CN102255556A - Driver circuit and method for controlling capacitive element - Google Patents

Driver circuit and method for controlling capacitive element Download PDF

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Publication number
CN102255556A
CN102255556A CN2011101262008A CN201110126200A CN102255556A CN 102255556 A CN102255556 A CN 102255556A CN 2011101262008 A CN2011101262008 A CN 2011101262008A CN 201110126200 A CN201110126200 A CN 201110126200A CN 102255556 A CN102255556 A CN 102255556A
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switch
drive circuit
capacity cell
voltage
circuit
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CN2011101262008A
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CN102255556B (en
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戈兰·西维斯
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Mindray Medical Sweden AB
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Mindray Medical Sweden AB
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02MAPPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00Conversion of dc power input into dc power output
    • H02M3/22Conversion of dc power input into dc power output with intermediate conversion into ac
    • H02M3/24Conversion of dc power input into dc power output with intermediate conversion into ac by static converters
    • H02M3/28Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac
    • H02M3/325Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal
    • H02M3/335Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/33569Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only having several active switching elements
    • H02M3/33576Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only having several active switching elements having at least one active switching element at the secondary side of an isolation transformer
    • H02M3/33584Bidirectional converters
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02MAPPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00Conversion of dc power input into dc power output
    • H02M3/22Conversion of dc power input into dc power output with intermediate conversion into ac
    • H02M3/24Conversion of dc power input into dc power output with intermediate conversion into ac by static converters
    • H02M3/28Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac
    • H02M3/325Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal
    • H02M3/335Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/33569Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only having several active switching elements
    • H02M3/33576Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only having several active switching elements having at least one active switching element at the secondary side of an isolation transformer
    • H02M3/33592Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only having several active switching elements having at least one active switching element at the secondary side of an isolation transformer having a synchronous rectifier circuit or a synchronous freewheeling circuit at the secondary side of an isolation transformer
    • HELECTRICITY
    • H10SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10NELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N30/00Piezoelectric or electrostrictive devices
    • H10N30/80Constructional details
    • H10N30/802Drive or control circuitry or methods for piezoelectric or electrostrictive devices not otherwise provided for

Abstract

The invention pertains to a method of charging or discharging a capacitive element, preferably a piezoelectric crystal. The invention pertains also to a device which implements charging of a capacitive element according to said method. The device comprises a bipolar buck-boost converter, whereby a capacitive element can be charged with both positive and negative voltages. The discharge of the capacitive element is provided with energy recovery and feedback to the device's power supply.

Description

The method of drive circuit and control capacitance element
Technical field
The present invention relates to the method for a kind of drive circuit and a kind of control capacitance element, relate in particular to a kind of bipolar voltage lifting regulator that is used to drive at least one piezoelectric actuator.
Background technology
Along with the development of new technology, piezoelectric actuator has replaced electromagnetic driver gradually in the piezoelectric ceramic field.The driver that the development of piezoelectric ceramic process makes manufacturing have faster response speed, more low power consuming becomes possibility.Yet the application of this technology has also brought the challenge of other technologies aspects.The electric control of first piezoelectric actuator.
Piezoelectric actuator need just can make it can both be driven under all states up to the voltage of 1000V.Though, owing to adopted current ceramic multilayer metallization processes, successfully driving voltage is reduced to the scope of 100V, this is a sizable reduction, but still need to provide a high voltage, especially like this for the electronic system under being usually operated at quite low voltage now.And also there is risk in high voltage to the user of equipment, particularly in the application of medical domain.
Structurally, piezoelectric actuator is very similar to ceramic multilayer capacitor, and big electric capacity and high-tension combination make and stored considerable energy in the driver.The benefit of stored energy is that driver still can maintain the original state under the cut situation of power supply, thereby does not need external power supply just can maintain the original state.But its weak point is that when the driver Be Controlled was got back to small voltage (movement) amplitude, the energy of these storages must be released.In the application of Linear Control, this release comprises that the energy of many storages loses by producing heat.The another one problem is, the structure of piezoelectric ceramic belongs to the structure that inherent friction is arranged, and this means that also piezoelectric actuator has about 20% mechanical hysteresis.Therefore, in order not influence the motion of piezoelectric actuator, can provide a reverse voltage that is approximately common forward control voltage 20% for it.The reverse voltage that provides for driver can not surpass 20% of Maximum Forward Voltage, otherwise will damage driver.
A kind of method that solves above-mentioned mentioned problem is to adopt handoff technique in conjunction with inductor, and the energy that is stored in the power subsystem can be fed back to driver.
At United States Patent (USP) 6,617, in 754, the method for many these type of problems of solution has been described, wherein switch be that an inductor component realizes by connecting on the main output of high voltage source.
But the deficiency of this solution is that it is 100V or bigger high voltage source that equipment needs two range of voltage values.
The objective of the invention is, provide a kind of do not need to use high voltage source and can change, method that recuperated energy comes the control capacitance element.
Summary of the invention
Above-mentioned purpose realizes according to the Apparatus and method for that each independent claims provides, and embodiment embodies in the dependent claims.
Therefore, the present invention at first is devoted to slow down or eliminates one or more above-mentioned problem or deficiencies independent or combination of the prior art, and provides equipment as claimed in claim to solve to small part the problems referred to above.
Above-mentioned purpose is to realize by the capacity cell as capacitor on the end of boost pressure controller.By increasing the inductor that extra switching function and employing comprise a plurality of coilings, boost pressure controller can adopt energy recuperation mode (energy recovery) to be the capacity cell charging in conjunction with step down voltage redulator.Comprise in the specific embodiment to capacity cell, particularly the method for piezoelectric crystal charging or discharge.Equipment charges to capacity cell in this way.In different embodiment, the said equipment comprises bipolar voltage lifting converter, and thus, capacity cell can either fill forward piezoelectricity also can fill reverse voltage.In some specific embodiment, capacity cell discharges according to above-mentioned energy recuperation mode, and energy feedback is given the power-supply unit of equipment.
In one aspect of the invention, provide a kind of drive circuit that is used for the control capacitance element.Wherein, described drive circuit comprises the combination of switchable forward adjuster circuit and switchable reverse adjuster circuit, also comprises a plurality of reversing switches.Described drive circuit has two operating states, and can use above-mentioned reversing switch to select, and one of them operating state is a boost pressure controller, and another state is a step down voltage redulator.
According to various embodiment, above-mentioned reversing switch comprises at least 4 switches, and wherein the first main switch S1 and the second main switch S2 are positioned at former limit, for the first time switch S 3 and for the second time switch S 4 be positioned at secondary.
In certain embodiments, described drive circuit comprises at least one inductor, and described inductor comprises at least two wind the line L1 and L2 that are positioned at its former limit in a preferred implementation.
The operating state of drive circuit can obtain in the following way:
Disconnect the second main switch S2, switch S 3 for the first time, closed switch S 4 for the second time, thereby for capacity cell X provides a forward booster circuit by first main switch S1 control, to realize capacity cell X positive charge;
Disconnect the first main switch S1, switch S 4 for the second time, closed switch S 3 for the first time, thereby for capacity cell X provides a reverse booster circuit by second main switch S2 control, to realize capacity cell X reverse charging;
Disconnect the first main switch S1, the second main switch S2, closed switch S 4 for the second time, thus for capacity cell X provides a forward reduction voltage circuit by the switch S 3 controls first time, realize the discharge of capacity cell X and be fed back to energy storage capacitor C.
In another embodiment, capacity cell X one end ground connection, inferior switch S 3 and S4 all place the end of inductor secondary coil L3, and are connected to diode D2 in the middle of the primary coil L2 of the second main switch S2 and transformer.
Interpolation diode D2 can prevent the clamp effect in the reverse booster circuit, and can produce high backward voltage.
Make up foregoing circuit and be in order to drive capacity cell, for example driver element, particularly piezoelectric actuator.Described circuit has formed boost pressure controller and step down voltage redulator by inductance/coil and a plurality of switch that has a plurality of coilings on former limit.Owing to adopted this structure, described drive circuit can by circuit is switched to the forward booster converter or oppositely booster converter realizing control capacitance element positive charge or reverse charging, thereby realize control to capacity cell.
Capacity cell also can switch to the forward buck converter by the state with circuit and realize discharge, and this moment, capacity cell adopted the energy recuperation mode to discharge, and with energy feedback to power-supply device.This means when driver is controlled in lower shift state (a lower deflection), be accumulated in the driver and should do not lose by lost energy by heating system.
When adopting the drive circuit of this structure, the reverse control voltage range of driver also is restricted.When described drive circuit adopts the reverse voltage Control Driver, so that driver can be because of the mechanical hysteresis stop motion time, can not be controlled at circuit under the too high reverse voltage, otherwise can damage driver.This to driver be restricted to maximum allow forward voltage 20% in.
Switch preferably adopts MOS transistor, but is not limited in MOS transistor.
In another aspect of this invention, provide a kind of also method of control capacitance element that drives.Described method comprises provides the combination of switching the boost pressure controller circuit and switching the step down voltage redulator circuit, and a plurality of reversing switches, and provide two kinds of optional operating states for circuit by controlling these reversing switches, one of them operating state is a boost pressure controller, and another state is a step down voltage redulator.
In an embodiment, it is that capacity cell is (as driver element that boost pressure controller is used under forward voltage and reverse voltage, preferably be piezoelectric actuator) charging, and it is the capacity cell discharge that step down voltage redulator is used to adopt the mode of energy recuperation, and with the power-supply unit of energy feedback to drive circuit.
In certain embodiments, the scope of the reverse control voltage of driver is restricted, for example it is limited to maximum allow forward voltage 20% in.
The beneficial effect of this method is identical with above-mentioned equipment.Capacity cell such as driver element, especially piezoelectric actuator, it can either also can be reversed driven by forward voltage, and can under not losing the situation that is stored in energy in the driver, discharge, the loss form of energy has heat radiation etc., and energy is utilized again by being fed back to power-supply device.
Description of drawings
Showed in the embodiment that characteristics of the present invention and advantage will be described below and explained, be please refer to accompanying drawing, wherein:
Fig. 1 is the schematic diagram of a kind of embodiment of circuit;
Fig. 2 is the schematic diagram of the circuit suitable with Fig. 1, and it is connected to the forward booster converter;
Fig. 3 is the schematic diagram of the circuit suitable with Fig. 1, and it is connected to reverse booster converter;
Fig. 4 is the schematic diagram of the circuit suitable with Fig. 1, and it is connected to the forward buck converter;
Fig. 5 is the schematic diagram of the another kind of embodiment of circuit.
Embodiment
It shown in Fig. 1 the schematic diagram among a kind of embodiment of circuit.
The coiling ratio of inductor is N1 and N2 at primary coil, and secondary coil is N3.
Fig. 2 is the schematic diagram of the circuit suitable with Fig. 1, and wherein switch S 2, S3 disconnect switch S 4 closures.This configuration makes circuit be set to the forward booster converter, and energy is converted into the energy storage capacitor C from power Vcc by switch S 1.
Fig. 3 is the schematic diagram of the circuit suitable with Fig. 1, and wherein switch S 1, S4 disconnect, and switch S 3 is closed.This configuration makes circuit be set to reverse booster converter.Energy is converted into the energy storage capacitor C from power Vcc by the help of switch S 2.The coil of diode D1 and inductor is limited in the scope of the requirement that meets parts Vcc than the controlled reverse voltage with capacity cell.
Fig. 4 is the schematic diagram of the circuit suitable with Fig. 1, and wherein switch S 1 and S2 disconnect, switch S 4 closures.This configuration makes circuit be set to the forward buck converter.Energy is converted into the energy storage capacitor C from capacity cell (being piezoelectric crystal) X by switch S 3.
It shown in Fig. 5 schematic diagram according to circuit among the another kind of embodiment of the principle of the invention.In this embodiment, capacity cell X one end ground connection, and switch S 3 and S4 are arranged on the end of inductor secondary coil L3.In addition, also added diode D2, the effect of D2 is to prevent to produce above-mentioned clamp effect when circuit is in reverse pressure-increasning state, that is to say when comprising D2 in the circuit to produce higher reverse voltage.
The transient effect that the cooperation coil that does not have connection to handle the inductor that comprises in the foregoing circuit in the circuit produces owing to mutual inductance because this is a known technology, is no longer showed here.
Be example with transformer as inductor below, to forward boost process, oppositely boost process and forward step-down process describes respectively.
Forward boosts:
This process is effective when the reverse voltage that is restricted changes a higher forward voltage into when make piezoelectric crystal X go up voltage by the transformation to voltage vcc, and in this operating state, switch S 2 and S3 disconnect, switch S 4 closures.The funtion part of circuit as shown in Figure 2 when circuit was in this operating state.Figure 2 shows that the schematic diagram of the circuit suitable with Fig. 1, wherein switch S 2, S3 disconnect switch S 4 closures.
1. when S1 was closed, electric current increased in coil L1.Magnetic field in the transformer core is forward magnetic field.During this period of time, the voltage at diode D4 two ends is Vcc*N3/N1, does not have electric current flow through D4 and X this moment.
2. switch S 1 disconnects, and the magnetic field in the transformer core reduces to zero.The voltage at diode D4 two ends descends rapidly, begins conduction until it, and this moment, the voltage at its two ends was about-0.6V, electric current begin to flow through D4, L3 and X, and after circulation several times, the voltage at X two ends rises to a bigger value gradually, as 120V.After each circulation, the voltage at D1 two ends will increase to Vcc, and do not have electric current among the L1 this moment.
3.S1 closed once more, so circulation.
Oppositely boost:
This process when the voltage that makes crystal X by transformation to voltage vcc from above freezing effective when being raised to limited reverse voltage, in this operating state, S1 and S4 disconnect, the S3 closure.The funtion part of circuit was as shown in Figure 3 when circuit was in this operating state. and Figure 3 shows that the schematic diagram of the circuit suitable with Fig. 1, wherein switch S 1, S4 disconnect switch S 3 closures.
1. when S2 was closed, the electric current among the coil L2 increased.Set up the opposing magnetic field in the transformer core.During this period of time, the voltage at diode D1 two ends is Vcc, and does not have the electric current D1 that flows through.The voltage at diode D5 two ends also be on the occasion of, and do not have electric current flow through L3, D5 and X.
2.S2 disconnect, the magnetic field in the transformer core rises to zero at this moment.Two competing processes are arranged this moment:
Boosting on the L3 produces a reverse voltage at the X two ends, perhaps boosting of L1 will be stored in energy feedback in the transformer to C and power source supply end Vcc.Effectively the forward process of boosting is the voltage by capacity cell (piezoelectric crystal) X two ends, and Vcc and transformer coefficient ratio N3: N1 determine.In fact, oppositely boost be limited in-Vcc*N3/N1 in. work as Vcc=12V, N3: N1 is 5: 3 o'clock, and the maximum voltage at X two ends is-20V.
3.S2 closed once more, so circulation.
The forward step-down:
This process is effective when crystal X discharges, and that is to say, the voltage at crystal X two ends reduces to zero.In this operating state, switch S 1 and S2 disconnect, the S4 closure.The funtion part of circuit Figure 4 shows that the schematic diagram of the circuit suitable with Fig. 1 as shown in Figure 4 when circuit was in this operating state, and wherein switch S 1, S2 disconnect switch S 4 closures.
1, when S3 is closed, the electric current that flows to L3 from X rises.Magnetic field in the transformer core is the opposing magnetic field.During this period of time, the voltage at diode D1 two ends be on the occasion of, and do not have electric current to flow through among the D1.In this stage, crystal X discharges gradually.
2, S3 disconnects, and the magnetic field in the transformer core reduces to zero.The voltage at D1 two ends descends rapidly, begins conduction until it, when this moment, its both end voltage was reduced to pact-0.6V, and has electric current to flow through D1, L1 and C, and energy is fed back to C and Vcc from crystal X.
3, S3 is closed once more, so circulation.
Above content be in conjunction with concrete execution mode to further describing that the present invention did, can not assert that concrete enforcement of the present invention is confined to these explanations.For the general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.

Claims (13)

1. drive circuit that is used for the control capacitance element, it is characterized in that, comprise: the combination of switchable boost pressure controller circuit and switchable step down voltage redulator circuit, and a plurality of reversing switches, described drive circuit comprises two selectable operating states that realize by described reversing switch, one of them operating state is a boost pressure controller, and another operating state is a step down voltage redulator.
2. drive circuit as claimed in claim 1 is characterized in that described reversing switch comprises at least four switches, and wherein first main switch and second main switch are arranged on former limit, for the first time switch and for the second time switch be arranged on secondary; Wherein said drive circuit comprises at least one inductor, and described inductor has at least two elementary coilings on its former limit; And described operating state obtains in the following way:
Disconnect second main switch and switch for the first time, closed switch for the second time, thereby for capacity cell provides a forward booster circuit by the control of first main switch, to realize the positive charge of capacity cell;
Disconnect first main switch, switch for the second time, closed switch for the first time, thereby for capacity cell provides a reverse booster circuit by the control of second main switch, to realize the reverse charging of capacity cell;
Disconnect first main switch, second main switch, closed switch for the second time, thereby for capacity cell provides a forward reduction voltage circuit by the switch control first time, with the discharge that realizes capacity cell and be fed back to energy storage capacitor.
3. drive circuit as claimed in claim 2 is characterized in that,
Capacity cell one end ground connection;
First, second switch all places an end of the secondary coil of inductor; With
In the middle of second main switch and a primary coil, be connected to diode.
4. drive circuit as claimed in claim 1 is characterized in that, described drive circuit comprises having the inductor that is used for as at least two coilings of the energy storage unit of described drive circuit.
5. as each described drive circuit of claim 1-4, it is characterized in that described drive circuit is configured to controllably provide forward voltage or reverse voltage for described capacity cell.
6. drive circuit as claimed in claim 5 is characterized in that, the scope of the reverse voltage at described capacity cell two ends is restricted.
7. as each described drive circuit of claim 1-6, it is characterized in that described capacity cell is a driver element.
8. drive circuit as claimed in claim 7 is characterized in that, described driver element is a piezoelectric actuator.
9. as each described drive circuit of claim 1-8, it is characterized in that at least one reversing switch is a MOS transistor.
10. the method for a control capacitance element is characterized in that comprising:
The combination of one switchable boost pressure controller circuit and switchable step down voltage redulator circuit is provided, and a plurality of reversing switch;
Two kinds of operating states are provided, and wherein first operating state is a boost pressure controller, and second operating state is a step down voltage redulator.
11. method as claimed in claim 10 is characterized in that, described boost pressure controller is used to capacity cell positive charge or reverse charging, and described capacity cell is a piezoelectric actuator; It is the capacity cell discharge that described step down voltage redulator is used to adopt the mode of energy recuperation, and with the power-supply unit of energy feedback to described drive circuit.
12., it is characterized in that the reverse control voltage at driver two ends is limited in setting range as claim 10 or 11 described methods.
13. method as claimed in claim 12 is characterized in that, the reverse control voltage at described driver two ends be limited in maximum effectively forward voltage 20% in.
CN201110126200.8A 2010-05-17 2011-05-16 Drive circuit and the method controlling capacity cell Active CN102255556B (en)

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SE1050485-0 2010-05-17

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RU2698802C1 (en) * 2018-11-30 2019-08-30 Общество с ограниченной ответственностью "РЭНК" (ООО "РЭНК") Method for generation of mechanical oscillations and generator for its implementation

Citations (4)

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US5691592A (en) * 1995-09-14 1997-11-25 Motorola, Inc. Actuator drive and energy recovery system
FR2829314A1 (en) * 2001-09-04 2003-03-07 Renault Control of an electronically driven piezo-electric actuator for automobile engine fuel injection , uses a DC-DC voltage converter-elevator and Push-Pull circuit
US20090072662A1 (en) * 2007-09-17 2009-03-19 Motorola, Inc. Electronic device and circuit for providing tactile feedback
US20090172453A1 (en) * 2007-12-28 2009-07-02 International Business Machines Corporation Apparatus, system, and method for an integrated power supply efficient in high and low power conditions

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DE19825210C2 (en) 1998-04-23 2003-09-25 Gsg Elektronik Gmbh Circuit arrangement for dynamic control of ceramic solid state actuators
FR2831727A1 (en) * 2001-10-30 2003-05-02 Renault CONTROL DEVICE FOR AN ELECTRONICALLY PILOT ULTRASONIC PIEZO-ELECTRIC ACTUATOR, AND ITS IMPLEMENTATION PROCESS

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Publication number Priority date Publication date Assignee Title
US5691592A (en) * 1995-09-14 1997-11-25 Motorola, Inc. Actuator drive and energy recovery system
FR2829314A1 (en) * 2001-09-04 2003-03-07 Renault Control of an electronically driven piezo-electric actuator for automobile engine fuel injection , uses a DC-DC voltage converter-elevator and Push-Pull circuit
US20090072662A1 (en) * 2007-09-17 2009-03-19 Motorola, Inc. Electronic device and circuit for providing tactile feedback
US20090172453A1 (en) * 2007-12-28 2009-07-02 International Business Machines Corporation Apparatus, system, and method for an integrated power supply efficient in high and low power conditions

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WO2011144542A3 (en) 2012-11-29
WO2011144542A2 (en) 2011-11-24
EP2572444A2 (en) 2013-03-27
CN102255556B (en) 2016-08-31
SE1050485A1 (en) 2011-11-18

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