双压电薄膜管道微机器人的功耗分析及电路优化设计

Power Consumption and Optimized Driving Circuit of Bimorph In-pipe Micro Robot

研究了PZT双压电薄膜管道微机器人的功率消耗 ,推导出其功耗计算公式S =Kfcv2 ,指出微机器人功耗与驱动电压幅值平方成正比 ,与驱动电压的频率成正比 ,与微机器人的电容成正比。优化设计了微机器人的驱动电路 ,使得其在驱动电压幅值不变的情况下 ,大幅度提高运动速度。通过实验验证此结论。

The power consumption of an in-pipe PZT actuator micro robot has been studied, and the formula S=Kfcv 2 has been derived, which means that the power consumption is proportional to frequency of voltage f, square of voltage v 2 and to the capacity of robot C. An optimized driving circuit for the micro robot has been studied, too. With this circuit, the robot can move at high speed with the same driving voltage. Experiment has been done to prove this conclusion. All these are theoretical bases for designing a wireless robot system.