Research On Driving System Of Micro Fish Robot Based On Piezoelectric Actuators

With the rapid development of Micro Electro Mechanical Systems(MEMS)manufacturing technology,the research on micro robotic fish based on smart material actuators has gradually increased.Compared with robotic fish that use traditional actuation methods such as motors and hydraulic drives,micro robotic fish based on smart material actuators have the advantages of low noise,light weight,and high power density,and they are more suitable for unstructured pipeline reconnaissance,environmental protection,etc.The environment has broad application prospects in both military and civilian fields.This paper designs a matching drive control system for a miniature robotic fish driven by a piezoelectric actuator(PZT,Piezoelectric Transducer).The main tasks are as follows:(1)The equivalent model and driving scheme of the piezoelectric bimorph driver.The equivalent model and driving method of piezoelectric bimorph materials are studied,combined with the resonance characteristics of the piezoelectric actuator used in this paper,to determine the driving requirements and schemes of the piezoelectric actuator.(2)Power supply and drive module.Use the "alternating drive" driving method to output bipolar driving voltage,and use the integrated switching chip to build the switching power supply topology,including the Boost topology based on the MC34063 voltage control chip and the Buck-Boost topology based on the MAX1846 current control chip.The circuit is simulated.The PA443 operational amplifier outputs highvoltage,low-current piezoelectric drive signals.(3)Controller module.The piezoelectric control signal with adjustable amplitude and frequency is output through SPWM demodulation,and the hardware design of STM32F103 and the software flow chart of SPWM output are given.(4)PCB design and circuit experiment.Design PCB and select the lithium battery according to the size and weight requirements of small robotic fish power electronic equipment;completed the power module test experiment of the piezoelectric drive system,the controller module experiment,and the overall belt Load drive experiment.The system can output a sine bipolar drive voltage with an adjustable peakto-peak value and a maximum of 326.5V.