33.8 A Decentralized Daisy-Chain-Controlled Switched-Capacitor Driver for Microrobotic Actuators with 10× Power-Reduction Factor and Over 300V Drive Voltage
33.8 A Decentralized Daisy-Chain-Controlled Switched-Capacitor Driver for Microrobotic Actuators with 10× Power-Reduction Factor and Over 300V Drive Voltage
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33.8 用于微型机器人执行器的分散式菊花链控制开关电容器驱动器，具有 10 倍功耗系数和超过 300V 驱动电压
DOI：
10.1109/isscc42613.2021.9365981
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
J. Stauth
中科院分区：
文献类型：
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作者：
Yanqiao Li;Benjamin L. Dobbins;J. Stauth
静电和压电式致动器在许多毫米和厘米级的机器人应用中被使用，因为它们在小尺寸和重量时具有相对较高的能量密度[1-3]。此类换能器通常需要较高的驱动电压(100至300V)，在相对较低的频率(KHz)下，它们以电容负载(1‘S至10’S)为主。与这些器件的驱动电路相关的挑战包括：1)需要产生高压驱动波形，通常由低电压电源增强；2)极端尺寸$(\lt1 cm^{2})$和重量$(\lt\lt1\mathm{g})$约束；3)无功功率$(C_{Load}V_{out，pp}^{2}f_{sw})$通常远高于实际功率，即由致动器[4，5]所做的机械功；4)解决方案通常需要一次(不可充电)电池，这种电池可以提供电能，但不能吸收电能。因此，理想的执行器驱动器将有效地提供无功功率，从低电压电源中提升，但也在放电过程中回收能量。要使用一次电池，剩余能量必须存储在无源组件中，而不是返回到电源。
Electrostatic and piezoelectric actuators are used in a number of mm- and cm-scale robotic applications due to their relatively high energy-density at small size and weight [1 –3]. Such transducers typically require high drive voltages (100 to 300V) at relatively low frequencies $(\lt1$ kHz) where they present as dominantly capacitive loads (1’s to 10’s of nF). Challenges associated with the drive circuits for these devices include: 1) a need to generate a high-voltage drive waveform, often boosted from a low-voltage supply; 2) extreme size $(\lt1 cm^{2})$ and weight $(\lt \lt1\mathrm{g})$ constraints; 3) reactive power $(C_{load}V_{OUT,pp}^{2}f_{sw})$ is typically much higher than real power, i.e., mechanical work done by the actuator [4, 5]; 4) solutions often require primary (non-rechargeable) batteries which can source but not sink power. Thus, the ideal actuator driver would supply reactive power efficiently, boosting from a low-voltage supply, but also recover this energy during discharge. To work with primary batteries, residual energy must be stored in passive components rather than returned to the supply.