Operation control method based on high-efficiency piezoelectric motor

Abstract

The invention discloses an operation control method based on a high-efficiency piezoelectric motor, and relates to the technical field of motor operation parameter control, and the method comprises the steps: determining a needed waveform based on the characteristics and working requirements of a motor, and generating a needed voltage waveform through a signal generator; power amplification is carried out based on the driving requirement of the piezoelectric ceramic element; operating state information of the motor is collected through a feedback sensor; the signal processing circuit is used for converting the collected feedback signal into an electric signal, inputting the electric signal into the control circuit, and filtering the collected feedback signal to improve the signal-to-noise ratio of the signal; calculating a required control voltage adjustment amount according to the error signal and a control algorithm; the proportional gain, the integral gain and the differential gain in the control algorithm are dynamically adjusted; the running state of the motor and the working condition of the control circuit are monitored in real time. And by dynamically adjusting the control parameters, the stability requirements under different working conditions can be met, and the stability of the system is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor operating parameter control, and specifically relates to an operating control method for a high-efficiency piezoelectric motor. Background Art

[0002] Piezoelectric motors utilize the inverse piezoelectric effect of piezoelectric ceramics to directly convert electrical energy into mechanical energy, and have the advantages of simple structure, small size, high resolution, fast response, etc. Therefore, they are widely used in the fields of precision manufacturing, medical devices, aerospace, micro-robots, etc. In the field of precision manufacturing, such as semiconductor processing, optical element manufacturing, etc., motors are required to have nanometer-level positioning accuracy and fast response speed to ensure processing quality and efficiency. In the field of medical devices, such as micro-surgical robots, micro-pumps, etc., motors are required to have characteristics such as miniaturization, high efficiency, and precise control. Piezoelectric motors are widely used in micro-medical devices due to their advantages of small size, high efficiency, and fast response. In the field of aerospace, such as micro-satellites, micro-unmanned aerial vehicles, etc., motors are required to have characteristics such as lightweight, high efficiency, and reliable control. Piezoelectric motors are widely used in micro-aerospace vehicles due to their advantages of simple structure, small size, and light weight.

[0003] The displacement and speed of piezoelectric motors are closely related to the drive voltage waveform. Using a fixed voltage waveform is difficult to adapt to the control requirements under different working conditions, resulting in limited control accuracy. Piezoelectric ceramic elements have characteristics such as hysteresis nonlinearity and creep, and these nonlinear characteristics will affect the displacement and speed control accuracy of the motor. The response speed of piezoelectric motors is limited by the drive voltage waveform and the bandwidth of the power amplifier. Using a single voltage waveform and power amplifier is difficult to fully utilize the fast response advantage of piezoelectric motors. The deformation speed of piezoelectric ceramic elements is affected by their material properties and the drive voltage waveform. Piezoelectric motors are easily affected by external interference and their own nonlinear characteristics during operation, resulting in a decrease in system stability. Summary of the Invention

[0004] To solve the above technical problems, an operating control method for a high-efficiency piezoelectric motor is provided, and this technical solution solves the problems raised in the above background art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An operating control method for a high-efficiency piezoelectric motor, comprising: Determine the required waveform based on the characteristics and working requirements of the motor, and use a signal generator to generate the required voltage waveform, where the voltage waveform includes sine wave, square wave, sawtooth wave, and trapezoidal wave; Adjust the parameters of the voltage waveform, input the voltage waveform generated by the signal generator into the power amplifier, perform power amplification based on the driving requirements of the piezoelectric ceramic element, and apply the amplified voltage to the control electrode of the piezoelectric ceramic element, causing it to deform periodically; Use a feedback sensor to collect the operating state information of the motor, where the operating state information includes displacement and speed information; Convert the collected feedback signal into an electrical signal and input it into the control circuit, perform filtering on the collected feedback signal to improve the signal-to-noise ratio of the signal; Compare the processed feedback signal with the set value, calculate the error signal, and calculate the required control voltage adjustment amount according to the error signal and the control algorithm, input the control voltage adjustment amount into the signal generator to generate a new voltage waveform; Dynamically adjust the proportional gain, integral gain, and derivative gain in the control algorithm based on the actual operating state of the motor and the change of the feedback signal; Monitor the operating state of the motor and the working condition of the control circuit in real time, use fault diagnosis technology to detect and handle abnormalities in the motor and the control circuit, and set overcurrent, overvoltage, and overheat protection mechanisms.

[0006] Preferably, the process of comparing the processed feedback signal with the set value, calculating the error signal, calculating the required control voltage adjustment amount according to the error signal and the control algorithm, and inputting the control voltage adjustment amount into the signal generator to generate a new voltage waveform specifically includes: Compare the set value with the feedback signal, calculate the derivative of the difference between the set value and the feedback signal, and output it as the error signal; Based on the characteristics of the system and the control requirements, select a proportional-integral-derivative control algorithm to adjust the response speed, steady-state error, and overshoot of the system respectively; Automatically adjust the parameters of the control algorithm, where the parameters of the control algorithm include the proportional coefficient, integral coefficient, and derivative coefficient; According to the calculation result of the control algorithm, obtain the control quantity, and set the control quantity as the duty cycle of the pulse width modulation signal; Based on the gain of the system and the response characteristics of the actuator, calculate the adjustment amount of the control voltage; Based on the maximum value, minimum value, and change rate of the control voltage adjustment amount, ensure the stability and safety of the system, and limit the control voltage adjustment amount; In the piezoelectric ceramic drive system, the maximum value of the control voltage adjustment amount shall not exceed the output voltage range of the power amplifier, and the minimum value shall not be lower than the polarization voltage of the piezoelectric ceramic; The control circuit provides a digital interface, and the signal generator provides a communication interface, and communicates through a serial port to realize the transmission of the control voltage adjustment amount; Input the calculated control voltage adjustment amount into the signal generator in the form of analog signal input; Calculate the values of waveform sample points based on the control voltage adjustment amount and the set parameters, and generate new waveform data; Convert the new waveform data into an analog signal. The digital-to-analog conversion process includes sampling hold and quantization coding steps; Output the amplified voltage waveform to the actuator. In the piezoelectric ceramic drive system, the quality and stability of waveform output directly affect the deformation accuracy and response speed of the piezoelectric ceramic.

[0007] Preferably, the dynamic adjustment of the proportional gain, integral gain, and derivative gain in the control algorithm based on the actual operating state of the motor and the change of the feedback signal specifically includes: Formulate the proportional gain adjustment rule, and set the error threshold and change rate threshold based on the motor operation mechanism; Judge whether the error between the actual speed of the motor and the set value is greater than the error threshold. If so, increase the proportional gain to accelerate the response speed of the system. If not, decrease the proportional gain to avoid system overshoot; When the motor runs with oscillation, decrease the proportional gain to improve the stability of the system; Formulate the integral gain adjustment rule. When there is a steady-state error in the motor, increase the integral gain to eliminate the steady-state error; When the motor runs with oscillation, decrease the integral gain to improve the stability of the system; Judge whether the motor load change rate is greater than the change rate threshold. If so, increase the integral gain to enhance the anti-interference ability of the system. If not, do not make an output; Formulate the derivative gain adjustment rule. When the motor runs with overshoot, increase the derivative gain to suppress the overshoot phenomenon; When the motor runs with oscillation, increase the derivative gain to increase the damping ratio of the system and suppress the oscillation phenomenon; Judge whether the motor load change rate is greater than the change rate threshold. If so, increase the derivative gain to enhance the dynamic response ability of the system. If not, do not make an output; Define the fuzzy set and fuzzy rules based on the motor state and the change of the feedback signal, define the fuzzy sets of error, error change rate, and gain adjustment amount, and the fuzzy rules for adjusting the gain based on the error and error change rate; Obtain the adjustment amount of the gain through fuzzy inference and input it into the controller to achieve the dynamic adjustment of the gain.

[0008] Compared with the prior art, the beneficial effects of the present invention are as follows: By continuously adjusting the control voltage, the non-linear characteristics of the piezoelectric ceramic element can be compensated, and the control accuracy can be improved. By optimizing the design of the power amplifier, its bandwidth and response speed can be increased, thus giving full play to the fast response advantage of the piezoelectric motor. By dynamically adjusting the control parameters, the stability requirements under different working conditions can be met, and the stability of the system can be improved. By setting over-current, over-voltage and over-heat protection mechanisms, the power supply can be cut off in time or other protection measures can be taken when the motor fails, avoiding motor damage or system paralysis. Description of the Drawings

[0009] Figure 1 It is a flowchart of the operation control method for the high-efficiency piezoelectric motor of the present invention; Figure 2 It is a flowchart of the method for generating the required voltage waveform by using a signal generator of the present invention; Figure 3 Based on the driving requirements of the piezoelectric ceramic element of the present invention, power amplification is carried out, and the amplified voltage is applied to the control electrode of the piezoelectric ceramic element, and it generates periodic deformation. It is a flowchart of the method; Figure 4 It is a flowchart of the method for filtering the collected feedback signal to improve the signal-to-noise ratio of the signal of the present invention; Figure 5 It is a flowchart of the method for calculating the required control voltage adjustment amount according to the error signal and the control algorithm of the present invention; Figure 6 It is a flowchart of the method for dynamically adjusting the proportional gain, integral gain and derivative gain in the control algorithm of the present invention; Figure 7 It is a flowchart of the method for real-time monitoring of the operating state of the motor and the working condition of the control circuit of the present invention. Detailed Embodiments

[0010] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments in the following description are only examples, and those skilled in the art can think of other obvious variations.

[0011] Referring to Figure 1 As shown, an operation control method for a high-efficiency piezoelectric motor includes: Determine the required waveform based on the characteristics and working requirements of the motor, and use a signal generator to generate the required voltage waveform, where the voltage waveform includes sine wave, square wave, sawtooth wave and trapezoidal wave; Adjust the parameters of the voltage waveform, input the voltage waveform generated by the signal generator into the power amplifier, perform power amplification based on the driving requirements of the piezoelectric ceramic element, and apply the amplified voltage to the control electrode of the piezoelectric ceramic element, and it generates periodic deformation; Collect the operating state information of the motor using a feedback sensor, where the operating state information includes displacement and speed information; Convert the collected feedback signal into an electrical signal and input it into the control circuit to filter the collected feedback signal and improve the signal-to-noise ratio; Compare the processed feedback signal with the set value, calculate the error signal, and calculate the required control voltage adjustment amount according to the error signal and the control algorithm. Input the control voltage adjustment amount into the signal generator to generate a new voltage waveform; Dynamically adjust the proportional gain, integral gain, and derivative gain in the control algorithm based on the actual operating state of the motor and the change of the feedback signal; Real-time monitor the operating state of the motor and the working condition of the control circuit, use fault diagnosis technology to detect and handle abnormalities in the motor and the control circuit, and set overcurrent, overvoltage, and overheat protection mechanisms.

[0012] Refer to Figure 2 As shown, determining the required waveform based on the characteristics and working requirements of the motor and generating the required voltage waveform using the signal generator specifically includes: Determine the required waveform type based on the motor type and working requirements; Determine the frequency, amplitude, and duty cycle parameters of the waveform based on the rated voltage, rated current, and rated speed parameters of the motor; Connect the output terminal of the signal generator to the input terminal of the motor drive circuit. After the signal generator is set up, start the motor and observe its operating state; Use an oscilloscope test tool to monitor the waveform at the input terminal of the motor drive circuit and keep it consistent with the waveform output by the signal generator; Judge whether there is a deviation in the motor operating state or waveform. If so, adjust the parameters of the signal generator or the parameters of the motor drive circuit. If not, do not make an output.

[0013] According to parameters such as the rated speed and number of pole pairs of the motor, calculate the synchronous speed of the motor. According to the required speed range and control accuracy, determine the frequency range of the waveform. For a sine wave, the frequency should be close to the resonance frequency of the motor to improve efficiency; for a square wave or a sawtooth wave, the frequency should be determined according to the response speed and control requirements of the motor. According to the rated voltage of the motor and the design of the drive circuit, determine the amplitude of the waveform. The amplitude should not exceed the rated voltage of the motor to avoid damaging the motor, and the amplitude should be large enough to ensure that the motor can generate sufficient torque and speed. For a square wave or a pulse width modulation waveform, the duty cycle refers to the ratio of the pulse width to the pulse period, and the duty cycle can be adjusted as needed to control the average voltage and speed of the motor. By adjusting the duty cycle, speed control of the motor can be achieved.

[0014] Refer toFigure 3 As shown, adjust the parameters of the voltage waveform, input the voltage waveform generated by the signal generator into the power amplifier, perform power amplification based on the driving requirements of the piezoelectric ceramic element, and apply the amplified voltage to the control electrode of the piezoelectric ceramic element. Its specific periodic deformation includes: Set the frequency modulation and amplitude modulation parameters, and set the phase difference when at least two-channel signals are synchronized; Based on the driving requirements of the piezoelectric ceramic, select a power amplifier, connect the output of the signal generator to the input of the power amplifier, and adjust the gain of the power amplifier to make the output voltage meet the requirements of the piezoelectric ceramic; Based on the inverse piezoelectric effect, the piezoelectric ceramic generates mechanical deformation under the action of an electric field, and the deformation size is proportional to the electric field strength; Select the laminated driving method, use at least two thin ceramics in parallel, apply voltage to them, and the piezoelectric ceramic obtains displacement; Use a series capacitor to compensate the capacitance characteristics of the piezoelectric ceramic, avoid power amplifier overload, adopt a flexible hinge structure to amplify small deformations, and improve the driving efficiency; Connect the signal generator, power amplifier, and piezoelectric ceramic in sequence to achieve parameter adjustment and automatic control; Conduct a waveform fidelity test, use an oscilloscope to monitor the amplified waveform, compare it with the original signal, and verify the linearity of the power amplifier; Measure the displacement of the piezoelectric ceramic, use a laser interferometer to monitor the deformation of the piezoelectric ceramic, and evaluate the driving efficiency; Determine the optimal operating frequency of the piezoelectric ceramic by the sweep frequency method and observe the displacement peak value; Conduct a fatigue test on the piezoelectric ceramic, apply a periodic voltage, monitor the displacement attenuation, and evaluate the life and reliability of the piezoelectric ceramic.

[0015] By applying a periodic voltage waveform, simulate the actual operating conditions of the motor, conduct a fatigue test on the piezoelectric ceramic, and the test time should be determined according to the design requirements and service life of the motor. During the fatigue test, monitor the displacement change of the piezoelectric ceramic. If the displacement attenuation is serious, it indicates that the performance of the piezoelectric ceramic has declined and needs to be replaced or repaired. According to the results of the fatigue test, evaluate the life and reliability of the piezoelectric ceramic. The higher the life and reliability, the better the performance of the motor.

[0016] Refer to Figure 4 As shown, convert the collected feedback signal into an electrical signal and input it into the control circuit. Filter the collected feedback signal to improve the signal-to-noise ratio, which specifically includes: Build a signal amplification circuit using an operational amplifier and select the signal gain based on the magnitude of the sensor output signal. For a sensor with an output signal in the millivolt range, an amplification circuit with a gain of 100 is used to amplify the signal to the volt level; Adopt a low-noise design in the amplification circuit, optimize power supply filtering, and reduce the noise introduced by the amplification circuit; Perform offset adjustment on the amplified signal to make it within the input range of the analog-to-digital converter; At each sampling moment, the sample-and-hold circuit instantaneously samples the analog signal and holds its value until the next sampling moment. During the analog-to-digital conversion process, the input signal remains stable; The analog-to-digital converter converts the sample-and-held analog signal into a digital signal. The quantization process maps the continuous analog signal amplitude to discrete digital quantities, and the encoding process converts the quantized values into binary codes; Adopt a parallel transmission method to transmit the converted digital signal to the control circuit; Select the type of digital filter based on the signal characteristics and noise characteristics. For removing high-frequency noise, a low-pass filter is used; for removing low-frequency drift, a high-pass filter is used; for extracting specific frequency components, a band-pass filter is used; Input the collected digital signal into the digital filter in real time for filtering processing. The filtered signal is a signal with an improved signal-to-noise ratio.

[0017] The analog-to-digital converter converts the sample-and-held analog signal into a digital signal. The analog-to-digital conversion process includes a quantization process and an encoding process. The quantization process maps the continuous analog signal amplitude to discrete digital quantities, and the encoding process converts the quantized values into binary codes. According to the signal bandwidth, accuracy, and processing ability of the control circuit, select the appropriate type and parameters of the analog-to-digital converter. The resolution of the analog-to-digital converter should be high enough to ensure that it can accurately represent the amplitude change of the signal, and the sampling rate of the analog-to-digital converter should be fast enough to ensure that it can convert the sample-and-held analog signal in real time.

[0018] Refer to Figure 5 As shown, compare the processed feedback signal with the set value, calculate the error signal, and based on the error signal and the control algorithm, calculate the required control voltage adjustment amount. Input the control voltage adjustment amount into the signal generator to generate a new voltage waveform, which specifically includes: Compare the set value with the feedback signal, calculate the differential of the difference between the set value and the feedback signal, and output it as the error signal; Based on the system characteristics and control requirements, select the proportional-integral-differential control algorithm to adjust the system's response speed, steady-state error, and overshoot respectively; Adjust the parameters of the automatic adjustment control algorithm, where the parameters of the control algorithm include the proportional coefficient, integral coefficient, and differential coefficient; Obtain the control quantity according to the calculation result of the control algorithm, and set the control quantity as the duty cycle of the pulse width modulation signal; Calculate the adjustment amount of the control voltage based on the gain of the system and the response characteristics of the actuator; Based on the maximum value, minimum value, and change rate of the control voltage adjustment amount, limit the control voltage adjustment amount to ensure the stability and safety of the system; In the piezoelectric ceramic drive system, the maximum value of the control voltage adjustment amount shall not exceed the output voltage range of the power amplifier, and the minimum value shall not be lower than the polarization voltage of the piezoelectric ceramic; The control circuit provides a digital interface, and the signal generator provides a communication interface. Communication is carried out through the serial port to achieve the transmission of the control voltage adjustment amount; Input the calculated control voltage adjustment amount into the signal generator, and the input method is analog signal input; Based on the control voltage adjustment amount and the set parameters, calculate the values of the waveform sample points and generate new waveform data; Convert the new waveform data into an analog signal. The digital-to-analog conversion process includes sampling hold and quantization coding steps; Output the amplified voltage waveform to the actuator. In the piezoelectric ceramic drive system, the quality and stability of the waveform output directly affect the deformation accuracy and response speed of the piezoelectric ceramic.

[0019] Convert the control quantity into the adjustment amount of the control voltage according to the gain of the system and the response characteristics of the actuator. The gain of the system represents the amplification degree of the system to the control quantity, and the response characteristics of the actuator represent the response speed of the actuator to the control voltage. Through the gain of the system and the response characteristics of the actuator, a relationship model between the control quantity and the adjustment amount of the control voltage can be established, so as to calculate the adjustment amount of the control voltage.

[0020] Refer to Figure 6 As shown, dynamically adjusting the proportional gain, integral gain, and differential gain in the control algorithm based on the actual operating state of the motor and the change of the feedback signal specifically includes: Formulate a proportional gain adjustment rule, and set an error threshold and a change rate threshold based on the motor operation mechanism; Judge whether the error between the actual speed of the motor and the set value is greater than the error threshold. If so, increase the proportional gain to accelerate the response speed of the system. If not, decrease the proportional gain to avoid system overshoot; When the motor operation shows oscillation, decrease the proportional gain to improve the stability of the system; Formulate the integral gain adjustment rule. When there is a steady-state error in the motor, increase the integral gain to eliminate the steady-state error; When the motor runs with oscillation, decrease the integral gain to improve the stability of the system; Judge whether the motor load change rate is greater than the change rate threshold. If so, increase the integral gain to enhance the anti-interference ability of the system. If not, do not make an output; Formulate the derivative gain adjustment rule. When overshoot occurs during the motor operation, increase the derivative gain to suppress the overshoot phenomenon; When the motor runs with oscillation, increase the derivative gain to increase the damping ratio of the system and suppress the oscillation phenomenon; Judge whether the motor load change rate is greater than the change rate threshold. If so, increase the derivative gain to enhance the dynamic response ability of the system. If not, do not make an output; Based on the changes in the motor state and feedback signal, define the fuzzy sets and fuzzy rules, define the fuzzy sets of error, error change rate, and gain adjustment amount, and the fuzzy rules for adjusting the gain based on the error and error change rate; Obtain the adjustment amount of the gain through fuzzy inference and input it into the controller to achieve the dynamic adjustment of the gain.

[0021] Define the fuzzy set of error, "Positive Large", "Positive Medium", "Positive Small", "Zero", "Negative Small", "Negative Medium", "Negative Large", define the fuzzy set of error change rate, "Positive Large", "Positive Medium", "Positive Small", "Zero", "Negative Small", "Negative Medium", "Negative Large", define the fuzzy set of gain adjustment amount, "Positive Large", "Positive Medium", "Positive Small", "Zero", "Negative Small", "Negative Medium", "Negative Large", and according to the fuzzy sets of error and error change rate, define the fuzzy rules for gain adjustment amount. If the error is "Positive Large" and the error change rate is "Positive Large", then the gain adjustment amount is "Positive Large"; if the error is "Positive Large" and the error change rate is "Negative Large", then the gain adjustment amount is "Positive Medium"; if the error is "Zero" and the error change rate is "Zero", then the gain adjustment amount is "Zero".

[0022] Refer to Figure 7 As shown, monitor the running state of the motor and the working condition of the control circuit in real time, use the fault diagnosis technology to detect and handle the abnormalities in the motor and the control circuit, and set up the overcurrent, overvoltage, and overheat protection mechanisms, specifically including: Conduct time-frequency domain analysis on the collected speed, current, voltage, and temperature signals, extract the fault characteristics, and based on the fault type and fault characteristics, select the characteristic parameters that can reflect the fault state; Establish the mathematical models of the motor and the control circuit; By comparing the difference between the actual output and the model output, determine whether there is an anomaly. If so, trigger the alarm mechanism and record the alarm time, fault type, and fault characteristic information. If not, do not make an output. Based on the rated current, voltage, heat resistance level, and working environment of the motor, set the overcurrent, overvoltage, and overheat protection thresholds. Judge whether the motor current, voltage, or temperature exceeds the overcurrent, overvoltage, or overheat protection threshold. If so, trigger the overcurrent, overvoltage, or overheat protection mechanism, cut off the motor power supply, reduce the duty cycle of the control signal, and send an alarm signal. If not, do not make an output.

[0023] Set the overcurrent protection threshold according to the rated current of the motor. Usually, the overcurrent protection threshold can be set to 1.2 - 1.3 times the rated current of the motor, considering the load characteristics of the motor to ensure that the protection is not accidentally triggered under normal load conditions. Set the overvoltage protection threshold according to the rated voltage of the motor. The overvoltage protection threshold should be slightly higher than the rated voltage of the motor to avoid false triggering caused by voltage fluctuations. Considering factors such as grid voltage fluctuations and lightning strikes in the working environment of the motor, reasonably set the overvoltage protection threshold. Set the overheat protection threshold according to the heat resistance level of the motor. The heat resistance level determines the highest temperature that the motor can withstand. Considering factors such as ambient temperature and heat dissipation conditions in the working environment of the motor, reasonably set the overheat protection threshold.

[0024] Furthermore, this solution also proposes a computer-readable storage medium, on which a computer-readable program is stored. When the computer-readable program is called, it executes the above-mentioned operation control method based on a high-efficiency piezoelectric motor.

[0025] It can be understood that the storage medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; an optical medium, such as a DVD; or a semiconductor medium, such as a solid-state drive (SSD).

[0026] In summary, the advantages of the present invention are as follows: By continuously adjusting the control voltage, the non-linear characteristics of the piezoelectric ceramic element can be compensated, improving the control accuracy. By optimizing the design of the power amplifier, its bandwidth and response speed can be improved, thus giving full play to the fast response advantage of the piezoelectric motor. By dynamically adjusting the control parameters, the stability requirements under different working conditions can be adapted, improving the stability of the system. By setting the overcurrent, overvoltage, and overheat protection mechanisms, the power supply can be cut off in a timely manner or other protection measures can be taken when the motor fails, avoiding motor damage or system paralysis.

[0027] The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and what is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection required by the present invention is defined by the appended claims and their equivalents.

Claims

1. An operation control method based on a high-efficiency piezoelectric motor, characterized in that: include: Determine the required waveform based on the characteristics and working requirements of the motor, and use a signal generator to generate the required voltage waveform, wherein the voltage waveform includes a sine wave, a square wave, a sawtooth wave and a trapezoidal wave; Adjust the parameters of the voltage waveform, input the voltage waveform generated by the signal generator into the power amplifier, perform power amplification based on the driving requirements of the piezoelectric ceramic element, and apply the amplified voltage to the control electrode of the piezoelectric ceramic element, which generates periodic deformation; Using a feedback sensor to collect the running state information of the motor, the running state information includes displacement and speed information; The collected feedback signal is converted into an electrical signal and input into the control circuit, and the collected feedback signal is filtered to improve the signal-to-noise ratio; Compare the processed feedback signal with the set value, calculate the error signal, and calculate the required control voltage adjustment amount based on the error signal and the control algorithm, and input the control voltage adjustment amount into the signal generator to generate a new voltage waveform; Dynamically adjust the proportional gain, integral gain and differential gain in the control algorithm based on the actual operating status of the motor and the changes in the feedback signal; Monitor the running status of the motor and the working condition of the control circuit in real time, use fault diagnosis technology to find and deal with abnormalities in the motor and control circuit, and set overcurrent, overvoltage and overheating protection mechanisms.

2. The operation control method based on a high-efficiency piezoelectric motor according to claim 1, characterized in that: Determining the required waveform based on the characteristics and working requirements of the motor, and generating the required voltage waveform using a signal generator specifically includes: Determine the type of waveform required based on the motor type and operating requirements; Based on the rated voltage, rated current and rated speed parameters of the motor, the frequency, amplitude and duty cycle parameters of the waveform are determined; Connect the output of the signal generator to the input of the motor drive circuit. After the signal generator is set up, start the motor and observe its operating status. Use an oscilloscope test tool to monitor the waveform at the input of the motor drive circuit and keep it consistent with the waveform output by the signal generator; Determine whether there is any deviation in the motor running state or waveform. If so, adjust the parameters of the signal generator or the parameters of the motor drive circuit. If not, no output is made.

3. The operation control method based on a high-efficiency piezoelectric motor according to claim 2, characterized in that: The parameters of the voltage waveform are adjusted, the voltage waveform generated by the signal generator is input into the power amplifier, power is amplified based on the driving requirements of the piezoelectric ceramic element, and the amplified voltage is applied to the control electrode of the piezoelectric ceramic element, and the periodic deformation is specifically generated by: Set FM and AM parameters and set the phase difference when at least two channel signals are synchronized; Based on the driving requirements of the piezoelectric ceramics, a power amplifier is selected, and the output of the signal generator is connected to the input of the power amplifier. By adjusting the gain of the power amplifier, the output voltage meets the requirements of the piezoelectric ceramics. Based on the inverse piezoelectric effect, piezoelectric ceramics produce mechanical deformation under the action of an electric field, and the magnitude of the deformation is proportional to the intensity of the electric field; The driving mode is a stacked driving mode, using at least two thin ceramics in parallel and applying voltage to them, so that the piezoelectric ceramics obtain displacement; Use series capacitors to compensate for the capacitance characteristics of piezoelectric ceramics to avoid overloading the power amplifier, and use a flexible hinge structure to amplify tiny deformations to improve driving efficiency. Connect the signal generator, power amplifier and piezoelectric ceramics in sequence to achieve parameter adjustment and automatic control; Perform waveform fidelity testing, use an oscilloscope to monitor the amplified waveform, compare it with the original signal, and verify the linearity of the power amplifier; Measure the displacement of piezoelectric ceramics, monitor the deformation of piezoelectric ceramics using laser interferometer, and evaluate the driving efficiency; Determine the optimal operating frequency of the piezoelectric ceramics by using the frequency sweep method and observe the displacement peak value; Perform fatigue tests on piezoelectric ceramics, apply periodic voltage, monitor displacement attenuation, and evaluate the life and reliability of piezoelectric ceramics.

4. The operation control method based on a high-efficiency piezoelectric motor according to claim 3, characterized in that: The step of converting the collected feedback signal into an electrical signal and inputting the electrical signal into the control circuit, filtering the collected feedback signal, and improving the signal-to-noise ratio of the signal specifically includes: Use an operational amplifier to build a signal amplification circuit and select the signal gain based on the size of the sensor output signal. For sensors with millivolt output signals, use an amplifier circuit with a gain of 100 to amplify the signal to the volt level. Use low-noise design in the amplifier circuit, optimize power supply filtering, and reduce the noise introduced by the amplifier circuit; offset-adjusting the amplified signal to bring it within the input range of the analog-to-digital converter; At each sampling moment, the sample-and-hold circuit instantaneously samples the analog signal and holds its value until the next sampling moment. During the analog-to-digital conversion process, the input signal remains stable; The analog-to-digital converter converts the sampled and held analog signal into a digital signal, the quantization process maps the continuous analog signal amplitude to a discrete digital quantity, and the encoding process converts the quantized value into a binary code; The converted digital signal is transmitted to the control circuit by parallel transmission; Select the digital filter type based on the signal characteristics and noise characteristics. For removing high-frequency noise, use a low-pass filter. For removing low-frequency drift, use a high-pass filter. For extracting specific frequency components, use a band-pass filter. The collected digital signal is input into the digital filter in real time for filtering, and the filtered signal has an improved signal-to-noise ratio.

5. The operation control method based on a high-efficiency piezoelectric motor according to claim 4, characterized in that: The processing of the feedback signal is compared with the set value, the error signal is calculated, and the required control voltage adjustment amount is calculated according to the error signal and the control algorithm, and the control voltage adjustment amount is input into the signal generator to generate a new voltage waveform, which specifically includes: Compare the set value with the feedback signal, calculate the differential of the difference between the set value and the feedback signal, and output it as an error signal; Based on the characteristics and control requirements of the system, the proportional-integral-derivative control algorithm is selected to adjust the system's response speed, steady-state error, and overshoot respectively; Automatically adjust the parameters of the control algorithm, wherein the parameters of the control algorithm include proportional coefficient, integral coefficient and differential coefficient; According to the calculation result of the control algorithm, the control quantity is obtained, and the control quantity is set as the duty cycle of the pulse width modulation signal; Calculate the control voltage adjustment based on the system gain and the actuator response characteristics; Based on the maximum value, minimum value and change rate of the control voltage adjustment amount, the stability and safety of the system are ensured, and the control voltage adjustment amount is limited; In the piezoelectric ceramic drive system, the maximum value of the control voltage adjustment amount shall not exceed the output voltage range of the power amplifier, and the minimum value shall not be lower than the polarization voltage of the piezoelectric ceramic; The control circuit provides a digital interface, and the signal generator provides a communication interface, and communication is performed through the serial port to realize the transmission of the control voltage adjustment amount; The calculated control voltage adjustment amount is input into the signal generator in the form of analog signal input; Based on the control voltage adjustment amount and the set parameters, the value of the waveform sample point is calculated to generate new waveform data; Convert the new waveform data into an analog signal, the digital-to-analog conversion process includes sampling and holding and quantization encoding steps; The amplified voltage waveform is output to the actuator. In the piezoelectric ceramic drive system, the quality and stability of the waveform output directly affect the deformation accuracy and response speed of the piezoelectric ceramic.

6. The operation control method based on a high-efficiency piezoelectric motor according to claim 5, characterized in that: The dynamically adjusting the proportional gain, integral gain and differential gain in the control algorithm based on the actual operating state of the motor and the change of the feedback signal specifically includes: Formulate proportional gain adjustment rules, set error thresholds and rate of change thresholds based on the motor operation mechanism; Determine whether the error between the actual motor speed and the set value is greater than the error threshold. If so, increase the proportional gain to speed up the system response. If not, reduce the proportional gain to avoid system overshoot. When the motor oscillates during operation, reduce the proportional gain to improve the stability of the system; Formulate integral gain adjustment rules. When the motor has a steady-state error, increase the integral gain to eliminate the steady-state error. When the motor oscillates during operation, reduce the integral gain to improve the stability of the system; Determine whether the motor load change rate is greater than the change rate threshold. If so, increase the integral gain to enhance the system's anti-interference ability. If not, no output is made. Formulate differential gain adjustment rules. When overshoot occurs during motor operation, increase the differential gain to suppress overshoot. When the motor oscillates, increase the differential gain, improve the damping ratio of the system, and suppress the oscillation phenomenon; Determine whether the motor load change rate is greater than the change rate threshold. If so, increase the differential gain to enhance the dynamic response capability of the system. If not, no output is made. Based on the changes of motor state and feedback signal, fuzzy sets and fuzzy rules are defined, fuzzy sets of error, error change rate and gain adjustment amount are defined, and fuzzy rules for adjusting gain are defined based on error and error change rate; The gain adjustment amount is obtained through fuzzy reasoning and input into the controller to achieve dynamic adjustment of the gain.

7. The operation control method based on a high-efficiency piezoelectric motor according to claim 6, characterized in that: The real-time monitoring of the running state of the motor and the working condition of the control circuit, using fault diagnosis technology to discover and handle abnormalities in the motor and the control circuit, and setting overcurrent, overvoltage and overheating protection mechanisms specifically include: Perform time-frequency domain analysis on the collected speed, current, voltage and temperature signals, extract fault features, and select characteristic parameters that can reflect the fault status based on the fault type and fault features; Establish the mathematical model of the motor and the mathematical model of the control circuit; By comparing the difference between the actual output and the model output, it is determined whether there is an abnormality. If so, the alarm mechanism is triggered and the alarm time, fault type and fault characteristic information are recorded. If not, no output is made; Set overcurrent, overvoltage and overheating protection thresholds based on the motor's rated current, voltage, thermal rating and working environment; Determine whether the motor current, voltage or temperature exceeds the overcurrent, overvoltage or overheating protection threshold. If so, the overcurrent, overvoltage or overheating protection mechanism is triggered, the motor power supply is cut off, the duty cycle of the control signal is reduced and an alarm signal is sent. If not, no output is made.

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