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7. Piezoelectric micromotors
Piezoelectric micromotors (PMD) are called engines in which the mechanical movement of the rotor is carried out by a piezoelectric or piezomagnetic effect.
The lack of windings and simplicity of manufacturing technology are not the only advantages of piezoelectric engines. High specific power (123 W / K g. PMD and 19 W / K g. In conventional electromagnetic micromotors), large efficiency (Recitted to date of the efficiency \u003d 85%), a wide range of rotational speed and moments on the shaft, excellent mechanical characteristicsThe absence of emitted magnetic fields and a number of other benefits of piezoelectric engines allow them to consider them as engines that are currently replaced by electric micrometers currently.
§ 7.1. Piezoelectric effect
It is known that some solid materials, for example, quartz are capable of changing their linear dimensions in an electric field. Iron, nickel, their alloys or oxides when changing the surrounding magnetic field can also change their dimensions. The first of them belong to piezoelectric materials, and the second to piezomagnetic. Accordingly, piezoelectric and piezomagnetic effects are distinguished.
The piezoelectric engine can be made both from those and from other materials. However, the most effective is currently piezoelectric, and not piezomagnetic engines.
There are direct and reverse piezoenefects. Direct is the appearance of an electrical charge when the piezoelectric element is deformed. Reverse - linear change in the size of a piezoelectric unit with a change in the electric field. For the first time, Piezoenect found Jeanne and Paul Curie in 1880 on quartz crystals. In the future, these properties were opened more than 1500 substances, of which Segnetov Salt, Titanat Barium, etc. It is clear that the piezoelectric engines "work" on the reverse piezoelectric effect.
§ 7.2. Construction and principle of action of piezoelectric micromotors
Currently, more than 50 different designs of PMD are known. Consider some of them.
To a fixed piezoelectric (PE) - Stator - an alternating three-phase voltage is applied (Fig. 7.1). Under the action of the electric field, the end of PE consistently bending in three planes, describes a circular trajectory. The pin, located on the moving end of PE, frictionally interacts with the rotor and leads it into rotation.
Frequent PMD received great practical significance (Fig. 7.2.). The electromechanical transducer, for example, in the form of Kameton 1 transmits oscillatory movements of the rod 2, which moves the rotor 3 to one tooth. When the rod move is moving back, the dog car fixes the rotor in the specified position.
The power of the structures described above does not exceed the hundredths of the watt, so the use of them as force actors is very problematic. The most promising was the design, which are based on the principle of oars (Fig. 7.3).
Recall how the boat is moving. During the time, while the paddle is in water, its movement is converted into linear movement of the boat. In the pauses between the wrecks, the boat is moving along inertia.
The main elements of the design of the engine under consideration are the stator and the rotor (Fig. 7.4). Based on 1, the bearing 2. Rotor 3, made of solid material (steel, cast iron, ceramics, etc.) is a sleek cylinder. An integral part of the PMD is acoustically isolated from the base and axis of the rotoroelectric oscillating system - the oscillator (vibrator). In the simplest case, it consists of a piezoplastic 4 together with a wear-resistant gasket 5. The second end of the plate is fixed at a base with an elastic gasket 6 from fluoroplast, rubber or other similar material. The oscillator presses to the rotor of the steel spring7, the end of which the elastic gasket 8 presses on the vibrator. To regulate the degree of pressed is the screw 9.
To explain the mechanism for the formation of the torque, remember. If the pendulum inform oscillations in two mutually perpendicular planes, then depending on the amplitudes, frequency and phases of the disturbing forces, its end will describe the trajectory from the circle to a severe ellipse. So in our case. If you bring the variable voltage of a certain frequency to piezoplastic, its linear size is periodically changed: it is increased, then decrease, i.e. The plate will perform longitudinal oscillations (Fig. 7.5, a).
With an increase in the length of the plate, its end together with the rotor will move and inversely (Fig. 7.5, b). This is equivalent to the action of a transverse bending force, which causes transverse oscillations. Shift phases of longitudinal and transverse oscillations depends on the size of the plate, the kind of material, the frequency of the supply voltage and in the general case can be from 0 ° to 180 o. When the phase shift, different from 0 o and 180 o, the contact point moves along the ellipse. At the time of contact with the rotor broadstine transmits him impulse of movement (Fig. 7.5, c).
The linear rotation speed of the rotor depends on the amplitude and frequency of the end of the oscillator. Consequently, the greater the supply voltage and the length of the piezoelectric element, the greater the linear speed of the rotor should be. However, we should not forget that with an increase in the lengthVibrator, the frequency of its oscillations is reduced.
The maximum amplitude of the oscillator displacement is limited by the limit of the strength of the material or overheating of the piezoelectric element. Overheattery of over critical temperature - Curie temperature leads to a piezoelectric properties kpoter. For many temperature, temperature, temperature exceeds 250 ° C, so the maximum amplitude is offsetically limited by the material strength limit. Taking into account the twofold reserve, V p \u003d 0.75 m / s is taken.
Corner speed of rotor
where D p is the diameter of the rotor.
From here the frequency of rotation in turns per minute
If the diameter of the rotor d p \u003d 0.5 - 5 cm, then n \u003d 3000 - 300 rpm / min. In the way, changing only the diameter of the rotor, it is possible to change the frequency of rotation of the machine within wide limits.
Reducing the supply voltage reduces the frequency of rotation of 30 rpm while maintaining sufficiently high power on the engine units. Reinforcing vibrator with high-strength sapphireplastines, it is possible to raise the speed of rotation to 10,000 rpm. Etoplates in a wide range of practical tasks to perform the drive to use mechanical gearboxes.
§ 7.3. Application of piezoelectric micromotors
It should be noted that the use of PMD is still very limited. Currently, the serial production is recommended by the acquisition of the forplatant developed by the constructors of the Elf Union (Vilnius), and the piezoelectric drive of the VOLUMAGNOGOFON master created in the "Positron" combination.
The use of PMD in the apparatus of sound and video recording allows you to approach the design of the tape transportation mechanisms, since the elements of this node organically fit into the engine, becoming its body, bearings, clamp, etc. The specified properties of the piezotor make it possible to carry out the immediate leading of the player by installing the rotor on its shaft, the oscillator is constantly pressed to the surface. The power on the shaft is player exceeds 0.2 W, so the PMD rotor can be manufactured as a measurement and plastic, such as carbolitis.
Made a prototype of the electric shaver "Kharkov-6M" with two transduceing power 15W. On the basis of the mechanism of the desktop clock "Glory", an option with a stepping piezodigigutor was performed. Power supply 1.2 V; Current consumption 150 μA. Small power consumption lettuce them from photocells.
Joining the Rotor PMD arrows and a return spring to allow the use of the engine as a small and cheap electrical measuring device with a circular scale.
Based on linear piezo-motors, they are made by electricity with power consumed from several dozen microbrott of reporting watts. Such relays in working condition do not consume energy. After a response, the friction force reliably holds the contacts of the current state.
Not all examples of using PMD are considered. Piezodignotes can find widespread use in various automata, robots, prostheses, children's toys and other devices.
Studying piezotor only began, therefore not all their intervals are disclosed. The maximum power of the PDA is fundamentally unlimited. However, compete with other engines they can show the range of power up to 10 watts. This is connected not only by the constructive features of the PMD, but also with the level of development of the science of Andhiki, in particular with the improvement of piezoelectric, superhard and wear-resistant materials. For this reason, the goal of this lecture is concluded primarily in the preparation of future engineers to the perception for them, the field of technology before the start of industrial output of industrial manufacture electrical micromotors.
Piezodogotors are with a piezoelectric activist stator and a passive rotor, an active rotor and a passive stator, an active stator and rotor. They may be excited oscillations of compression-stretching, bending, shear, twisted and radial; Perhaps a combination of fluctuations in two types. All this leads to a wide variety of theoretically possible engine designs. The design and principle of operation of two characteristic and received practical use Engine types.
The principle of operation of a rotating piezotor is conveniently consistent with the example of the engine's structural circuit with a piezoelectric that performs longitian and bending oscillations (Fig. 6.2). At the active stator 1, a piezoelement is installed, which is a ceramic plate 3 with electrodes placed on its side surfaces 4. One end of the ceramic plate is fixed in the stator using an elastic gasket 2 made from fluoroplast or rubber and providing acoustic insulation of the oscillator from the stator. At the other end of the plate facing the rotor, a wear-resistant gasket is installed. The passive rotor 9 is made in the form of a smooth cylinder of steel or solid alloys. The Rotor 10 shaft is fixed in the bearings 11. The vibrator is pressed against the rotor in the transverse direction of the steel spring 5, the force is regulated by screw 6, resting into the elastic gasket 7.
The electrodes of the vibrator are located in such a way that when applying voltages of alternating current of the required frequency, close to the resonant frequency of longitudinal vibration oscillations, the vibrator plate performs longitudinal oscillations. Upon longitudinal displacement of the free end of the plate towards the rotor, the plate presses on the rotor at a point A and forces it to rotate with the angular velocity ω p. The contact point A is moving together with the surface of the rotor, i.e. shifted in the transverse direction. The transverse component of the force acting on the vibrator in the contact zone is excited by the bending vibrator fluctuations. With the reverse longitudinal displacement of the plate, its end is moving away from the rotor, and the rotor moves along inertia. As a result of the established longitudinal and bending oscillations, a stable transformation of electrical energy consumed by a vibrator, into the mechanical energy of rotation of the rotor, occurs.
It should be noted that the engines of the type under consideration at the contact point are actually the colliding of the two surfaces, so they are sometimes called shock-type pie engines. The engine presented in Fig. 6.2, it is non-examined, however, with a certain complication of the design, it is possible to create a reversing engine.
The angular velocity of the rotor ω p can be determined through the linear velocity of the rotor ν p and its diameter D of the formula Ω P \u003d ν p / (D Р / 2).
The linear speed of the rotor depends on the amplitude and frequency of the displacement of the free end of the vibrator. With an increase in the power supply voltage in a rather wide range, the amplitude of the vibrator displacement increases, respectively increases the linear and angular rotor speed. The maximum of the amplitude of the displacement is limited to the limit of the strength of the piezoelectric material or overheating.
Performing engines with a rotor of a large diameter D p, it is possible to obtain a low rotor speed of the rotor ω p without the use of mechanical gearboxes while maintaining sufficiently high power on the shaft per unit of mass.
W. modern engines Nominal supply voltage lies in the range from dozens of volts to 400 volts; Voltage control allows you to obtain rotation frequency in the range from 20 to 10,000 rpm. The frequency of supply voltage is usually selected from the conditions of the oscillation resonance; Modern rotating engines have a rated frequency of about 50-80 kHz.
The engine of a similar design can operate in step mode at the operating speed of 0.2-6 rpm. When the single pulse is applied to the Piezoelement, a discrete step is a discrete step of about 0.1-4 angular seconds.
Constructive diagram of the second type engine with an active stator committing radial The oscillations are presented in Fig.6.3.
External passive rotor 1 is made in the form of a thin-walled cylinder. Inside it is an annular cylindrical stator piezoelectric element 2, on the end surfaces of which the electrodes are applied, and the inner surface is covered with acoustically insulating material. According to the outer forming stator, the elastic steel plates are fixed - pushers 3 mounted at a certain angle to the inner surface of the rotor and pressed to it with some effort.
If the outer diameter of the piezoelectric element is significantly larger than its thickness and height, then when applying alternating voltage to the end electrodes, the outer surface of the piezoelement begins to make radial oscillations. With a positive half-wave signal, the diameter of the stator increases the pushers, increasing pressing on the rotor, rotate it to some angle. The negative half-wave signal causes a decrease in the diameter of the stator, and the pushers are slipped along the inside of the rotating rotor.
The considered piezodogitel is non-examined. However, alignment in one building of two such sets with reversal of the pushers in opposite sides allows you to get a reversible engine. Table 6.1 shows the technical data of such engines released in the form of an experimental series.
Table 6.1.
Wikipedia material - free encyclopedia
Ultrasonic Engine (Ultrasonic motor, Piezod Mobile, Piezomagnetic Engine, Piezoelectric engine), (eng. USM - Ultra Sonic Motor, SWM - Silent Wave Motor, HSM - Hyper Sonic Motor, SDM - SuperSonic Direct-Drive Motor et al.) - The engine in which the working element is a piezoelectric ceramics, due to which it is capable of converting electrical energy into mechanical with a very large efficiency exceeding separate species 90%. This allows you to receive unique devices in which electrical oscillations are directly converted into the rotational rotor movement, while the torque developed on the shaft of such an engine is so large, which eliminates the need to use any mechanical gearbox to increase the torque. Also this engine It has rectifier properties of smooth friction contact. These properties manifest themselves on sound frequencies. Such contact is an analogue of an electric straightening diode. Therefore, the ultrasonic engine can be attributed to friction electric motors.
History of creation and application
In 1947, the first ceramic samples of the titanate of Barium were obtained and, already from this time production piezoelectric motors It became theoretically possible. But the first such motor appeared only after 20 years. Studying piezoelectric transformers in power modes, an employee of the Kiev Polytechnic Institute V. V. Lavrinenko discovered the rotation of one of them in the holder. Having understood due to this phenomenon, he in 1964 creates the first piezoelectric rotation motor, and after him and linear motor For relay drive. At the first motor with direct friction contact, it creates groups of non-obsercting motors with a mechanical bond of piezoelectric with a rotor through the pushers. On this basis, it offers dozens of non-versatile motors, overlapping speed range from 0 to 10,000 rpm and rotation torque range from 0 to 100 nm. Using two non-observed motors, Lavrinenko original solves the problem of reverse. Integrally on the shaft of one motor, it sets the second engine. It solves the problem of the resource of the motor resource, exciting twisted vibrations in the piezoelectric.
For decades, ahead of such work in the country and abroad, Lavrinenko developed almost all the basic principles of building piezoelectric motors, without excluding the possibility of working them in the mode of electrical energy generators.
Given the prospects for the development, Lavrinenko together with co-authors who helped him implement his proposals, it protects numerous copyright certificates and patents. In the Kiev Polytechnic Institute, a sectoral laboratory of piezoelectric motors under the leadership of Lavrinenko is being created, the world's first mass production of piezomotors for the electronics-552 video recorder is organized. Subsequently, the motors for the Dnipro-2 diarjectors, film drivers, ballcatters, etc., etc. In 1980, Energia publishes prints the first book on piezoelectric motors, and interest appears. The active development of piezomotors in the Kaunas Polytechnic Institute under the guidance of prof. Ragulskis K. M. Vishnevsky V.S., in the past, graduate student Lavrinenko, leaves to Germany, where continues to work on the introduction of linear piezoelectric motors on the company Phyzical Instryment.. The gradual study and development of piezoelectric motors goes beyond the USSR. In Japan and China, wave engines are actively developed and implemented, in America - superminature rotation engines.
Design
Ultrasonic engine has significantly smaller dimensions and mass compared to similar silest characteristics electromagnetic engine. The absence of windings impregnated with gluing compositions makes it suitable for use under vacuum conditions. The ultrasonic engine has a significant point of self-motion (up to 50% of the maximum torque) in the absence of supply voltage due to its design features. This allows you to provide very small discrete angular movements (from units of angular seconds) without the use of any special measures. This property is associated with the quasi-frother nature of the work of the piezotor. Indeed, a piezoelectric element that transforms electrical oscillations into mechanical feeds is not constant, but by alternating voltage of the resonant frequency. When applying one or two pulses, you can get a very small angular movement of the rotor. For example, some samples ultrasonic engineshaving a resonant frequency of 2 MHz and the operating frequency of rotation 0.2-6 rpm, when the single pulse is applied to the Piezoelement, will be given in the ideal case, the angular movement of the rotor in 1 / 9.900.000-1 / 330,000 from the value of the circle, that is 0 , 13-3.9 angular seconds.
One of the serious disadvantages of such an engine is a significant sensitivity to solid substances in it (for example, sand). On the other hand, piezotor can work in a liquid medium, for example in water or in oil.
Principle of operation of a linear piezotor operating on periodic engagement
Based on piezoelectric motors: drives antennas and surveillance cameras, electric shavers, cutting tool drives, ribbon mechanisms, tower street clocks, actuators of ball valves, low-speed (2 rpm) drives of advertising platforms, electric drills, drives of children's toys and moving prostheses, ceiling Fans, robot drives, etc.
Wave piezoelectric motors are also used in lenses for single-lens mirror cameras. Variations of technology name in such lenses of various manufacturers:
- Canon - USM., Ultrasonic Motor;
- MINOLTA, SONY - SSM., SuperSonic Motor;
- Nikon - SWM., Silent Wave Motor;
- Olympus - SWD., SuperSonic Wave Drive;
- Panasonic - Xsm., Extra Silent Motor;
- PENTAX - SDM., SuperSonic Drive Motor;
- Sigma - HSM., Hyper Sonic Motor;
- Tamron - USD., Ultrasonic Silent Drive, Pzd., Piezo Drive.
- Samsung - SSA., Super Sonic Actuator;
In the machine tooling, such engines are used for ultra-precise positioning of the cutting tool.
For example, there are special cutters for lathe machines with a microse cutter.
see also
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Literature
- Copyright certificate № 217509 " Electrical engine", Avt. Lavrinenko V. V., Nekrasov M.M. on request No. 1006424 with prior. of May 10, 1965
- USA, Patent No. 4.019.073, 1975
- USA, Patent No. 4.453.103, 1982
- USA, Patent No. 4.400.641, 1982
- Piezoelectric engines. V. V. Lavrinenko, I. A. Kartashev, V. S. Vishnevsky. Ed. "Energy" 1980
- Vibrodigators. R. Yu. Banceyavius, to. M. Ragulskis. Ed. "Mokslas" 1981
- Survey of the variousoperating principles of ultrasonicpiezomotors. K.Spanner, White Paper for Actuator 2006.
- Principles of construction of piezoelectric motors. V. Lavrinenko, ISBN 978-3-659-51406-7, ISBN 3659514063, ed. "Lambert", 2015, 236c.
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An excerpt characterizing an ultrasonic engine
Boris among the few was on Neman on the day of the emperors; He saw the rafts with the vensels, the passage of Napoleon on the shore by the French Guard, saw the thoughtful face of Emperor Alexander, while he silently sat in Korchman on the shore of Neman, expecting the arrival of Napoleon; He saw both Emperor sat in the boats and as Napoleon, the addition before to the raft, went ahead with rapid steps and, meeting Alexander, filed his hand, and how both were hidden in the pavilion. Since his entry into higher worlds, Boris made himself a habit carefully to observe what happened around him and record. During a date in Tilsit, he asked about the names of those persons who came with Napoleon, about the uniforms, which were on them, and carefully listened to the words that were told by important faces. At that time, the emperors entered the pavilion, he looked at the clock and did not forget to look again at the time when Alexander came out of the pavilion. A date went on an hour and fifty-three minutes: he wrote down this evening among other facts that he believed, had historical importance. Since the emperor's retinue was very small, then for a person, the current success in service, to be in Tilsit during a meeting of emperors was a very important thing, and Boris, hitting Tilzit, felt that since that time his position was completely established. He was not only knew, but they looked at him and got used to him. Two times he performed instructions to the sovereign himself, so the sovereign knew him in the face, and all the closest not only did not have seen, as before, considering for a new face, but they would be surprised, if it were not.Boris lived with another adjutant, Polish Graph Zhilinsky. Zhilinsky, brought up in Paris, was rich, passionately loved the French, and almost every day during his stay in Tilsit, the French officers from the guard and the main French headquarters were going to Zilinsky and Boris.
On June 24th, in the evening, Count Zhilinsky, the cohabitant of Boris, arranged for his familiar French dinner. The dinner was an honorary guest, one Napoleon's adjutant, several French guard officers and a young boy of the old aristocratic french family name, Page Napoleon. On this very day, Rostov, using Darkness, not to be recognized, in the Stat dress, came to Tilsit and entered the apartment of Zhilinsky and Boris.
In Rostov, as well as in the whole army, from which he arrived, was not far away from Napoleon and the French, from enemies who made friends, that coup, which occurred in the main apartment and in Boris. Still continued in the army to test the former mixed feeling of malice, contempt and fear of Bonaparte and French. More recently, Rostov, talking to the payment Cossack officer, argued that if Napoleon would be captured, would not have turned with him as a sovereign, but as a criminal. Even recently, on the road, having met with the French wounded colonel, Rostov spoke up, proving him that he could not be peace between the legal sovereign and the criminal Bonaparte. Therefore, Rostov strangely struck in the apartment of Boris, the appearance of French officers in the very uniforms, for which he was accustomed quite otherwise to look from the flank chain. As soon as he saw the French officer who dried out of the door, this is a sense of war, hostility, which he always experienced at the sight of the enemy, suddenly walked him. He stopped on the threshold and asked Russian, if he lives Drubetskaya. Boris, having walked someone else's voice in the front, came to him towards him. His face in the first minute when he recognized Rostov, expressed his annoyance.
"Oh, that's you, very glad, very glad to see you," he said, however, smiling and moving towards him. But Rostov noticed the first movement.
"I don't think it seems," he said, "I wouldn't come, but I have a deal," he said coldly ...
"No, I'm just surprised how you came from the regiment." - "Dans Un Moment Je Suis a Vous", [I am a minute for you to your services,] - He turned to his voice called him.
"I see that I'm not attended," repeated Rostov.
An expression of the annoyance has already disappeared on the face of Boris; Apparently thinking and deciding what to do, he with special calm took him for both hands and led himself to the next room. Boris's eyes, calmly and firmly looked at Rostov, were as if stuck than something as if some kind of damper was the blue hostel glasses - they were put on them. So seemed Rostov.
"Ah full, please, can you not be attended," said Boris. - Boris introduced him to the room where dinner was covered, introduced him to the guests, calling him and explaining that he was not Statsky, but the hussars officer, his old buddy. - Count Zhilinsky, Le Comte N.N., LE Capitain S.S., [Count N.N., Captain S.S.] - called guests. Rostov looked frowningly on the French, reluctantly crushed and silent.
Zilinsky, apparently, did not happily accepted this new Russian face in his circle and said nothing Rostov. Boris, it seemed, did not notice the constraint of the new face and with the same pleasant tranquility and ancase in the eyes, with whom he met Rostov, tried to revive the conversation. One of the French addressed the ordinary French courtesy to stubbornly silent Rostov and told him that it was likely to see the emperor, he came to Tilzit.
"No, I have a deal," Rostov answered shortly.
Rostov did not do in the spirit immediately after he noticed displeasure on Boris's face, and, as always, it happens to people who did not in the spirit, it seemed to him that everyone was harmful to him and that he would hinder everything. And indeed he interfered with everyone and one remained out of the newly proposed common conversation. "And why is he sits here?" They talked to the views that guests threw him. He got up and went to Boris.
"But I'm striking you," he told him quietly, "let's go, let's talk about business, and I will leave."
"No, I'm not at all, Boris said." And if you are tired, let's go to my room and rest a rest.
- And in fact ...
They entered a small room where Boris slept. Rostov, not sitting down, immediately with an annoyance - as if Boris was to blame for him in something - he began to tell him the case of Denisov, asking whether he wanted whether he could ask for Denisov through his general from the sovereign and transmit a letter through him. When they stayed together, Rostov for the first time was convinced that he was embarrassed to look into the eyes of Boris. Boris laying his leg and stroking the thin fingers of the right hand left with his left hand, he listened to Rostov, as he listens to the report of the subordinate, then looking to the side, then with the same checking in his eyes straight looking into the eyes of Rostov. Rostov every time it became embarrassing and he lowered his eyes.
- I heard about this kind of business and I know that the sovereign is very strict in these cases. I think I should not bring to His Majesty. In my opinion, it would be better to directly ask the cabinet commander ... But in general I think ...
- So you do not want to do anything, so tell me! - shouted almost Rostov, without looking into the eyes of Boris.
Boris smiled: - on the contrary, I will do what I can, only I thought ...
At this time, Zhilinsky's voice, called Boris, was heard at the door.
- Well, go, go, go ... - said Rostov and abandoning dinner, and remaining alone in a small room, he went back and forth in her for a long time, and he listened to a cheerful French language from the next room.
Rostov came to Tilsit per day, less convenient for the petition for Denisov. He himself could not go to the duty officer, since he was in Frak and without the permission of the authorities came to Tilzit, and Boris, if even wanted, could not do this the next day after the arrival of Rostov. On this day, June 27th, the first conditions of the world were signed. The emperors were changed by orders: Alexander received an honorary Legion, and Napoleon Andrei is 1 y degree, and on this day a lunch was appointed by the Preobrazhensky battalion, who gave him a French guard battalion. The state trucks were to be present on this banquet.
Rostov was so awkward and unpleasant with Boris, that when, after dinner, Boris looked at him, he pretended to be sleeping and the next day early in the morning, trying not to see him, left home. Nicholas wandered around the city around the city, looking at the French and their uniforms, looking at the streets and houses where Russian and French emperors lived. On the square, he saw placed tables and cooking for dinner, the streets were seen on the streets with banners of Russian and French flowers and huge monograms A. and N. There were also banners and monastelles in the houses.
"Boris does not want to help me, and I don't want to contact him. This is a solved business - I thought Nikolai - everything is over, but I will not leave here, without making everything I can for Denisov and most importantly, without giving the letter to the sovereign. Sovereign ?! ... he is here! " Thought Rostov, coming unwittingly again to the house occupied by Alexander.
At the house of this, there were riding horses and a sweat went, apparently prepared for the departure of the sovereign.
"I can see him every minute," Rostov thought. If only I could directly give him a letter and say everything, really arrested me for a fracture? Can not be! He would understand on whose side justice. He understands everything, he knows everything. Who can be just more and generous? Well, yes, if I would arrest me for the fact that I am here, what is the trouble? " He thought, looking at the officer, which was coming into a house occupied by the state truck. "After all, here we will take the same. - e! All nonsense. I will go and give a letter myself to the sovereign: the worse it will be for the Drubetsky, who brought me to it. " And suddenly, with the decisiveness he himself did not expect from himself, Rostov, feeling a letter in his pocket, went straight to the house occupied by the state truck.
"No, now I will no longer miss the case, as after the Austerlitz, he thought, waiting for every second to meet the sovereign and feeling a tide of blood to the heart with this thought. Will fall into your feet and I will ask him. He will raise, hears and still thanks me. " "I am happy when I can do good, but to correct injustice is the greatest happiness," imagined Rostov words that the sovereign will say to him. And he went past curiously looked at him, on the porch of the house held at home.
From the porch wide staircase led right upstairs; The right door was visible right. At the bottom under the stairs there was a door to the lower floor.
- Who do you? - asked someone.
- Submit a letter, the request of His Majesty, - said Nikolai with a vote shaking.
- Please - to the duty, please feel here (he was pointed to the door at the bottom). Just do not accept.
Hearing this indifferent voice, Rostov was frightened by what he did; The thought to meet every minute of the sovereign so seductive and because it was so terrible for him that he was ready to escape, but cameras Furren who met him, took him the door to the duty and Rostov came across.
The low full person is 30 years 30, in white pantalons, botfors and one, it is clearly visible that the battered shirt, stood in this room; Camnedine fasten to him behind the shied silk beautiful new versaging, which for some reason noticed Rostov. This man talked to someone who was in another room.
- Bien Faite et La Beaute du Diable, [well built and the beauty of youth,] - said this man and saw Rostov stopped talking and frowned.
- What do you want? Request?…
- QU "EST CE QUE C" EST? [What is it?] - asked someone from another room.
- Encore un Petitionnaire, [another friend,] - answered a person in the lists.
- Tell him that after. Now come out, you have to go.
- After the day after tomorrow. Late…
Rostov turned and wanted to go out, but the man in the lists stopped him.
- From whom? Who are you?
"From Mayor Denisov," Rostov answered.
- Who are you? an officer?
- Lieutenant, Graph Rostov.
- What courage! For the command to serve. And go, go ... - and he began to wear a mundair supplied byaminer.
Rostov came out again in Seni and noticed that there were already many officers and generals in full parade form, whom he had to go.
Singing your courage, having sinking from the thought that every minute he can meet the sovereign and, with him, be sidewrd and sent under the arrest, understanding the whole indecent of his act and repenting in him, Rostov, lowering his eyes, made his way out of the house, surrounded by a crowd of brilliant suite When whose familiar voice called him and whose hand stopped him.
- You, father, what are you doing in Frace? - asked his bass voice.
It was a cavalry general, in this campaign he deserved a special mercy of the sovereign, the former chief of the division in which Rostov served.
Rostov frightened began to justify, but seeing a good-naturedly joking face of the general, leaving to the side, an agitated voice handed him the whole thing, asking for the famous General Denisov. General Having heard Rostov seriously shook his head.
The areas of use of miniature engines and drives are quite extensive - these are drives for measuring devices, such as electronic and tunnel microscopes, drives of manipulators of various assembly robots, and also executive mechanisms In technological equipment and household appliances. Collector and uncoolette electromagnetic micromotors, piezomotors and MEMS integral actuators can be used as micromotors. The article will deal with piezoelectric engines.
Depending on the degree of miniaturization used different types micromotors. For the macro level, where high power is required at relatively small sizes, miniature electromagnetic engines and solenoids are used. For micro administrations, integrated actuators created by MEMS technology are currently widely used.
Pieuses are losing electromagnetic engine motors, and MEMS micromotors - according to the degree of microminiature. However, the main advantage of micropinisomotors is the possibility of direct positioning with submicron accuracy. In addition, these drives have many other advantages over their electromagnetic competitors.
Electromagnetic microelectro motories (collector, step-and-backed) has now reached the miniaturization limit. For example, serially manufactured stepper electric motor Type A0820 has a diameter of 8 mm, weighs 3.3 grams and costs about $ 10. Engines of this type are quite complex and contain hundreds of parts. With a further dimension reduction, the assembly process is complicated, and the engine efficiency is lost. For winding the stator coils, you have to use a thinner wire that has a higher resistance. So, with a decrease in the size of the collector microelectrode, up to 6 mm, a much larger part of the electrical energy is converted to heat, rather than in mechanical energy. In most cases, to obtain linear drives on the basis of electric motors, it is necessary to use additional mechanical gears and gearboxes that convert the rotational movement to the translational and provide the desired positioning accuracy. At the same time, the size of the entire device as a whole increases, and a significant part of the energy is spent on overcoming friction in mechanical transmission. The diagram shown in Fig. 1 shows that with dimensions of less than 7 mm (the diameter of the engine case) it is more profitable to use piezoceramic engines, and not electromagnetic.
Fig. 1. With dimensions of less than 7 mm piezoelectric motors are more effective than electromagnetic engines
Currently, many firms have mastered the mass production of piezomotors. The article discusses the products of two manufacturers of piezovers: German Physik Instrumente (PI) and American New Scale Technologies. The choice of firms is not accidental. The American firm at the moment produces the smallest piezodignotes in the world, and German is one of the leaders in the piezo-drive sector for precision equipment. This piezomotors produced have unique functional characteristics and enjoy a deserved reputation among producers of precision technological and measuring equipment. Both firms use their proprietary solutions. The principle of operation of engines of both firms, as well as their design is different.
Design and principle of operation of the piezoelectric stage Squiggle
In fig. 2 shows the design and principle of operation of the NEW Scale Technologies Squiggle Piezavihod.
Fig. 2. Design and principle of Squiggle micro-cry
The basis of the drive is a rectangular coupling with an internal thread and a driving screw (worm). Piezocemic plates of actuators are mounted on the edges of the metal coupling. When filing two-phase signals to a pair of piezoelectric actuators, vibration oscillations are created, which are transmitted to the mass of the coupling. For more efficient electrical energy transformation into mechanical actuators operate in resonant mode. The excitation frequency depends on the size of the pieziprition and is in the range from 40 to 200 kHz. Mechanical oscillations acting on the border of two working surfaces of the coupling and screw cause the appearance of squeezing forces with a turn (such as Hula-Hup rotation). The resulting force ensures the rotation of the worm relative to the fixed base - the coupling. When the screw moves and the transformation of the rotational motion into linear movement occurs. Depending on the shift of the phases of the control signals, you can get rotation of the screw both clockwise and counterclockwise.
Non-magnetic materials such as bronze, stainless steel, titanium are used as screws and couplings. A threaded pair of a worm coupling does not require lubrication to work.
Pieuses are practically rapidly, provide excellent pickup (movement with acceleration to 10 g), almost silent in the sound range (30 Hz - 15 kHz). Positioning accuracy can be achieved without the use of position sensors - due to the fact that the movement occurs without slippage (provided that the load on the working screw is in operating limits), and the movement is directly proportional to the number of pulse signals applied to the actuator plates. Pieuses have a practically unlimited service life, except with time due to wear of the screw transmission, positioning accuracy may be partially lost. Pieus excavation can withstand motion lock mode due to the application of braking forces, superior to the drive thrust force. In this case, slipping will occur without the destruction of the screw transmission.
Today, micromotors of the SQL series are recognized as the most small electric motors in the world that are serially produced.
Fig. 3. Working Drawing of the SQL Industrial Piezomotor
The main characteristics of the Squiggle piezoid:
- scalable dimensions (you can receive custom drivers with specified sizes);
- minimum drive dimensions 1.55 × 1.55 × 6 mm;
- simplicity of construction (7 components);
- low price;
- high manufacturability of the manufacture of components and assembly of the drive;
- straight linear drivenot requiring additional mechanical gear;
- submicron accuracy of the positioning of the drive;
- silent work;
- wide operating temperature range (-30 ... + 70 ° C).
SQL micromotor micromotor parameters:
- power consumption - 500 MW (only in the process of moving rod);
- resolution - 0.5 microns;
- weight - 1.7 g;
- the speed of movement is 5 mm / s (under load 100 g);
- travel force - more than 200 g;
- the frequency of excitation of piezoactors - 116 kHz;
- the electrical container of each of the four phases of the pieziprition is 1.35 NF;
- connector (cable) - printed loop (6 conductors - 4 phases and 2 common);
- the working resource is 300 thousand cycles (with the length of the anchor of 5 mm);
- range of linear movements of the anchor:
- drive mount - flange compound or crimping.
- model SQL-3.4 - 10-40 \u003d 30 mm (40 mm - the length of the running screw);
- model SQL-3.4 - 10-30 \u003d 20 mm (30 mm - the length of the running screw);
- model SQL-3.4 - 10-15 \u003d 5 mm (15 mm - the length of the running screw).
On the request of the company NEW Scale Technologies, an integral driver for pieces of SQL series has been developed (Fig. 4). Thus, the consumer has the ability to use a set of finished components to obtain its OEM electromechanical module.
Fig. 4. SQL Series Micropinzovats for Laptop Apparatus
The drive driver chip (Fig. 5) contains voltage converter and output drivers operating on capacitive load. Input voltage 3 V. Levels of output voltages of the formants - up to 40 V.
Fig. 5. Piezoder driver microcircuit
Squiggle piees apply
Drive for photo and video cameras
One of the largest sectors of microelectrically apply - digital cameras and video cameras (Fig. 6). The microse is used in them to control the focusing of the lens and the optical zoom.
Fig. 6. prototype optical zoom drive for digital camera
In fig. 7 shows the Squiggle pieces for use in the built-in cell phone cameras. The actuator produces two lenses along the up-down guides and provides autofocusing (the length of the optics of 2 mm) and the zoom (the movement of the lenses to 8 mm).
Fig. 7. Lens Model with Squiggle Drive for Camera Built in Cell Phone
Medical Syringe Dispenser
All over the world there are hundreds of millions of people who need periodic dosage injections of medical drugs. In this case, follow the time, doses, as well as to carry out the injection procedure, the patient itself should. This process can be considerably simplified and thereby facilitating the patient's life if you create a programmable dispenser syringe (Fig. 8). A programmable pump syringe for insulin injections has already been implemented on the SQL pieziprition. The dispenser consists of a microcontroller control module, a tank with a preparation, a syringe and a controlled drive. Dispenser control is carried out by a built-in microcontroller module with batteries. Battery - lithium battery. The dispenser module can be built into the patient's clothing and placed, for example, in the field of the sleeve. The time intervals between injections and the dose of the medication are programmed under a specific client.
Fig. 8. Use the drive in the programmable syringe-dispenser
The value of the dose is directly proportional to the length of moving the rod of the drive.
It is assumed to use microchprints with a counter-treatment, mounted in the "intellectual armor" of the military personnel. Protective clothing, in addition to reinforced power elements, also contains integrated pulse sensors, temperatures, mechanical damage to textile "armor". The activation of the syringes occurs both at the initiative of the fighter itself and by the command from the electronics block, or by radio channel from the command terminal based on the sensor readings when the fighter is lost, for example, after injury or as a result of contusion.
Non-magnetic engines
Since the SQL piezodes are not used ferroalloy materials, as well as electromagnetic fields, these type engines can be used to create wearable medical diagnostic devices compatible with magnetic tomography. These drives will also not be interfered when placed in the work areas of equipment using nuclear magnetic resonance, as well as near electronic scanning microscopes, microscopes with focusing of ion flows, etc.
Laboratory micronasos
On the basis of the pieziprition can be created micro-pumps for dosage supply of liquids in laboratory research equipment. The main advantages of micronacosis of such a design are high dosing accuracy and reliability.
Engine for vacuum equipment
Pieus drive is suitable for the creation of mechanical devices operating under conditions of both high and ultra-high vacuum, and ensuring high positioning accuracy (Fig. 9). Drive materials have low gas dividing in vacuo. During the operation of the drive in the mode of microswits, there is little heat.
Fig. 9. Drive for vacuum equipment based on the SQL micromotor
In particular, such engines will find widespread use when creating new generations of scanning electron microscopes, ion scanning mass spectrometers, as well as in technological and testing equipment for the electronics industry, in the equipment used in particle accelerators, such as synchrotrons.
Drives for cryogenic equipment
The unique parameters of the pieziprition allow it to use it at very low temperatures. The firm already produces options for performing drives for commercial and cosmic applications at low temperatures.
Currently, on the basis of SQL micromotors, drives were created for various functional nodes in cryogenic laboratory equipment, as well as mechanical drives for adjusting the parameters of cosmic telescopes.
In fig. 10 shows a piezo access to work at the temperatures of liquid helium.
Fig. 10. Execution of a piezo-separation for operation at temperatures from room to 4 K (liquid helium)
Work at low temperatures requires other frequencies and amplitudes of signals for excitation of piezoactors.
Evaluation set
New Scale Technologies produces an estimated set that contains: SQL piezotor (Fig. 11), drive board, software, interface with a computer, as well as an optional Custom drive control panel.
Fig. 11. Evaluation set for Pieauzovod SQL
USB or RS-232 can be used as an interface with PC.
PI Pieuses
The German company PHYSIK INSTRUMENTE (PI) (www.physikinstrumente.com/en) was formed in 1970. Currently has units in the United States, Great Britain, Japan, China, Italy and France. The main sector is equipment for nation and to ensure control of movement with high accuracy. The company is one of the leading equipment manufacturers of this profile. Used unique patented solutions. So, in contrast to most of the piees, including Squiggle, the PI actuators provide forced fixation of the carriage after stopping. Due to the absence of offset, these devices have high positioning accuracy.
Design and principle of operation PI Piezprovodov
In fig. 12 shows the design of PI piezotor.
Piline is a patented design of a piezavor developed by PI. The heart of the system is a rectangular monolithic ceramic board - a stator that is divided from one side to two electrodes. Depending on the direction of movement, the left or right electrode of the ceramic fee is excited by pulses with a frequency of tens and hundreds of kilohertz. Aluminum friction tip (pusher) is attached to a ceramic board. It provides the transmission of movement from the oscillating stator plate to the carriage friction. The friction strip material provides optimal friction force when working in a pair with an aluminum tip.
Thanks to the contact with the friction strip, a shift of the moving part of the drive (carriages, platforms, the rotary table of the microscope) forward or backward is ensured. With each period of oscillations of the ceramic stator, the carriage shift is performed on several nanometers. The driving force arises from the longitudinal oscillations of the actuator plate. Currently, ultrasound piezovers can provide movement with acceleration to 20 g and speed up to 800 mm / s! Piezotor Drive Effort can reach 50 N. Piline drives can work without feedback and provide a resolution of 50 nm.
In fig. 13 shows the design of the PILINE Piezocheramic Stator.
Fig. 13. Construction of the ceramic stator Piezavhod Piline
In the absence of a signal, the pusher tip is pressed to the friction strip and the friction force acting on the border between the tip and the friction, ensures the fixation of the carriage.
Piline - a series of piezoves with linear movement
PI produces a series of linear pieces of PILINE technology with various functional parameters. As an example, consider the characteristics of a specific model P-652 (Fig. 14).
Fig. 14. Options for implementing Piline P-652 pieces (near for comparison Golf ball)
Piline P-652 can be used in OEM applications for which small dimensions and weight are important. The P-652 drive module can replace the classic engine based engine with a rotating shaft and mechanical transmission, as well as other linear electromagnetic drives. Selfixation of the carriage at stop does not require additional energy. The drive is designed to move small objects with high speed and accuracy.
A compact piezomotor with an integrated control circuit can provide a movement with acceleration to 2.5 g and speed up to 80 mm / s. At the same time, the high accuracy of the carriage positioning is maintained and a rather high level of fixation force in a fixed state. The presence of fixing the carriage provides the ability to operate the drive in any positions and guarantees fixing the position of the carriage after the stop even under the action of the load. In the driver's diagrater for excitation of piezoactors, short pulses amplitude are used only 3 V. Scheme provides auto-adjustment of the resonant mode for the specific dimensions of ceramic actuators.
The main features of the P-652 PILINE linear piezomotor:
- low production cost;
- piezomotor size - 9.0 × 6.5 × 2.4 mm;
- the work movement of the carriage carriage is 3.2 mm;
- speed speed up to 80 mm / s;
- self-deficiency at stop;
- MTBF - 20 thousand hours.
Drive modules with built-in controller
PI manufactures control modules (controllers) for their piees drives. The control board contains control interface, voltage converter and output driver for excitation of a piezoceramic actuator. In drive controllers, the traditional proportional control circuit is used. Depending on the conditions of application of drives, a digital or analog type of proportional control can be used in the controller. Sinusoidal signals are used to manage the actuators themselves, and feedback on the position sensors can also be used. PI manufactures ready-made modules with position sensors. PI has developed and manufactures capacitive position sensors for their integral modules (Fig. 15).
Fig. 15. Module of Piezavhod with a built-in control board
Digital (pulse) control mode
Pulse motion control mode is suitable for applications requiring small movements at high speed, such as microscopy or automation. The engine is controlled by 5-volt TTL pulses. The width of the pulse determines the length of the engine steps. The movement step in this mode is up to 50 nm. To implement one such step, a voltage pulse is supplied with a duration of about 10 μs. The duration and diversity of control pulses depends on the speed of movement and the magnitude of the carriage movement.
Analog control mode
In this mode, an analog range of amplitude ± 10 V. The magnitude of the carriage movement is used as input position control signals.
Application areas of precision pieces:
- biotechnology;
- micromanipulators;
- microscopy;
- quality control laboratory equipment;
- test equipment for semiconductor industries;
- metrology;
- testing disk accumulative devices;
- Nir and OKR.
Advantages of Piline Ultrasonic Piezotor:
- Small dimensions. For example, the model M-662 provides a working stroke of 20 mm with the dimensions of the 6 × 28 × 8 mm of the housing.
- Small inertia. Due to this, moving with high speeds, high accelerations and the high resolution is saved. Piline provides speeds of up to 800 mm / s and acceleration to 20 g. The stiffness of the structure provides a very small time of promotion in one step and high positioning accuracy - 50 nm.
- Excellent specific power indicator. Piline drive provides high characteristics in minimal dimensions. No other engine can provide the same combination of accelerations, speeds and accuracy.
- Safety. The minimum moment of inertia along with the friction clutch ensures safety when working. Such a drive cannot collapse and damage the surrounding items as a result of a violation of the mode of operation. The use of friction coupling is preferable than worm transmission in the Squiggle engine. Despite the high speed of moving the carriage, the risk of damage, for example, the operator's finger is much less than when using any other drive. This means that the user can apply less effort to ensure the safety of the actuator.
- Autobixation of carriages.
- Ability to operate the drive in vacuum.
- Minor level of AM. Piline drives during operation do not create magnetic fields and do not have in the design of ferromagnetic materials.
- Solutions Flexibility for OEM. Piline drives can be supplied with both sensors and no position sensors. In addition, individual drive components can be supplied.
Linear Pieuses like Nexline
Nexline pieces provide higher positioning accuracy. The drive design contains several actuators working consistently. Unlike PILINE drives, in these devices, actuators do not work in resonant mode. In this case, it turns out a multiple scheme for moving the movable carriage by several pushers of actuators. Thus, not only the accuracy of positioning is increasing, but also increase the moments of the movement forces and hold the carriage. Drives of this type, as well as Piline drives, can be supplied with the carriage position sensors and without them.
The main advantages of the Nexline piezovers series:
- Very high resolution limited only by the sensor sensitivity of the position. In the analog movement mode using the position sensors, 50 nm positioning accuracy is achieved (0.05 microns).
- Work with high load and high fixation of the carriage. Nexline drives can ensure efforts to 600 N. Rigid construction and the use of resonant excitation frequencies in the Hundred Hertz ranges allow the design to suppress vibration from external influences. Analog operation mode can be actively used to smooth vibration and driving the drive base.
- It can work both in the open circuit circuit mode and feedback on position sensors. The Nexline digital controller can use position signals from linear encoders or from laser interferometers, and for very high positioning accuracy, use the signals of the absolute position from capacitive sensors.
- Saves the stable position of the carriage when the power is turned off.
- Long service life - more than 10 years.
- The Nexline drive does not contain ferromic parts, is not subject to magnetic fields, is not a source of electromagnetic radiation.
- Devices work in very difficult conditions of the external environment. The active parts of the Nexline drives are made of vacuum ceramics. Nexline can also work without disorders when irradiated with hard ultraviolet.
- Very robust design. Nexline drives in the process of transportation can withstand shocks and vibrations up to several g.
Design Flexibility for OEM
Nexline drives are available in three integration options. The user can order a ready-made OEM engine, only piezoactors for the engine of their design, or a complex turnkey system, for example, such as a multi-axis turning table or a assembly microbot with six degrees of freedom. In fig. 16-19 shows various options for the implementation of multi-ridden positioning devices based on PI pieces.
The firm specializes in the development and production of ceramic microelectrodmotors for use in miniature devices. NEW SCALE TECHNOLOGIES INC. (www.newscaletech.com) was founded in 2002 by a group of specialists who have a decade experience in the design of piezoelectric drives. The first commercial sample of the Squiggle drive was created in 2004. Special performances of the drive are created to work in extreme conditions, to work in vacuo, in cryogenic installations at ultra-low temperature, as well as to work in the zone of strong electromagnetic fields.
In a short time, Squiggle's piezotors were widely used in laboratory equipment for nanotechnology, in technological equipment of microelectronics, laser equipment devices, medical equipment, aerospace devices, defense settings, as well as in industrial and household devices, such as digital cameras and cellular phones.
