Piezoelectric motor driving system and method based on H-bridge circuit and piezoelectric motor

Abstract

The embodiment of the invention discloses a piezoelectric motor driving system and method based on an H-bridge circuit and a piezoelectric motor. According to the technical scheme provided by the embodiment of the invention, one half H-bridge circuit is selected to be switched off by controlling the change-over switch, and the other two half H-bridge circuits are kept to be switched on; and the driving circuit is used for inputting a driving signal so as to respectively output a high-level square wave driving signal and a low-level square wave driving signal to two poles with different polarities of the first piezoelectric sub-block or the second piezoelectric sub-block from the output ends of the two half H-bridge circuits which are kept to be conducted, so that the first piezoelectric sub-block or the second piezoelectric sub-block is driven. Therefore, the power supply configuration is reduced, the piezoelectric motor driving circuit is simplified, the design complexity and the design cost of the piezoelectric motor driving system are reduced, the design size of the piezoelectric motor is smaller, 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 based on an H-bridge circuit. 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 based on an H-bridge circuit, which can simplify the piezoelectric motor drive circuit, reduce the design complexity and design cost of the drive system, and solve the technical problems of complex piezoelectric motor drive circuit design.

[0005] In a first aspect, an embodiment of the present application provides a piezoelectric motor drive system based on an H-bridge circuit, comprising a drive circuit and a piezoelectric block, wherein the piezoelectric block comprises a first piezoelectric sub-block and a second piezoelectric sub-block;

[0006] The driving circuit includes a switching switch and three parallel half H-bridge circuits, and the switching switch is used to selectively disconnect one of the half H-bridge circuits and keep the remaining two half H-bridge circuits turned on;

[0007] The driving circuit is used to input a driving signal, and output a high-level square wave driving signal and a low-level square wave driving signal from the output ends of the two half-H-bridge circuits that remain turned on to two poles of different polarities of the first piezoelectric sub-block or the second piezoelectric sub-block to drive the first piezoelectric sub-block or the second piezoelectric sub-block.

[0008] Further, the switching switch includes a first sub-switch and a second sub-switch, and the three parallel half H-bridge circuits include a first half H-bridge circuit, a second half H-bridge circuit and a third half H-bridge circuit in a parallel order, and the first sub-switch and the second sub-switch are respectively arranged in the first half H-bridge circuit and the third half H-bridge circuit.

[0009] Further, 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;

[0010] 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;

[0011] The second piezoelectric body is connected to the common piezoelectric body, and one end of the common piezoelectric body is used as the first pole of the second piezoelectric sub-block, and one end of the second piezoelectric body is used as the second pole of the second piezoelectric sub-block;

[0012] The high-level square wave driving signal and the low-level square wave driving signal are respectively output to two poles of the first piezoelectric sub-block or two poles of the second piezoelectric sub-block.

[0013] Further, the output end of the first half H-bridge circuit is connected to one end of the first piezoelectric body, the output end of the second half H-bridge circuit is connected to one end of the common piezoelectric body, and the output end of the third half H-bridge circuit is connected to one end of the second piezoelectric body.

[0014] Further, when the driving signal is a high-level square wave driving signal, the first sub-switch is closed, and the second sub-switch is opened, a high-level square wave driving signal is output from the output end of the first half H-bridge circuit to the first pole of the first piezoelectric sub-block, and a low-level square wave driving signal is output from the output end of the second half H-bridge circuit to the second pole of the first piezoelectric sub-block, so as to drive the first piezoelectric sub-block;

[0015] When the driving signal is a low-level square wave driving signal, the first sub-switch is closed, and the second sub-switch is open, a low-level square wave driving signal is output from the output end of the first half H-bridge circuit to the first pole of the first piezoelectric sub-block, and a high-level square wave driving signal is output from the output end of the second half H-bridge circuit to the second pole of the first piezoelectric sub-block, so as to drive the first piezoelectric sub-block;

[0016] When the driving signal is a high-level square wave driving signal, the first sub-switch is opened, and the second sub-switch is closed, a high-level square wave driving signal is output from the output end of the second half H-bridge circuit to the first pole of the second piezoelectric sub-block, and a low-level square wave driving signal is output from the output end of the third half H-bridge circuit to the second pole of the second piezoelectric sub-block, so as to drive the second piezoelectric sub-block;

[0017] When the driving signal is a low-level square wave driving signal, the first sub-switch is disconnected, and the second sub-switch is closed, a low-level square wave driving signal is output from the output end of the second half H-bridge circuit to the first pole of the second piezoelectric sub-block, and a high-level square wave driving signal is output from the output end of the third half H-bridge circuit to the second pole of the second piezoelectric sub-block to drive the second piezoelectric sub-block.

[0018] Furthermore, each of the half H-bridge circuits is composed of two field effect transistors, the output end of the first half H-bridge circuit is arranged between the two field effect transistors of the first half H-bridge circuit, the output end of the second half H-bridge circuit is arranged between the two field effect transistors of the second half H-bridge circuit, and the output end of the third half H-bridge circuit is arranged between the two field effect transistors of the third half H-bridge circuit.

[0019] In a second aspect, a piezoelectric motor driving method based on an H-bridge circuit is applied to the piezoelectric motor driving system based on the H-bridge circuit as described in the first aspect, comprising:

[0020] Controlling the switching switch to selectively disconnect one half H-bridge circuit and keep the remaining two half H-bridge circuits turned on;

[0021] The driving circuit is used to input a driving signal to output a high-level square wave driving signal and a low-level square wave driving signal from the output ends of the two half-H-bridge circuits that remain turned on to two poles of different polarities of the first piezoelectric sub-block or the second piezoelectric sub-block to drive the first piezoelectric sub-block or the second piezoelectric sub-block.

[0022] In a third aspect, an embodiment of the present application provides a piezoelectric motor, including a piezoelectric motor drive system based on an H-bridge circuit, wherein the piezoelectric motor drive system based on the H-bridge circuit is the piezoelectric motor drive system based on the H-bridge circuit as described in the first aspect.

[0023] Furthermore, it also includes a signal processing module, the output end of which is connected to the input end of the drive circuit, for receiving a control signal transmitted by a host computer, and outputting a drive signal to the input end of the drive circuit based on the control signal.

[0024] Furthermore, 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.

[0025] The embodiment of the present application controls the switching switch to disconnect one half H-bridge circuit and keep the other two half H-bridge circuits turned on; the driving circuit is used to input a driving signal, so as to output a high-level square wave driving signal and a low-level square wave driving signal from the output ends of the two half H-bridge circuits that remain turned on to the two poles of different polarities of the first piezoelectric block or the second piezoelectric block, so as to drive the first piezoelectric block or the second piezoelectric block. In this way, a single driving signal is input into the driving circuit, and driving signals of different levels are output to the two poles of the piezoelectric block, so that the polar piezoelectric block stretches and contracts under the inverse piezoelectric effect, thereby realizing the driving of 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.

[0026] In addition, by switching the drive signal output through a switching switch, the first piezoelectric block or the second piezoelectric block is driven, so that a single drive circuit can selectively drive multiple piezoelectric blocks, further simplifying the drive circuit and achieving a better piezoelectric motor miniaturization design effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a structural schematic diagram of a piezoelectric motor drive system based on an H-bridge circuit provided in an embodiment of the present application;

[0028] Figure 2 is a flow chart of a piezoelectric motor driving method based on an H-bridge circuit provided in an embodiment of the present application;

[0029] Figure 3 This is a schematic diagram of driving a first piezoelectric block provided in an embodiment of the present application;

[0030] Figure 4 This is a schematic diagram of driving a second piezoelectric block provided in an embodiment of the present application;

[0031] Figure 5 is a schematic diagram of the structure of the piezoelectric block in an embodiment of the present application;

[0032] Figure 6 is a schematic diagram of the elongation movement of the piezoelectric block in the embodiment of the present application;

[0033] Figure 7 is a schematic diagram of the contraction movement of the piezoelectric block in the embodiment of the present application;

[0034] Figure 8 It is a structural schematic diagram of a piezoelectric motor provided in an embodiment of the present application.

[0035] In the figure: 11, driving circuit; 12, piezoelectric block; 121, first piezoelectric sub-block; 122, second piezoelectric sub-block. DETAILED DESCRIPTION

[0036] 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.

[0037] Embodiment 1:

[0038] Figure 1 A schematic diagram of a piezoelectric motor drive system based on an H-bridge circuit is given in the present application. Figure 1 , including a driving circuit 11 and a piezoelectric block 12, wherein the piezoelectric block 12 includes a first piezoelectric block 121 and a second piezoelectric block 122; the driving circuit 11 includes a switching switch and three parallel half-H-bridge circuits, and the switching switch is used to select and disconnect one of the half-H-bridge circuits and keep the other two half-H-bridge circuits turned on; the driving circuit 11 is used to input a driving signal, and output a high-level square wave driving signal and a low-level square wave driving signal from the output ends of the two half-H-bridge circuits that remain turned on to two poles of different polarities of the first piezoelectric block 121 or the second piezoelectric block 122, so as to drive the first piezoelectric block 121 or the second piezoelectric block 122.

[0039] In order to simplify the driving circuit 11 and reduce the power supply configuration of the driving circuit 11, the embodiment of the present application introduces three parallel half-H-bridge circuits and a switching switch, and selects to turn on two of the half-H-bridge circuits based on the switching switch to build an output link of the positive and negative driving signals of the piezoelectric motor driving system based on the H-bridge circuit, so as to make the circuit design more lightweight and meet the miniaturization design requirements of the piezoelectric motor.

[0040] Among them, when driving signals of different polarities are applied to the first piezoelectric block 121 or the second piezoelectric block 122 with polarity, the piezoelectric block 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 also disappear. If the polarity of the driving signal is the same as that of the piezoelectric block, the piezoelectric block will be extended under the action of the inverse piezoelectric effect. Conversely, if the polarity of the driving signal is opposite to that of the piezoelectric block, the piezoelectric block will be shortened under the action of the inverse piezoelectric effect. Based on this principle, it is only necessary to switch on two of the half H-bridge circuits by switching the switch, so that driving signals of different polarities can be output from the two half H-bridge circuits to the piezoelectric block, so that the piezoelectric block can be extended and contracted, and the driving of the piezoelectric motor can be realized. Furthermore, by connecting the output end of the half H-bridge circuit to the poles of different piezoelectric blocks, the output ends of the two half H-bridge circuits that remain conductive respectively output a high-level square wave drive signal and a low-level square wave drive signal to two poles of different polarities of the first piezoelectric block 121 or the second piezoelectric block 122, thereby selectively driving the first piezoelectric block 121 or the second piezoelectric block 122, thereby achieving the effect of a single drive circuit 11 selectively driving multiple piezoelectric blocks, thereby further simplifying the drive circuit 11.

[0041] The H-bridge circuit 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 DC motors. Because its circuit shape resembles the letter H, it is named "H-bridge". The H-bridge circuit consists 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 composed of two half H-bridge circuits that remain turned on, the forward and reverse control of the motor can be achieved.

[0042] Based on this principle, the present invention uses an H-bridge circuit composed of two half H-bridge circuits for forward and reverse control, and the two signal output ends are connected to the positive and negative poles of the first piezoelectric block 121 or the second piezoelectric block 122 of the piezoelectric block 12 respectively. By turning on or off the transistor or field effect tube of the H-bridge circuit, 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 first piezoelectric block 121 or the second piezoelectric block 122, the reverse piezoelectric effect of the first piezoelectric block 121 or the second piezoelectric block 122 can be triggered.

[0043] 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:

[0044] S110, controlling the switching switch to selectively disconnect one half H-bridge circuit and keep the remaining two half H-bridge circuits turned on;

[0045] S120, inputting a driving signal to the driving circuit 11, so as to output a high-level square wave driving signal and a low-level square wave driving signal from the output ends of the two half H-bridge circuits that remain turned on to two poles of different polarities of the first piezoelectric block or the second piezoelectric block, so as to drive the first piezoelectric block or the second piezoelectric block.

[0046] The present application drives the H-bridge circuit by inputting two mutually inverse square wave drive signals to the H-bridge circuit composed of two half H-bridge circuits that remain turned on. Wherein, based on the circuit characteristics of the H-bridge circuit, when a high-level drive signal is input, a high-level square wave drive signal and a low-level drive signal will be output at the output end of the two half H-bridge circuits to the two poles of the corresponding piezoelectric block. At this time, the two levels of the piezoelectric block are respectively applied with a high level and a low level. When the internal polarity of the piezoelectric block is the same as the external polarity, the piezoelectric block will be elongated. When the internal polarity of the piezoelectric block is opposite to the external polarity, the piezoelectric block will be shortened. The polarity of the piezoelectric block is adaptively set according to the actual driving requirements, and no fixed restrictions are made here.

[0047] Furthermore, according to the poles of the piezoelectric blocks connected to the output ends of the half H-bridge circuit, the driving of the corresponding piezoelectric blocks is realized. Among them, if the output ends of the two half H-bridge circuits that remain turned on are respectively connected to the two poles of the first piezoelectric block 121, the driving of the first piezoelectric block 121 is realized. Conversely, if the output ends of the two half H-bridge circuits that remain turned on are respectively connected to the two poles of the second piezoelectric block 122, the driving of the second piezoelectric block 122 is realized. In this way, by adaptively selecting the piezoelectric blocks for driving, the need to use a single driving circuit 11 to select and drive multiple piezoelectric blocks in specific scenarios can be met, so that multiple piezoelectric blocks share one driving circuit 11, and the driving circuit 11 is further simplified.

[0048] Therefore, in the actual driving and control process of the piezoelectric motor, by inputting two mutually inverse square wave driving signals to drive the H-bridge circuit composed of two half H-bridge circuits that remain conductive, the piezoelectric sub-block can be driven in opposite directions, thereby driving the piezoelectric motor rotor to rotate in two opposite directions.

[0049] Optionally, the switching switch includes a first sub-switch and a second sub-switch, and the three parallel half H-bridge circuits include a first half H-bridge circuit, a second half H-bridge circuit and a third half H-bridge circuit in a parallel order, and the first sub-switch and the second sub-switch are respectively arranged in the first half H-bridge circuit and the third half H-bridge circuit. By setting two piezoelectric blocks and connecting the output ends of the three parallel half H-bridge circuits to the first piezoelectric block 121 and the second piezoelectric block 122, respectively, the output ends of the second half H-bridge circuit are respectively connected to the poles of the first piezoelectric block 121 and the second piezoelectric block 122. In this way, the control of the two piezoelectric blocks can be switched by switching the switch to realize the switching drive of the 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 driving circuit 11 can be used to realize the driving of two groups of piezoelectric motors, meeting the multi-point driving requirements of the piezoelectric motors in the corresponding scenarios.

[0050] For example, the output end of the second half H-bridge circuit is selected to be connected to the poles of the first piezoelectric block 121 and the second piezoelectric block 122 respectively, the output end of the first half H-bridge circuit is connected to the other pole of the first piezoelectric block 121, and the output end of the third half H-bridge circuit is connected to the other pole of the second piezoelectric block 122. When the switch turns on the first half H-bridge circuit and the second half H-bridge circuit, the two are respectively connected to the two poles of the first piezoelectric block 121, and the first piezoelectric block 121 is extended or shortened by outputting high and low level signals to the two poles of the first piezoelectric block 121 respectively. Similarly, when the switch turns on the second half H-bridge circuit and the third half H-bridge circuit, the two are respectively connected to the two poles of the second piezoelectric block 122, and the second piezoelectric block 122 is extended or shortened by outputting high and low level signals to the two poles of the second piezoelectric block 122 respectively.

[0051] More specifically, the first piezoelectric sub-block 121 includes a first piezoelectric body and a common piezoelectric body, and the second piezoelectric sub-block 122 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 the first pole of the first piezoelectric sub-block 121, and one end of the common piezoelectric body is the second pole of the first piezoelectric sub-block 121; 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 122, and one end of the second piezoelectric body is the second pole of the second piezoelectric sub-block 122; the high-level square wave drive signal and the low-level square wave drive signal are output to the two poles of the first piezoelectric sub-block 121 or the two poles of the second piezoelectric sub-block 122 respectively. The output end of the first half H-bridge circuit is connected to one end of the first piezoelectric body, the output end of the second half H-bridge circuit is connected to one end of the common piezoelectric body, and the output end of the third half H-bridge circuit is connected to one end of the second piezoelectric body.

[0052] like Figure 1 As shown, OUT1 is the output end of the first half H-bridge circuit, OUT2 is the second output end of the half H-bridge circuit, OUT3 is the output end of the third half H-bridge circuit, a is the first piezoelectric body, b is the common piezoelectric body, and c is the second piezoelectric body. By providing a common piezoelectric body and connecting the output end of the second half H-bridge circuit, the common piezoelectric body is used as the common part of the first piezoelectric sub-block 121 and the second piezoelectric sub-block 122, and the structure of the piezoelectric block 12 is further simplified, and the structure of the multi-piezoelectric sub-block driving circuit 11 is simplified, which meets the miniaturization requirements of the piezoelectric motor in specific scenarios.

[0053] Based on the structure of the piezoelectric block 12, when the driving signal is a high-level square wave driving signal, the first sub-switch is closed, and the second sub-switch is opened, a high-level square wave driving signal is output from the output end of the first half H-bridge circuit to the first pole of the first piezoelectric sub-block 121, and a low-level square wave driving signal is output from the output end of the second half H-bridge circuit to the second pole of the first piezoelectric sub-block 121, so as to drive the first piezoelectric sub-block 121;

[0054] When the driving signal is a low-level square wave driving signal, the first sub-switch is closed, and the second sub-switch is opened, a low-level square wave driving signal is output from the output end of the first half H-bridge circuit to the first pole of the first piezoelectric sub-block 121, and a high-level square wave driving signal is output from the output end of the second half H-bridge circuit to the second pole of the first piezoelectric sub-block 121, so as to drive the first piezoelectric sub-block 121;

[0055] When the driving signal is a high-level square wave driving signal, the first sub-switch is disconnected, and the second sub-switch is closed, a high-level square wave driving signal is output from the output end of the second half H-bridge circuit to the first pole of the second piezoelectric sub-block 122, and a low-level square wave driving signal is output from the output end of the third half H-bridge circuit to the second pole of the second piezoelectric sub-block 122, so as to drive the second piezoelectric sub-block 122;

[0056] When the driving signal is a low-level square wave driving signal, the first sub-switch is disconnected, and the second sub-switch is closed, a low-level square wave driving signal is output from the output end of the second half H-bridge circuit to the first pole of the second piezoelectric sub-block 122, and a high-level square wave driving signal is output from the output end of the third half H-bridge circuit to the second pole of the second piezoelectric sub-block 122, so as to drive the second piezoelectric sub-block 122.

[0057] Specifically, Figure 3As shown, when the first sub-switch is closed and the second sub-switch is open, if the driving circuit 11 inputs a high-level square wave driving signal, OUT1 is high and OUT2 is low, a high level is input at one end of the first piezoelectric body a, and a low level is input at one end of the common piezoelectric body b, and level signals of different polarities are applied to the two poles of the first piezoelectric sub-block 121 to produce an inverse piezoelectric effect, thereby achieving lengthening or shortening; when the driving circuit 11 inputs a low-level square wave driving signal, OUT1 is low and OUT2 is high, a low level is input at one end of the first piezoelectric body a, and a high level is input at one end of the common piezoelectric body b, and level signals of different polarities are applied to the two poles of the first piezoelectric sub-block 121 to produce an inverse piezoelectric effect, thereby achieving shortening or lengthening.

[0058] Similarly, when the first sub-switch is disconnected and the second sub-switch is closed, if the driving circuit 11 inputs a high-level square wave driving signal, OUT1 is high and OUT2 is low, 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, and level signals of different polarities are applied to the two poles of the second piezoelectric sub-block 122 to produce an inverse piezoelectric effect, thereby achieving shortening or lengthening; if the driving circuit 11 inputs a low-level square wave driving signal, OUT1 is low and OUT2 is high, 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, and level signals of different polarities are applied to the two poles of the second piezoelectric sub-block 122 to produce an inverse piezoelectric effect, thereby achieving lengthening or shortening.

[0059] For example, Figure 5 As shown, a structural connection diagram of the piezoelectric block 12 of the present application embodiment is provided, referring to Figure 5 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.

[0060] 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 driving circuit 11 outputs high and low levels to the first piezoelectric body a and the common piezoelectric body b respectively, the piezoelectric sub-block composed of the two generates an inverse piezoelectric effect due to the application of level signals of different polarities, thereby achieving overall extension and contraction. Figure 6 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 7As 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 driving circuit 11 outputs high and low levels to the second piezoelectric body c and the common piezoelectric body b respectively, the piezoelectric sub-blocks formed by the two generate 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 11, meeting the driving requirements of different piezoelectric blocks 12 in specific scenarios, further realizing the miniaturization of the driving circuit 11, and reducing the volume of the driving circuit 11.

[0061] Preferably, refer to Figure 1 Each of the half H-bridge circuits is composed of two field effect transistors, the output end of the first half H-bridge circuit is arranged between the two field effect transistors of the first half H-bridge circuit, the output end of the second half H-bridge circuit is arranged between the two field effect transistors of the second half H-bridge circuit, and the output end of the third half H-bridge circuit is arranged between the two field effect transistors of the third half H-bridge circuit. In this way, by selectively conducting the first and second half H-bridge circuits, or the second and third half H-bridge circuits, the two form a complete H-bridge circuit. When the driving signal is input into the H-bridge circuit, driving signals of different levels can be output from the two half-bridge circuits, and then applied to the piezoelectric sub-block, and the piezoelectric block 12 is driven by the inverse piezoelectric effect.

[0062] Among them, taking the H-bridge circuit composed of the first and second half H-bridge circuits as an example, when the H-bridge circuit inputs a high-level square wave drive signal, the field effect tubes Q1 and Q4 are turned on. Since the piezoelectric sub-block is connected between the two half H-bridge circuits, the output end of the first half H-bridge circuit outputs a high-level square wave drive signal, and the output end of the second half H-bridge circuit outputs a low-level square wave drive signal. In this way, the piezoelectric sub-block is provided with two polarity signals of different levels, so that the piezoelectric sub-block produces an inverse piezoelectric effect, thereby realizing the piezoelectric motor drive. In practical applications, the H-bridge circuit can also be composed of four transistors, 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. It only needs to ensure that the two output ends of the H-bridge circuit output high and low signals respectively, which will not be elaborated here.

[0063] In this way, a single signal is input into the H-bridge circuit, and driving signals of different levels are output to the two poles of the piezoelectric sub-block, so that the polarized piezoelectric sub-block 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 11 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.

[0064] Based on the above embodiments, Figure 8The present invention provides a schematic diagram of the structure of a piezoelectric motor provided in an embodiment of the present invention, wherein the piezoelectric motor includes 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 based on an H-bridge circuit as described above. The piezoelectric motor drive system 10 drives the rotor of the piezoelectric motor to rotate, thereby realizing the operation of the piezoelectric motor.

[0065] The output end of the signal processing module is connected to the input end of the driving circuit 11, and is used to receive the control signal transmitted by the host computer, and output a high-level square wave driving signal or a low-level square wave driving signal to the input end of the driving circuit 11 based on the control signal. The signal processing module is used to drive the piezoelectric motor directly through the driving circuit 11, and the driving signal output by the signal processing module is input into the driving circuit 11, so that the piezoelectric block is extended or shortened based on the level signal output by the driving 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 driving signals of different levels, the piezoelectric motor is driven by the driving circuit 11. Optionally, according to the control state required by the piezoelectric motor, driving 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 driving signal.

[0066] 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.

[0067] On the basis of the above embodiments, the embodiment of the present application further provides a piezoelectric motor driving device based on an H-bridge circuit, and the piezoelectric motor driving device based on the H-bridge circuit includes:

[0068] A control module, used for controlling the switching switch to selectively disconnect one half H-bridge circuit and keep the other two half H-bridge circuits turned on;

[0069] A driving module is used to input a driving signal to a driving circuit so as to output a high-level square wave driving signal and a low-level square wave driving signal from the output ends of the two half H-bridge circuits that remain turned on to two poles of different polarities of the first piezoelectric sub-block or the second piezoelectric sub-block, so as to drive the first piezoelectric sub-block or the second piezoelectric sub-block.

[0070] The piezoelectric motor driving device based on the H-bridge circuit provided in the embodiment of the present application can be used to execute the piezoelectric motor driving method based on the H-bridge circuit provided in the above embodiment, and has corresponding functions and beneficial effects.

[0071] On the basis of the above embodiments, the embodiments of the present application also provide a storage medium containing computer executable instructions, which, when executed by a computer processor, are used to execute a piezoelectric motor driving method based on an H-bridge circuit. The piezoelectric motor driving method based on the H-bridge circuit includes: controlling a switching switch to select to disconnect a half H-bridge circuit and keep the other two half H-bridge circuits turned on; inputting a driving signal to the driving circuit to output a high-level square wave driving signal and a low-level square wave driving signal from the output ends of the two half H-bridge circuits that remain turned on to two poles of different polarities of the first piezoelectric sub-block or the second piezoelectric sub-block, so as to drive the first piezoelectric sub-block or the second piezoelectric sub-block.

[0072] 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 based on the H-bridge circuit as described above, and can also execute the related operations in the piezoelectric motor driving method based on the H-bridge circuit provided in any embodiment of the present application. The piezoelectric motor driving device based on the H-bridge circuit and the storage medium provided in the above embodiments can execute the piezoelectric motor driving method based on the H-bridge circuit 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 based on the H-bridge circuit provided in any embodiment of the present application.

[0073] 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 based on an H-bridge circuit, characterized in that: It includes a driving circuit and a piezoelectric block, wherein the piezoelectric block includes a first piezoelectric sub-block and a second piezoelectric sub-block; The driving circuit includes a switching switch and three parallel half H-bridge circuits, and the switching switch is used to selectively disconnect one of the half H-bridge circuits and keep the remaining two half H-bridge circuits turned on; The driving circuit is used to input a driving signal, and output a high-level square wave driving signal and a low-level square wave driving signal from the output ends of the two half-H-bridge circuits that remain turned on to two poles of different polarities of the first piezoelectric sub-block or the second piezoelectric sub-block to drive the first piezoelectric sub-block or the second piezoelectric sub-block.

2. The piezoelectric motor driving system based on the H-bridge circuit according to claim 1, characterized in that: The switching switch includes a first sub-switch and a second sub-switch, and the three parallel half H-bridge circuits include a first half H-bridge circuit, a second half H-bridge circuit and a third half H-bridge circuit in a parallel order, and the first sub-switch and the second sub-switch are respectively arranged in the first half H-bridge circuit and the third half H-bridge circuit.

3. The piezoelectric motor driving system based on the H-bridge circuit according to claim 2, 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 the first pole of the second piezoelectric sub-block, and one end of the second piezoelectric body is used as the second pole of the second piezoelectric sub-block; The high-level square wave driving signal and the low-level square wave driving signal are respectively output to two poles of the first piezoelectric sub-block or two poles of the second piezoelectric sub-block.

4. The piezoelectric motor driving system based on the H-bridge circuit according to claim 3 is characterized in that: The output end of the first half H-bridge circuit is connected to one end of the first piezoelectric body, the output end of the second half H-bridge circuit is connected to one end of the common piezoelectric body, and the output end of the third half H-bridge circuit is connected to one end of the second piezoelectric body.

5. The piezoelectric motor driving system based on the H-bridge circuit according to claim 4, characterized in that: When the driving signal is a high-level square wave driving signal, the first sub-switch is closed, and the second sub-switch is open, a high-level square wave driving signal is output from the output end of the first half H-bridge circuit to the first pole of the first piezoelectric sub-block, and a low-level square wave driving signal is output from the output end of the second half H-bridge circuit to the second pole of the first piezoelectric sub-block, so as to drive the first piezoelectric sub-block; When the driving signal is a low-level square wave driving signal, the first sub-switch is closed, and the second sub-switch is open, a low-level square wave driving signal is output from the output end of the first half H-bridge circuit to the first pole of the first piezoelectric sub-block, and a high-level square wave driving signal is output from the output end of the second half H-bridge circuit to the second pole of the first piezoelectric sub-block, so as to drive the first piezoelectric sub-block; When the driving signal is a high-level square wave driving signal, the first sub-switch is opened, and the second sub-switch is closed, a high-level square wave driving signal is output from the output end of the second half H-bridge circuit to the first pole of the second piezoelectric sub-block, and a low-level square wave driving signal is output from the output end of the third half H-bridge circuit to the second pole of the second piezoelectric sub-block, so as to drive the second piezoelectric sub-block; When the driving signal is a low-level square wave driving signal, the first sub-switch is disconnected, and the second sub-switch is closed, a low-level square wave driving signal is output from the output end of the second half H-bridge circuit to the first pole of the second piezoelectric sub-block, and a high-level square wave driving signal is output from the output end of the third half H-bridge circuit to the second pole of the second piezoelectric sub-block to drive the second piezoelectric sub-block.

6. The piezoelectric motor drive system according to claim 2, characterized in that: Each of the half H-bridge circuits is composed of two field effect transistors, the output end of the first half H-bridge circuit is arranged between the two field effect transistors of the first half H-bridge circuit, the output end of the second half H-bridge circuit is arranged between the two field effect transistors of the second half H-bridge circuit, and the output end of the third half H-bridge circuit is arranged between the two field effect transistors of the third half H-bridge circuit.

7. A piezoelectric motor driving method based on an H-bridge circuit, applied to a piezoelectric motor driving system based on an H-bridge circuit as claimed in any one of claims 1 to 6, characterized in that: include: Controlling the switching switch to selectively disconnect one half H-bridge circuit and keep the remaining two half H-bridge circuits turned on; The driving circuit is used to input a driving signal to output a high-level square wave driving signal and a low-level square wave driving signal from the output ends of the two half-H-bridge circuits that remain turned on to two poles of different polarities of the first piezoelectric sub-block or the second piezoelectric sub-block to drive the first piezoelectric sub-block or the second piezoelectric sub-block.

8. A piezoelectric motor, characterized in that: It comprises a piezoelectric motor drive system based on an H-bridge circuit, wherein the piezoelectric motor drive system based on an H-bridge circuit is a piezoelectric motor drive system based on an H-bridge circuit as described in any one of claims 1-6.

9. The piezoelectric motor according to claim 8, characterized in that: It also includes a signal processing module, the output end of which is connected to the input end of the drive circuit, for receiving a control signal transmitted by a host computer, and outputting a drive signal to the input end of the drive circuit based on the control signal.

10. The piezoelectric motor according to claim 9, 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.

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