Energy consumption of piezoelectric actuators for inertial drives
Energy consumption of piezoelectric actuators for inertial drives
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DOI：
10.1109/mhs.2003.1249909
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发表时间：
2003-12
期刊：
影响因子：
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通讯作者：
W. Driesen;A. Bergander;T. Varidel;J. Breguet
中科院分区：
文献类型：
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作者：
W. Driesen;A. Bergander;T. Varidel;J. Breguet
对于集成在自主设备中的带有压电执行器的惯性驱动器来说，能耗是一个主要问题。本文讨论了有关压电执行器惯性驱动器能耗的一些理论问题和一些实验结果。对于给定的速度，每个行驶距离的能量消耗应该最小化。推导了惯性驱动器的步进效率并对其进行优化。接下来，讨论驱动电压和驱动频率之间的权衡。稍后将讨论用于惯性驱动器的压电执行器的一些规模效应。机械放大增加了步长，但同时降低了执行器刚度，因此降低了驱动频率的限制。所开发的理论通过基于粘滑运动的微型机器人平台的四个原型的实验结果进行了说明。
Energy consumption is a major issue for inertial drives with piezoelectric actuators that are integrated in autonomous devices. This paper discusses some theoretical aspects and some experimental results about the energy consumption of inertial drives with piezoelectric actuators. For a given velocity the energy consumption per traveled distance should be minimized. The step efficiency of inertial drives is deduced and should be optimized. Next, the trade-off between driving voltage and driving frequency is discussed. Some scale effects of piezo actuators for inertial drives are shortly discussed. Mechanical amplification increases step sizes, but at the same time lowers the actuator stiffness and so it lowers the limit of the driving frequency. The developed theory is illustrated with experimental results pf four prototypes of a micro robotic platform based on stick-slip motion.