According to the application prospect of the miniaturized ultrasonic motor,and focusing on the miniaturization problem of the ultrasonic motor driving circuit,a miniaturized driving circuit based on resonant boost principle is designed.To reduce the colume of the driving circuit,the resonant boost and micro half-bridge inverter are applied to exclude the transformers which are difficult to be miniaturized.Based on the modeling of the ultrasonic motor equivalent circuit and the analysis of the LC resonant circuit,the driving circuit output waveform,the selection of the best matching inductor and the influence of real inductance are researched.The resonant boost output waveform is analyzed based on Matlab/Simulink simulation platform.The driving performance of the resonant boost circuit on the columnar traveling wave type ultrasonic motor is verified by experiments.The experimental results show that the performance meets expectation,and the size is much smaller than the traditional driving circuit with transformers.

In indoor anti-terrorism combats,a single-mode unmanned aerial vehicle (UAV) cannot adapt to complex terrain and is easily destroyed.Aiming at this problem,a small UAV which can bounce on the ground-Scyther, is proposed.The composition,structure and main parameters are firstly given.Then,the main algorithms are explained,and the feasibility of the scheme is analyzed.A combination of coaxial twin-rotor and jumping UAV are used on Scyther.When approaching the target,the coaxial twin-rotor pops up from the main body and sticks to the high position.The camera mounted on it provides a monitoring field of view.The attitude of UAV is controlled through the momentum wheel,whose path is planned using improved ant colony algorithm.Using distributed context-aware algorithm,the UAV’s trajectory will be difficult to predict within the enemy’s visible range,thereby increasing the probability of getting close to the target.Compared with traditional UAVs,Scyther can adapt to a variety of complex terrains,can be controlled remotely, and has the advantages of small size,fast speed,low power consumption,and strong maneuverability.It is suitable for both single and cluster combats,thus is very beneficial for indoor anti-terrorism combats.In addition,Scyther can be equipped with a variety of warheads for different mission requirements,and is applicable for extensive scenarios.