is operating in mode 1 and rotating forward, -CosB when operating in mode 2 and rotating forward, -CosA2 when operating in mode 1 and rotating backward, and CosB when operating in mode 2 and rotating backward.

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