Motor rotating shaft driving method based on piezoelectric ceramic driving module and piezoelectric motor

Abstract

The invention relates to the technical field of piezoelectric ceramics, motor driving and the like, and provides a motor rotating shaft driving method based on a piezoelectric ceramic driving module and a piezoelectric motor, the method is applied to the piezoelectric motor, and the method comprises the steps that a driver of the motor is connected with a coil module to drive a rotating shaft to rotate at a high linear speed; the piezoelectric ceramic driving module is connected with the driver and drives the rotating shaft to rotate at a low linear speed through friction, and the low linear speed is slower than the high linear speed. The target stroke of the rotating shaft is divided into a main stroke section and an auxiliary stroke section. The driver firstly controls the coil module to drive the rotating shaft to complete a main stroke section and then controls the piezoelectric ceramic driving module to drive the rotating shaft to complete an auxiliary stroke section. According to the method provided by the invention, through segmented driving, high-speed coil driving and high-precision piezoelectric driving, high-speed rotation of the motor rotating shaft is reduced rarely, meanwhile, the control precision of the rotating shaft axis speed is effectively improved, and organic integration of coarse positioning and fine positioning of the motor rotating shaft is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of piezoelectric ceramics, motor driving and the like, and in particular to a motor rotating shaft driving method based on a piezoelectric ceramic driving module and a piezoelectric motor. BACKGROUND

[0002] In traditional motor rotating shaft rotation control, a motor driver controls the current flowing into the coil module inside the motor, and the coil module generates a rotation magnetic field that continuously changes in space according to the change in the flowing current. The rotation magnetic field acts on the magnetic field or induced current of the motor rotor through magnetic attraction (permanent magnet motor) or electromagnetic induction generated thrust (induction motor), continuously pulls or pushes the rotating shaft of the motor, and makes it rotate stably in the direction and speed set by the driver, so as to finally convert electrical energy into mechanical energy efficiently. The accurate control of the current timing and frequency by the driver directly determines the rotation speed and direction of the rotation magnetic field, and further controls the movement of the motor rotating shaft. Although the traditional coil driving mode can realize the rotation control of the motor rotating shaft, due to the limitations of the structure and functions of the coil itself and other physical properties, the rotation linear speed of the coil-controlled motor rotating shaft cannot be refined enough, and the arc length of the rotating shaft in unit time is large, so high-precision rotation control cannot be realized.

[0003] In summary, the existing motor rotating shaft rotation control technology has the technical problems of being limited by the physical properties of the coil and being unable to realize high-precision rotation control. SUMMARY

[0004] In view of the above-mentioned problems of the prior art, the present application provides a motor rotating shaft driving method based on a piezoelectric ceramic driving module and a piezoelectric motor. The method combines high-speed coil driving and high-precision piezoelectric driving through segmented driving, effectively improves the control accuracy of the linear speed of the rotating shaft while reducing the high-speed rotation of the motor rotating shaft, and realizes the organic integration of coarse positioning and fine positioning of the motor rotating shaft.

[0005] In a first aspect, the present application provides a motor rotating shaft driving method based on a piezoelectric ceramic driving module, comprising: connecting and communicating a driver of a motor with a coil module of the motor, the coil module driving the rotating shaft of the motor under the driving control of the driver, and the linear speed of the rotating shaft of the motor driven by the coil module being a fast linear speed; setting a piezoelectric ceramic driving module, connecting and communicating the piezoelectric ceramic driving module with the driver of the motor, the piezoelectric ceramic driving module rubbing with the rotating shaft of the motor under the driving control of the driver and driving the rotating shaft of the motor, and the linear speed of the rotating shaft of the motor driven by the piezoelectric ceramic driving module being a slow linear speed; the slow linear speed being slower than the fast linear speed; The rotation stroke of the rotating shaft of the motor is set as a target stroke, the target stroke includes a main stroke section and a secondary stroke section with a stroke less than the main stroke section, the rotating shaft of the motor rotates at the fast linear speed in the main stroke section, and the rotating shaft of the motor rotates at the slow linear speed in the secondary stroke section. The driver of the motor is used to control the coil module to drive the rotating shaft of the motor to complete the main stroke section, and then control the piezoelectric ceramic driving module to drive the rotating shaft of the motor to complete the secondary stroke section.

[0006] In the second aspect, the application provides a piezoelectric motor, which uses the above-mentioned piezoelectric ceramic driving module-based motor rotating shaft driving method to drive the rotation of the rotating shaft of the piezoelectric motor.

[0007] Compared with the prior art, the application has the following beneficial effects: The application provides a piezoelectric ceramic driving module-based motor rotating shaft driving method and a piezoelectric motor. The driver of the motor is connected to the coil module of the motor in communication, the coil module drives the rotating shaft of the motor to rotate under the driving control of the driver, the linear speed of the rotating shaft of the motor driven by the coil module is a fast linear speed, the piezoelectric ceramic driving module is connected to the driver of the motor in communication, the piezoelectric ceramic driving module rubs against the rotating shaft of the motor under the driving control of the driver to drive the rotating shaft of the motor to rotate, the linear speed of the rotating shaft of the motor driven by the piezoelectric ceramic driving module is a slow linear speed, the slow linear speed is slower than the fast linear speed, the rotation stroke of the rotating shaft of the motor is set as a target stroke, the target stroke includes a main stroke section and a secondary stroke section with a stroke less than the main stroke section, the rotating shaft of the motor rotates at the fast linear speed in the main stroke section, and the rotating shaft of the motor rotates at the slow linear speed in the secondary stroke section, the driver of the motor is used to control the coil module to drive the rotating shaft of the motor to complete the main stroke section, and then control the piezoelectric ceramic driving module to drive the rotating shaft of the motor to complete the secondary stroke section, so that the high-speed coil driving and the high-precision piezoelectric driving are combined through segmented driving, the control precision of the linear speed of the rotating shaft is effectively improved while the high-speed rotation of the rotating shaft of the motor is rarely reduced, and the coarse positioning and the fine positioning of the rotating shaft of the motor are organically integrated. BRIEF DESCRIPTION OF DRAWINGS

[0008] The drawings described herein are intended to provide further understanding of the present application, constitute part of the structure of the heat accumulation body of the present application, the schematic embodiments of the present application and the description thereof are used to explain the present application, and do not constitute undue limitation on the present application. Some specific embodiments of the present application will be described in detail hereinafter with reference to the drawings in an exemplary but not limiting manner. The same reference signs in the drawings denote the same or similar components or parts, and those skilled in the art should understand that the drawings are not necessarily drawn to scale, and in the drawings: Figure 1 is a flowchart of a motor shaft driving method based on a piezoelectric ceramic driving module according to an embodiment of the present application; Figure 2 is a disassembled structural schematic diagram of a piezoelectric motor according to an embodiment of the present application; Figure 3 is another disassembled structural schematic diagram of a piezoelectric motor according to an embodiment of the present application; Figure 4 is an assembled structural schematic diagram of a piezoelectric motor according to an embodiment of the present application.

[0009] Legend of reference signs: 1, motor rear cover; 2, rotary encoder; 3, coil motor body; 4, piezoelectric ceramic driving module; 40, profile frame; 41, first piezoelectric ceramic; 42, first friction head; 43, second piezoelectric ceramic; 44, second friction head; 5, shaft. DETAILED DESCRIPTION

[0010] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the heat accumulation body of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the present application.

[0011] Embodiment one Referring to Figures 1-4 , the present embodiment provides a motor shaft driving method based on a piezoelectric ceramic driving module, comprising the following steps: S101, connecting and communicating a driver of a motor with a coil module of the motor, the coil module driving a shaft of the motor to rotate under the driving control of the driver, and the linear speed of the shaft of the motor driven by the coil module is a fast linear speed; S102: Setting a piezoelectric ceramic drive module, connecting the piezoelectric ceramic drive module to a motor driver for communication, wherein the piezoelectric ceramic drive module generates friction with the motor shaft under the driving control of the driver, thereby driving the motor shaft to rotate, wherein the linear velocity at which the piezoelectric ceramic drive module drives the motor shaft to rotate is a slow linear velocity; the slow linear velocity is slower than the fast linear velocity; S103, setting a required rotation stroke of the motor shaft as a target stroke, wherein the target stroke includes a main stroke segment and an auxiliary stroke segment having a stroke shorter than the main stroke segment, wherein the motor shaft rotates at the fast linear velocity in the main stroke segment and the motor shaft rotates at the slow linear velocity in the auxiliary stroke segment; S104 , using the motor driver to first control the coil module to drive the motor shaft to rotate to complete the main stroke segment, and then control the piezoelectric ceramic drive module to drive the motor shaft to rotate to complete the auxiliary stroke segment.

[0012] It should be noted that in this embodiment, by connecting and communicating the motor driver with the motor coil module, the coil module drives the motor shaft to rotate under the drive control of the driver, thereby retaining the high-speed movement of the traditional pure coil drive. In the main stroke section, a large range of rotation can be efficiently completed with a fast linear speed, giving full play to the high-speed advantage of the traditional motor. In addition, by providing a piezoelectric ceramic drive module, the piezoelectric ceramic drive module is connected and communicated with the motor driver. The piezoelectric ceramic drive module rubs against the motor shaft under the drive control of the driver, thereby solving the problem of insufficient linear speed precision caused by physical limitations of traditional coil electromagnetic drive. In this embodiment, the piezoelectric ceramic inverse piezoelectric effect is used to generate a small displacement, and the linear speed of the shaft is controlled within a smaller range through friction transmission, breaking through the traditional precision limit, so that the rotation stroke of the shaft per unit time is small, meeting the high-precision rotation control requirements before the target stroke is almost completed. In this embodiment, the stroke that the motor's shaft needs to rotate is set as a target stroke. The target stroke includes a main stroke segment and an auxiliary stroke segment with a stroke less than the main stroke segment. This solves the contradiction that a single drive method cannot simultaneously meet high speed and high precision, and implements an original stroke segmentation strategy: the main stroke segment is driven by high-speed coils, and the auxiliary stroke segment is driven by high-precision piezoelectric ceramics. This fundamentally circumvents the problem of insufficient stroke fineness control of traditional piezoelectric motors. In this embodiment, the motor driver first controls the coil module to drive the motor's shaft to rotate to complete the main stroke segment, and then controls the piezoelectric ceramic drive module to drive the motor's shaft to rotate to complete the auxiliary stroke segment. This can solve the technical problem of timing misalignment of the dual-module collaborative control. After the main stroke segment ends, the ceramic piezoelectric drive of the auxiliary stroke segment is automatically switched to. With very little speed loss, the positioning accuracy of the end of the stroke is greatly improved, and the organic fusion of coarse positioning and fine positioning of the motor shaft is achieved.

[0013] Preferably, the motor driver controls the piezoelectric ceramic driving module to drive the rotation of the motor shaft to complete the auxiliary stroke section, including: the motor driver sends a piezoelectric ceramic driving control signal to the piezoelectric ceramic driving module, the piezoelectric ceramic driving module receives the piezoelectric ceramic driving control signal, and under the action of the piezoelectric ceramic driving control signal, the piezoelectric ceramic driving module moves relative to the motor shaft, and in the moving process, the piezoelectric ceramic driving module is in contact and friction with the radial surface of the motor shaft to drive the rotation of the motor shaft and complete the main stroke section. It should be noted that in the present embodiment, the motor driver sends a piezoelectric ceramic driving control signal to the piezoelectric ceramic driving module, which can solve the problem of control timing misalignment between the piezoelectric ceramic driving module and the shaft, realize direct signal instruction control of the driver on the piezoelectric ceramic driving module, and ensure accurate synchronization of the switching from coil driving to piezoelectric ceramic driving. The piezoelectric ceramic driving module receives the piezoelectric ceramic driving control signal, and under the action of the piezoelectric ceramic driving control signal, the piezoelectric ceramic driving module moves relative to the motor shaft, providing a power basis for high-precision friction transmission. The piezoelectric ceramic driving module is in contact and friction with the radial surface of the motor shaft in the moving process, realizing radial direct friction transmission. The displacement direction of the piezoelectric ceramic driving module is consistent with the tangent of the shaft surface, which converts the small linear displacement into angular displacement of the shaft, greatly improving the accuracy of angular displacement of the shaft per unit time.

[0014] Preferably, the piezoelectric ceramic driving module moves relative to the motor shaft in the following manner: after the piezoelectric ceramic driving module receives the piezoelectric ceramic driving control signal, the piezoelectric ceramic driving module deforms under the action of the piezoelectric ceramic driving control signal, and the deformation of the piezoelectric ceramic driving module causes the piezoelectric ceramic driving module to move relative to the motor shaft. It should be noted that in the present embodiment, after the piezoelectric ceramic driving module receives the piezoelectric ceramic driving control signal, the piezoelectric ceramic driving module deforms under the action of the piezoelectric ceramic driving control signal, realizing direct energy conversion from electrical signal to mechanical deformation, utilizing the inverse piezoelectric effect of the piezoelectric ceramic driving module, and the piezoelectric ceramic driving module generates a small deformation displacement. The deformation of the piezoelectric ceramic driving module causes the piezoelectric ceramic driving module to move relative to the motor shaft, and displacement output can be performed without the participation of an intermediate transmission chain, and the deformation displacement directly drives the friction contact, eliminating intermediate transmission errors.

[0015] Preferably, the driving of the motor controls the coil module to drive the rotation of the rotating shaft of the motor to complete the main stroke section, including: the driving of the motor sends a coil driving control signal to the coil module, the coil module receives the coil driving control signal, and the coil module generates a rotating shaft driving force under the action of the coil driving control signal to drive the rotation of the rotating shaft of the motor to complete the main stroke section. In this embodiment, the driving of the motor sends a coil driving control signal to the coil module, the coil module receives the coil driving control signal, and the coil module generates a rotating shaft driving force under the action of the coil driving control signal to drive the rotation of the rotating shaft of the motor to complete the main stroke section, which ensures efficient and rapid driving of the main stroke section and realizes reliable and high-speed coarse positioning of the rotating shaft for most of the stroke by using the mature driving mechanism of the electromagnetic coil.

[0016] Preferably, during the driving of the coil module to drive the rotation of the rotating shaft of the motor to complete the main stroke section, it is determined whether the actual stroke section completed by the rotation of the rotating shaft of the motor deviates from the main stroke section, and when it is determined that the actual stroke section completed by the rotation of the rotating shaft of the motor deviates from the main stroke section, the piezoelectric ceramic driving module is controlled to drive the rotation of the rotating shaft of the motor to correct the deviation of the actual stroke section. In this embodiment, during the driving of the coil module to drive the rotation of the rotating shaft of the motor to complete the main stroke section, it is determined whether the actual stroke section completed by the rotation of the rotating shaft of the motor deviates from the main stroke section, and when it is determined that the actual stroke section completed by the rotation of the rotating shaft of the motor deviates from the main stroke section, the piezoelectric ceramic driving module is controlled to drive the rotation of the rotating shaft of the motor to correct the deviation of the actual stroke section, thereby effectively solving the problem that the actual position of the coarse positioning main stroke section may deviate from the predetermined main stroke section due to the precision limitation of the coil driving itself, load changes or control errors, etc., and realizing real-time detection of the deviation during the driving of the main stroke section and immediate correction by using the high-precision characteristics of the piezoelectric ceramic driving, so that the actual position of the rotating shaft is as close as possible to the predetermined end point of the main stroke section before entering the auxiliary stroke section for fine adjustment, thereby improving the final accuracy of coarse positioning and the reliability of overall positioning.

[0017] Preferably, the manner in which the piezoelectric ceramic driving module drives the rotation shaft of the motor to correct the deviation of the actual stroke segment comprises: when the actual stroke segment of the rotation shaft of the motor obtained after rotation exceeds the stroke of the main stroke segment, the piezoelectric ceramic driving module drives the rotation shaft of the motor to rotate in the opposite direction of the original rotation direction, so that the actual stroke of the rotation shaft of the motor obtained after rotation matches the stroke of the main stroke segment. In this embodiment, when the actual stroke segment of the rotation shaft of the motor obtained after rotation exceeds the stroke of the main stroke segment, the piezoelectric ceramic driving module drives the rotation shaft of the motor to rotate in the opposite direction of the original rotation direction, so that the actual stroke of the rotation shaft of the motor obtained after rotation matches the stroke of the main stroke segment. This effectively solves the problem of how to accurately correct the back-off when the actual movement distance of the rotation shaft exceeds the stroke due to coil driving. The high-resolution and controllable reverse motion capability of the piezoelectric ceramic driving is utilized to accurately and slightly back off the rotation shaft that exceeds the stroke to the predetermined end position of the main stroke segment, effectively eliminates the forward overshoot error, and ensures the accuracy and direction controllability of the correction action.

[0018] Preferably, the manner in which the piezoelectric ceramic driving module drives the rotation shaft of the motor to correct the deviation of the actual stroke segment comprises: when the actual stroke segment of the rotation shaft of the motor obtained after rotation exceeds the stroke of the main stroke segment, the piezoelectric ceramic driving module drives the rotation shaft of the motor to rotate in the opposite direction of the original rotation direction, so that the actual stroke of the rotation shaft of the motor obtained after rotation matches the stroke of the main stroke segment. In this embodiment, when the actual stroke segment of the rotation shaft of the motor obtained after rotation exceeds the stroke of the main stroke segment, the piezoelectric ceramic driving module drives the rotation shaft of the motor to rotate in the opposite direction of the original rotation direction, so that the actual stroke of the rotation shaft of the motor obtained after rotation matches the stroke of the main stroke segment. This effectively solves the problem of how to accurately correct the back-off when the actual movement distance of the rotation shaft exceeds the stroke due to coil driving. The high-resolution and controllable reverse motion capability of the piezoelectric ceramic driving is utilized to accurately and slightly back off the rotation shaft that exceeds the stroke to the predetermined end position of the main stroke segment, effectively eliminates the forward overshoot error, and ensures the accuracy and direction controllability of the correction action.

[0019] Preferably, when judging whether the actual stroke segment of the rotation shaft of the motor deviates from the main stroke segment, a rotary encoder is arranged on one side of the rotation shaft of the motor, the rotation data of the rotation shaft of the motor is collected through the rotary encoder, and whether the actual stroke segment of the rotation shaft of the motor deviates from the main stroke segment is judged according to the rotation data of the rotation shaft of the motor collected by the rotary encoder. In this embodiment, a rotary encoder is arranged on one side of the rotation shaft of the motor, the rotation data of the rotation shaft of the motor is collected through the rotary encoder, and whether the actual stroke segment of the rotation shaft of the motor deviates from the main stroke segment is judged according to the rotation data of the rotation shaft of the motor collected by the rotary encoder, effectively solving the problem of how to measure the actual rotation stroke of the rotation shaft with high precision, in real time and objectively to make reliable deviation judgment, realizing that the angle or displacement data of the rotation shaft is directly obtained by using the rotary encoder, a high-precision position sensor, to provide accurate, reliable and quantitative basis for judging whether the actual stroke deviates from the main stroke segment.

[0020] Preferably, when judging whether the actual stroke segment of the rotation shaft of the motor deviates from the main stroke segment according to the rotation data of the rotation shaft of the motor collected by the rotary encoder, the stroke of the actual stroke segment of the rotation shaft of the motor is calculated according to the rotation data of the rotation shaft of the motor collected by the rotary encoder, and whether the actual stroke segment of the rotation shaft of the motor deviates from the main stroke segment is judged by comparing the stroke of the actual stroke segment of the rotation shaft of the motor calculated with the stroke of the main stroke segment. In this embodiment, the stroke of the actual stroke segment of the rotation shaft of the motor is calculated according to the rotation data of the rotation shaft of the motor collected by the rotary encoder, and whether the actual stroke segment of the rotation shaft of the motor deviates from the main stroke segment is judged by comparing the stroke of the actual stroke segment of the rotation shaft of the motor calculated with the stroke of the main stroke segment, effectively solving the problem of how to specifically use the encoder data to quantify the actual stroke and accurately compare it with the target main stroke, realizing that the original rotation data (such as the number of pulses and the angle value) collected by the encoder is converted into a comparable actual stroke (such as linear displacement or angular displacement), and the existence and direction (overtravel or undertravel) of deviation are objectively and quantitatively determined through direct numerical comparison (greater than, equal to, or less than), so that the deviation judgment process is clear, accurate and can be automatically executed.

[0021] Embodiment two See Figures 1-4The embodiment provides a piezoelectric motor which uses the motor rotating shaft driving method based on the piezoelectric ceramic driving module to drive the rotation of the rotating shaft of the piezoelectric motor. Preferably, the piezoelectric motor comprises a motor rear cover 1, a rotary encoder 2, a coil motor body 3, a piezoelectric ceramic driving module 4 and a rotating shaft 5; the rotary encoder is assembled in the assembly groove of the motor rear cover, the motor rear cover is arranged at the rear end of the coil motor body together with the assembled rotary encoder, the piezoelectric ceramic driving module is arranged at the front end of the coil motor body, the rotating shaft is connected with the coil motor body and passes through the piezoelectric ceramic driving module, and the coil module and the driver are arranged in the coil motor body. Further, the piezoelectric ceramic driving module comprises a profile frame 40, a first piezoelectric ceramic 41, a first friction head 42, a second piezoelectric ceramic 43 and a second friction head 44; the profile frame is connected with the front end of the coil motor body, the two ends of the first piezoelectric ceramic are connected with the profile frame and the first friction head respectively, the two ends of the second piezoelectric ceramic are connected with the profile frame and the second friction head respectively; the first piezoelectric ceramic drives the first friction head to move when deforming, and the second piezoelectric ceramic drives the second friction head to move when deforming; the first friction head and the second friction head move in opposite directions and respectively contact and rub with different positions on the surface of the rotating shaft in the radial direction of the rotating shaft, thereby driving the rotating shaft of the motor to rotate.

[0022] It should be noted that in the embodiment, when the piezoelectric motor uses the motor shaft driving method based on the piezoelectric ceramic driving module to drive the rotation of the motor shaft of the piezoelectric motor, the driver of the motor is connected in communication with the coil module of the motor, the coil module drives the rotation of the motor shaft under the driving control of the driver, thereby retaining the high-speed motion of the traditional pure coil driving, and in the main stroke segment, a large range of rotation can be efficiently completed with a high speed of wire, and the high-speed advantage of the traditional motor is fully utilized. In addition, by setting the piezoelectric ceramic driving module, the piezoelectric ceramic driving module is connected in communication with the driver of the motor, and the piezoelectric ceramic driving module rubs with the motor shaft under the driving control of the driver, thereby solving the problem of insufficient wire speed precision caused by the physical limitation of the traditional coil electromagnetic driving. In the embodiment, the piezoelectric ceramic inverse piezoelectric effect is used to generate a small displacement, the wire speed of the motor shaft is controlled in a small range through friction transmission, the traditional precision limit is broken, the rotation stroke of the motor shaft per unit time is small, and the high-precision rotation control demand before the target stroke is completed is met. In the embodiment, the stroke of the motor shaft to be rotated is set as the target stroke, the target stroke includes a main stroke segment and an auxiliary stroke segment with a stroke less than the main stroke segment, the contradiction between high speed and high precision that cannot be met by a single driving mode is solved, and an original stroke segmentation strategy is realized: high-speed coil driving in the main stroke segment and high-precision piezoelectric ceramic driving in the auxiliary stroke segment, thereby fundamentally avoiding the problem of insufficient stroke precision control of the traditional piezoelectric motor. In the embodiment, the driver of the motor first controls the coil module to drive the rotation of the motor shaft to complete the main stroke segment, and then controls the piezoelectric ceramic driving module to drive the rotation of the motor shaft to complete the auxiliary stroke segment, thereby solving the technical problem of timing dislocation in the cooperative control of the double modules, and after the main stroke segment is completed, the auxiliary stroke segment ceramic piezoelectric driving is automatically switched in, the positioning precision of the end of the stroke is greatly improved with little speed loss.

[0023] It should be noted that the above embodiments are only preferred specific embodiments of the present application, and the protection scope of the present application is not limited thereto. Any changes or replacements within the technical range disclosed by the present application can be easily thought of by those skilled in the art, and should be covered within the protection scope of the present application, and the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A motor shaft driving method based on a piezoelectric ceramic driving module, characterized in that: include: The motor driver is connected to the coil module of the motor for communication, wherein the coil module drives the motor shaft to rotate under the driving control of the driver, and the linear speed of the motor shaft driven by the coil module is a fast linear speed; A piezoelectric ceramic drive module is provided, so that the piezoelectric ceramic drive module is connected and communicated with a driver of the motor, and the piezoelectric ceramic drive module generates friction with the rotating shaft of the motor under the driving control of the driver, thereby driving the rotating shaft of the motor to rotate, and the linear speed at which the rotating shaft of the motor is driven by the piezoelectric ceramic drive module is a slow linear speed; the slow linear speed is slower than the fast linear speed; The target stroke is set as the stroke that the motor shaft needs to rotate, wherein the target stroke includes a main stroke segment and an auxiliary stroke segment having a stroke shorter than the main stroke segment, wherein the motor shaft rotates at the fast linear velocity in the main stroke segment and the motor shaft rotates at the slow linear velocity in the auxiliary stroke segment; The motor driver first controls the coil module to drive the motor shaft to rotate to complete the main stroke section, and then controls the piezoelectric ceramic drive module to drive the motor shaft to rotate to complete the auxiliary stroke section.

2. The motor shaft driving method based on the piezoelectric ceramic driving module according to claim 1, characterized in that: When the motor driver controls the piezoelectric ceramic drive module to drive the motor shaft to rotate to complete the auxiliary stroke segment, it includes: the motor driver sends a piezoelectric ceramic drive control signal to the piezoelectric ceramic drive module, the piezoelectric ceramic drive module receives the piezoelectric ceramic drive control signal, and moves relative to the motor shaft under the action of the piezoelectric ceramic drive control signal. During the movement, it contacts and rubs with the radial shaft surface of the motor shaft, driving the motor shaft to rotate, thereby completing the main stroke segment.

3. The motor shaft driving method based on the piezoelectric ceramic driving module according to claim 2, characterized in that: The piezoelectric ceramic drive module moves relative to the rotating shaft of the motor. The piezoelectric ceramic drive module is deformed under the action of the piezoelectric ceramic drive control signal after receiving the piezoelectric ceramic drive control signal, and the deformation of the piezoelectric ceramic drive module causes the piezoelectric ceramic drive module to move relative to the rotating shaft of the motor.

4. The motor shaft driving method based on the piezoelectric ceramic driving module according to claim 1, characterized in that: When the motor driver controls the coil module to drive the motor's shaft to rotate to complete the main stroke section, it includes: the motor driver sends a coil drive control signal to the coil module, the coil module receives the coil drive control signal, and generates a shaft driving force under the action of the coil drive control signal to drive the motor's shaft to rotate, thereby completing the main stroke section.

5. The motor shaft driving method based on a piezoelectric ceramic driving module according to any one of claims 1 to 4, characterized in that: In the process of the coil module driving the motor shaft to rotate to complete the main stroke segment, it is determined whether the actual stroke segment completed by the motor shaft rotation deviates from the main stroke segment. When it is obtained that the actual stroke segment completed by the motor shaft rotation deviates from the main stroke segment, the piezoelectric ceramic drive module is controlled to drive the motor shaft to rotate, and the deviation of the actual stroke segment is corrected.

6. The motor shaft driving method based on the piezoelectric ceramic driving module according to claim 5, characterized in that: The piezoelectric ceramic drive module drives the motor's shaft to rotate to correct the deviation of the actual stroke segment, including: when the actual stroke segment completed by the motor's shaft rotation exceeds the stroke of the main stroke segment, the piezoelectric ceramic drive module drives the motor's shaft to rotate in the opposite direction of the original rotation direction, so that the actual stroke completed by the motor's shaft rotation matches the stroke of the main stroke segment.

7. The motor shaft driving method based on the piezoelectric ceramic driving module according to claim 5, characterized in that: The piezoelectric ceramic drive module drives the motor's shaft to rotate to correct the deviation of the actual stroke segment, including: when the stroke of the actual stroke segment completed by the motor's shaft rotation is less than the stroke of the main stroke segment, the piezoelectric ceramic drive module drives the motor's shaft to maintain its original rotation direction and rotate forward, so that the stroke of the actual stroke segment completed by the motor's shaft rotation matches the stroke of the main stroke segment.

8. The motor shaft driving method based on the piezoelectric ceramic driving module according to claim 5, characterized in that: When judging whether the actual stroke segment completed by the rotation of the motor shaft deviates from the main stroke segment, it includes: setting a rotary encoder on one side of the motor shaft, and collecting rotation data of the motor shaft through the rotary encoder; judging whether the actual stroke segment completed by the rotation of the motor shaft deviates from the main stroke segment based on the rotation data of the motor shaft collected by the rotary encoder.

9. The motor shaft driving method based on the piezoelectric ceramic driving module according to claim 8, characterized in that: When judging whether the actual stroke segment completed by the rotation of the motor shaft deviates from the main stroke segment based on the rotation data of the motor shaft collected by the rotary encoder, the method includes: calculating the stroke of the actual stroke segment completed by the rotation of the motor shaft based on the rotation data of the motor shaft collected by the rotary encoder; and comparing the calculated stroke of the actual stroke segment completed by the rotation of the motor shaft with the stroke of the main stroke segment to judge whether the actual stroke segment completed by the rotation of the motor shaft deviates from the main stroke segment.

10. A piezoelectric motor, characterized in that: The piezoelectric motor uses the motor shaft driving method based on the piezoelectric ceramic driving module as described in any one of claims 1 to 9 to drive the rotation of the shaft of the piezoelectric motor.

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