US 11,888,415 B2
Piezoelectric stick-slip-motor and method of controlling same
William Culpi, Lake Forest, CA (US); and Jerome Kneipp, Sundhoffen (FR)
Assigned to PHYSIK INSTRUMENTE (PI) GMBH & CO. KG, Karlsruhe (DE)
Appl. No. 17/640,142
Filed by Physik Instrumente (PI) GmbH & Co. KG, Karlsruhe (DE)
PCT Filed Aug. 25, 2020, PCT No. PCT/EP2020/073749
§ 371(c)(1), (2) Date Mar. 3, 2022,
PCT Pub. No. WO2021/043636, PCT Pub. Date Mar. 11, 2021.
Claims priority of application No. 19195819 (EP), filed on Sep. 6, 2019.
Prior Publication US 2022/0321030 A1, Oct. 6, 2022
Int. Cl. H02N 2/06 (2006.01); H02N 2/02 (2006.01)
CPC H02N 2/062 (2013.01) [H02N 2/025 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of controlling a piezoelectric stick-slip motor, the method comprising:
a. Step A: applying to the piezoelectric stick-slip motor a cyclic sawtooth-waveform drive voltage signal with a constant frequency in which a drive voltage (V) increases to and decreases from a peak voltage (Vp) for operating the piezoelectric stick-slip motor with a constant speed; and
b. Step B: changing a piezoelectric stick-slip motor speed by gradually increasing or decreasing a gradient (dV/dt) of increasing the drive voltage (V) to the peak voltage (Vp) with each subsequent sawtooth-waveform drive voltage signal cycle (C) while keeping a frequency of the cyclic sawtooth-waveform drive voltage signal constant.