一种微型机器鱼的压电驱动系统设计

Design of Piezoelectric Drive System for a Fish-Like Underwater Microrobot

压电陶瓷用作微型机器人的致动器具有静音、低功耗等优点,但在悬臂型应用中高位移所需的高驱动电压是其应用难点。该文针对一种双鳍式微型机器鱼的压电致动器,设计了可控制输出频率、幅值的高压正弦信号驱动系统。压电致动器的驱动模块采用PA443高压运放设计外围电路,运放电源基于集成开关芯片设计升压(BOOST)和降压-升压(BUCK-BOOST)开关电源电路,实现了升压比分别为27和14的+166 V和-166 V小型运放电源。信号源模块输出正弦脉冲宽度调制(SPWM)波并对其解调,经PA443放大成驱动电压。结果表明,该驱动系统在满足体积小和输出稳定的前提下,采用交替驱动方式连接负载,输出峰-峰值可调且最大为326.5 V的正弦双极驱动电压,具有实用创新性和一定带载能力。

The piezoelectric ceramics as the actuator of micro robot have the advantages of quietness and low power consumption,however,the high driving voltage required for high displacement in cantilever is the difficulty of application.In this paper,a high-voltage sinusoidal signal drive system that can control the output frequency and amplitude is designed for a piezoelectric actuator of a fish-like underwater microrobot with dual-fin structure.The drive module of the piezoelectric actuator adopts PA443 high voltage operational amplifier to design the peripheral circuit,and the operational amplifier power supply is based on the integrated switch chip to design the boost(BOOST)and buck-boost(BUCK-BOOST)switching power supply circuits,realizing+166 V and-166 V small operational amplifier sources with boost ratio of 27 and 14 respectively.The signal source module outputs sinusoidal pulse width modulation(SPWM)wave and demodulates it,then amplifies it into driving voltage by PA443.The results show that the drive system adopts alternate drive mode to connect the load under the premise of satisfying small size and stable output.The output peak-to-peak value is adjustable and the maximum sine bipolar drive voltage is 326.5 V.It has practical innovation and a certain load capacity.