It is difficult for the traditional pan-tilt-zoom(PTZ)system driven by electromagnetic motor to meet the growing demand for video surveillance system.The key challenge is high positioning accuracy,high dynamic performance and miniaturization of the PTZ system.Here a PTZ system driven by two degree-of-freedom obeliskshaped ultrasonic motor with single stator is presented,and its intelligent control algorithm is studied.The structure and driving mechanism of the presented PTZ system are analyzed by both simulation and experiment.To solve the complex nonlinear factors,e.g.time-variation,dead zone,the fuzzy PID control algorithm and the variable gain cross-coupled control strategy are combined to improve the control performance.The results show that the proposed algorithm has faster response,higher precision than traditional control algorithm,and it also has a good robustness to prevent the effect of interference.
The valveless piezoelectric pump integrates driving and transmitting into one operating element,and characterizes easy micro-miniaturization.But,there is the original sin of low pressure and low flow.Thus,it must avoid weakness to choose applications field.This paper analyzes the flow characteristics in the rotary spiral-tube,which will cause the Coriolis force,and subsequently influence the fluid moving.The principle of the pump is deduced,and the spiral-tube-type valveless piezoelectric pump is invented.The angular velocity variation can be obtained when the pump attitude changes,which theoretically verifies the gyroscopic effect of the pump.A pump is fabricated for experimental testing.Experiments has shown that when Archimedes spiral h?4p is selected for the tube design,and the rotation speed of the plate is 70 r/min,the pressure differential is 9 mm H2O,which is 1.5 times that of 0 r/min rotation speed.If introduced the low-cost and miniaturized gyroscope,then this may promise potential application in these areas such as smart cars,robots,and home health care.
The current research of the valveless piezoelectric pump focuses on increasing the flow rate and pressure differential. Compared with the valve piezoelectric pump, the valveless one has excellent performances in simple structure, low cost, and easy miniaturization. So, their important development trend is the mitigation of their weakness, and the multi-function integration. The flow in a spiral tube element is sensitive to the element attitude caused by the Coriolis force, and that a valveless piezoelectric pump is designed by applying this phenomenon. The pump has gyroscopic effect, and has both the actuator function of fluid transfer and the sensor function, which can obtain the angular velocity when its attitude changes. First, the present paper analyzes the flow characteristics in the tube, obtains the calculation formula for the pump flow, and identifies the relationship between pump attitude and flow, which clarifies the impact of flow and driving voltage, frequency, spiral line type and element attitude, and verifies the gyroscopic effect of the pump. Then, the finite element simulation is used to verify the theory. Finally, a pump is fabricated for experimental testing of the relationship between pump attitude and pressure differential. Experimental results show that when Archimedes spiral θ=4π is selected for the tube design, and the rotation speed of the plate is 70 r/min, the pressure differential is 88.2 Pa, which is 1.5 times that of 0 r/min rotation speed. The spiral-tube-type valveless piezoelectric pump proposed can turn the element attitude into a form of pressure output, which is important for the multi-function integration of the valveless piezoelectric pump and for the development of civil gyroscope in the future.
