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1. INTRODUCTION Several Types of Piezoelectric Motors Are Known, Like Traveling Wave Type Ultrasonic Motor Or Inchworm Motor, Et

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1. INTRODUCTION Several Types of Piezoelectric Motors Are Known, Like Traveling Wave Type Ultrasonic Motor Or Inchworm Motor, Et DEVELOPMENT OF POWER CONVERTER FOR HIGH POWER PIEZOELECTRIC MOTORS T. Schulte, N. Fröhleke Institute of Power Electronics and Electrical Drives University of Paderborn, FB14/LEA e-mail: [email protected] Abstract Several types of piezoelectric motors are known to deliver few watts of mechanical output power. This paper deals with the design and development of a LLCC-resonant converter for a novel type of high power piezoelectric motor of up to 4kW mechanical power being used in avionics. The devel- opment of a laboratory power supply became necessary, since suitable power supplies for testing the novel piezoelectric motor during its breadboard stage are not available on the market. The gen- eral function of the LLCC-resonant converter which also provides a DC-offset voltage for avoiding depolarisation problems is described, implementation highlights are outlined and the weight distri- bution is discussed with respect to future development of power converters for avionics. 1. INTRODUCTION class of piezoelectric actuators. The operating fre- quency is about 20kHz and the motors voltage ampli- Several types of piezoelectric motors are known, like tudes are in a range of up to 540V . Additionally the traveling wave type ultrasonic motor or inchworm p HPM should be fed with almost unipolar voltages to motor, etc., see [1]. To the authors best knowledge the avoid depolarisation of the piezoelectric ceramic. most powerful up to date piezoelectric motors deliver Therefore a DC-offset voltage must be superimposed about 20 Watt of mechanical output power at maxi- on the supplied AC-operating voltage. mum efficiency of about 20%. Currently, adequate power supplies are not commer- Within the scope of the EUREKA-project PAMELA cially available. This paper deals with the develop- (Piezo Active Motor for more ELectrical Aircraft) the ment of a provisional power supply for testing the development of a high power piezoelectric motor HPM under laboratory conditions. In chapter 2 the (HPM) is aimed by company SAGEM SA. The HPM is general operation of LLCC resonant converters is out- designed for replacing hydraulic actuators for operat- lined. The realisation problems are discussed in chapter ing secondary flight control surfaces in aircrafts (like 3, while in chapter 4 the weight distribution for the flaps, spoilers, trimming etc., see Fig. 1). Since piezoe- components is discussed with respect to future devel- lectric actuators (motors) combine such features as opment of power converters for use in avionics. high power and torque (or force) density especially at low speed and low electromagnetic interferences, they 2. LLCC RESONANT CONVERTER WITH are suitable for being used in avionics. DC-OFFSET VOLTAGE Requirement for power supplies for piezoelectric Different types of power converters have been dis- motors are very different from those for conventional cussed for feeding piezoelectric motors, e. g. [2], [3], electrical motors, due to higher operating frequencies [4]. Voltage fed resonant converters with half- or full- and capacitive behaviour of the piezoelectric actuators. bridge topology turned out as most suitable. In [3] The novel HPM is designed to generate a mechanical LLCC-resonant circuits are proposed for shaping the output power of about 4kW . The total electrical input transfer function so that almost fixed output voltages power is about 18kW active power1 and from 50 to are generated and in [4] the LLCC-resonant converter 80kVAr capacitive power. This data reflects a new is discussed with respect to its advantages in conjunc- spoiler tion with a control system. Fig. 2 shows the general topology (a) (full-bridge) and the frequency response of a LLCC-resonant converter ()ω ω Vp j Ls 1 trimming flaps G ()jω ==---------------------- j ⋅ --------- – -------------------z LLCC 2 V’ ()jω Rp ω inv LpCs Fig. 1: Secondary Flight Control Surfaces on .(1) –1 an aircraft Cp Ls 1 2 +1++------ ----- – ------------------- – ω L C 2 s p Cs Lp ω L C 1. The efficiency of piezoelectric motors is usually less than 25%. p s 20 a) im c) Ls 10 TA+ TB+ Cs in dB C R 0 p p inv V V vinv L vp / d p p V -10 T TB- A- gain of -20 -30 b) Z Ls/2 DC 150 im 100 . nominal values TA+ TB+ 2 Cs in deg 50 variation of Cp (+ 35%) inv variation of Rp (+ 50%) V piezo- / 0 Lp p v V Vd vinv p electric actuator -50 Coff -100 . T TB- 2 C phase of A- s -150 10 60kHz 100 ZDC Ls/2 19kHz 20kHz 21kHz frequency in kHz Fig. 2: Topology of a conventional LLCC-resonant converter (a), topology of a LLCC-resonant converter with DC-offset voltage (b) and frequency responses of LLCC resonant tanks (c). The frequency response of a LLCC-resonant tank 3. POWER CONVERTER FOR HPM ⁄ ()⋅ ω2 designed with Lp ==Ls 1 CpN sN and 3.1 Topology and Total System Cs = CpN in Fig. 2c shows a gain of almost 0dB and a phase of almost 0deg around the nominal operating Fig. 4 shows the total topology of the system. The frequency ω . C is the nominal capacitance of the sN pN HPM has two times two phases (1a, 1b and 2a, 2b); the piezoelectric actuator. Since piezoelectric motors are phases with index 1 belong to the main mode and operated within a relative small bandwidth (20kHz phases with index 2 belong to the auxiliary mode. Each ±1kHz for HPM), the LLCC-resonant technique pro- phase of the resonant converter feeds two series con- vides almost impressed motor voltages in a sufficient nected sets of piezoelectric actuators. The piezoelectric wide frequency range. In Fig. 2c the load parameters actuators are connected in series in order to decrease C and R , representing a simple passive test load, are p p the total current. Hence the supply voltage is increased varied in order to simulate equivalent behaviour of the from 270V amplitude (operating voltage of piezoe- HPM with temperature (C ) or load (R ) variation. p p p lectric stack) to 540V amplitude. In Chapter 1 it is mentioned, that the motor must be fed p with an additional DC-offset voltage. One simple and The AC-voltages of phases with index a and index b of π reliable measure for providing a DC-offset voltage in a each mode show temporal phase shifts of , see Fig. 3. range of the AC-voltage amplitude is to use the DC-bus The control of the HPM relies on a variation of fre- ϕ voltage directly linked to the output (see Fig. 2b) via quency fs , temporal phase angle el (between 1a and resistors R and/or inductors L (marked by Z DC DC DC V 1a Ts β in Fig. 2b) for decoupling the AC part. The converter 360 1 Vp1a Vinv1a Vd t stage is decoupled from the DC-offset voltage by series Ts β C 360 1 capacitors s distributed on both lines of the LLCC- TS=1/fS resonant tanks, while additional capacitor C is v ϕ off V1b p1 el blocking the DC-voltage from parallel coil Lp . In order t to minimize the influence of the blocking capacitor Vinv1b Vp1b capacitance Coff must by relatively high in compari- vp2 son to the other components and it must be considered V V 2 p2b Ts β 360 2 by choosing Vd t Ts β V 360 2 1 Cp + Coff Vp2a inv2 L = --------- ⋅ ----------------------- .(2) p 2 ⋅ ω Cp Coff sN Fig. 3: Principle waveforms of motor and inverter Since only leakage current must be fed to the resonant voltages. Due to the behaviour of the LLCC- resonant circuits the fundamental components circuits by the DC link, the realisation of RDC (LDC resp.) is no problem. In the framework of this project of the inverters output voltages vinv and cor- responding motors voltages vp are equal. resistive decoupling by RDC is used only. cabinet motor box im1a +L TA1+ TB1+ HPM Cd Cd ip1a V /2 is1a d Coff1 +L 2C v 0 0 S1a vinv1a S1 LS1/2 p1a 1a -L Lp1 Vd/2 T T 2C Cd Cd A1- B1- S1 LS1/2 -L main imt2 mode ip1b T T A2+ B2+ Coff1 +L 0 is1b vp1b 1b B6 -L 2C Lp1 S1b vinv1b S1 LS1/2 TA2- TB2- 2CS1 L /2 L S1 d im2a 2a Coff2 +L 2C is2a S1 /2 v 0 LS1 p2a L EMI TC+ TD+ p2 -L 2CS1 L /2 i axilary S1 m2b mode v 3 S2 inv2 Coff2 -L 2C is2b S1 /2 v 0 LSn p2b L 3 phases p2 +L TC- TD- 400VRMS 2C 2b S1 LSn/2 Fig. 4: Topology of two times two phases 80kVAr LLCC-resonant converter β 2a, 1b and 2b respectively) and duty cycles 1 (for 1a driver stages (each driving a half bridge inverter stage) β and 1b) and 2 (for 2a and 2b). via six independent optical fibres. Phases 1a and 1b of the main mode are fed by two The system also contains a monitoring and control independent full bridge inverter stages, while phase 2a electronic which monitors the DC bus voltage Vd , the and 2b of the auxiliary mode are driven by one com- DC bus current Id , the motor voltages vpi and selected mon inverter stage via two independent resonant cir- component temperatures. cuits, see Fig. 4 and Fig. 5. The DC bus is realized by 3.2 Realization of Power Converter for HPM direct rectification of the 3 phases 400VRMS , 50Hz main2. Relative high capacitance value for C and d Fig. 4 shows the cabinet with the main components input inductors L for ensuring a low ripple on the DC d and in Table 1 the parameters of both phases are listed.
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