悬臂弯振换能器式圆筒型行波超声电机的研究
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摘要
超声电机是最近三十年发展起来的一种新型的驱动器,其工作原理是利用压电陶瓷的逆压电效应,将材料的微观变形通过共振放大和摩擦运动转化成转子的宏观运动。由于超声电机具有结构简单、设计灵活、低速大转矩、响应快、无电磁干扰等优点,受到国内外研究者的广泛关注,其中对行波超声电机的研究最多,并且应用最广。
本文介绍了一种新型结构的行波超声电机,采用夹心式弯振换能器对压电陶瓷产生的超声振动进行放大,通过悬臂将放大后的振动传递到定子圆筒上,定子圆筒上有起进一步振幅放大作用的齿,这些齿在定子圆筒产生的行波作用下,生成椭圆形轨迹,驱动转子产生宏观运动。本文介绍的行波超声电机具有以下特点:1、采用夹心换能器激发圆筒的弯振模态,能量密度高;2、将定转子之间的动态点面接触改为线面接触,增大接触面积,提高输出力;3、采用压电陶瓷的d33模式,可以提高机电转化效率。
本文还设计了与圆筒型超声电机定子配套的圆柱形转子,该转子可以实现定子与转子之间预紧力的调节,可以对定子与转子之间的间隙自动补偿,解决了圆筒型超声电机工作时由于摩擦使得定子与转子之间产生间隙的问题。
本文首先对换能器式圆筒型超声电机的基本结构进行介绍,并对圆筒型定子进行理论分析,推导出了弹性体中弯曲行波的方程,在理论层面验证该结构电机的可行性。接着本文以理论计算得到的初始结构参数为基础,采用有限元分析软件ANSYS10.0设计了振动模态相互匹配的圆筒型超声电机定子和换能器。然后在此基础上,对超声电机进行整体建模,通过模态分析,得到整个超声电机定子的模态振型和特征频率,然后通过瞬态分析,得到齿端质点的运动轨迹,在仿真层面上验证了该结构超声电机的可行性。
在理论分析的基础上,制作了悬臂弯振夹心换能器式行波超声电机的实验样机,搭建了实验平台,测试了超声电机的机械输出性能,验证了该结构超声电机的可行性。并结合样机的制作过程和测试数据分析了影响电机运转的不利因素。
Ultrasonic motor (USM) is a new-style actuator developed in recent thirty years. With so many advantages such as simple structure, flexible design, low speed, high torque, quick response, and non-electro-magnetic interference, the USM has been attracting intensive attention at home and abroad and widely applied in many fields, especially the traveling wave USM.
This paper introduces a new structure of traveling wave USM, using bending sandwich-type transducer amplify ultrasonic vibration generated by piezoelectric ceramic, then through the cantilever the amplified vibration was transferred to the stator cylinder. There are tooth on the stator cylinder, which can further amplify the vibration amplitude on the stator cylinder. On the effect of traveling wave generated on stator cylinder. These tooth produce ellipse trajectory and drive the rotor. Then the rotor produces macroscopic motion. The traveling wave USM described in this paper has the following characteristics: 1, using sandwich-type transducer excite the bending vibration mode of cylinder, have high energy density; 2, the point to surface dynamic contact between rotor and stator is replaced by line to surface dynamic contact. Enlarge the contact area, and increase the output power; 3, By using the d33 mode of piezoelectric ceramics, electromechanical conversion efficiency can be improved.
This article also designed cylindrical rotor conformed with the cylinder stator, the rotor can adjust the preload between the stator and rotor, also automatic compensate the gap between the stator and rotor, to resolve the problems that there are gaps between the stator and rotor during the USM is working.
This article first introduces the basic structure of cylinder USM using sandwich-type transducer. Derived bending traveling wave equation in elastic objects, theoretically verify the feasibility of this type of motor structure. Then on the basis of initial structural parameters generated by theoretical calculation, this paper use the finite element analysis software ANSYS10.0 design the cylinder-type USM stator and the transducer have matched vibration mode. On this basis, Create the overall model of ultrasonic motors. By modal analysis, get the mode shape and the characteristic frequency of USM stator, and then by transient analysis, get the trajectory of tooth. Verify the feasibility of this type of USM structure in the simulation level.
On the basis of theoretical analysis, manufacture the prototype of cantilever-bending-vibration-sandwich-transducer-type traveling wave USM, built an experimental platform to test the performance of ultrasonic motor's mechanical output, to verify the feasibility of this structure of USM. Combined with prototype production process and test data, analyze the adverse factors affecting motor functioning.
本文介绍了一种新型结构的行波超声电机,采用夹心式弯振换能器对压电陶瓷产生的超声振动进行放大,通过悬臂将放大后的振动传递到定子圆筒上,定子圆筒上有起进一步振幅放大作用的齿,这些齿在定子圆筒产生的行波作用下,生成椭圆形轨迹,驱动转子产生宏观运动。本文介绍的行波超声电机具有以下特点:1、采用夹心换能器激发圆筒的弯振模态,能量密度高;2、将定转子之间的动态点面接触改为线面接触,增大接触面积,提高输出力;3、采用压电陶瓷的d33模式,可以提高机电转化效率。
本文还设计了与圆筒型超声电机定子配套的圆柱形转子,该转子可以实现定子与转子之间预紧力的调节,可以对定子与转子之间的间隙自动补偿,解决了圆筒型超声电机工作时由于摩擦使得定子与转子之间产生间隙的问题。
本文首先对换能器式圆筒型超声电机的基本结构进行介绍,并对圆筒型定子进行理论分析,推导出了弹性体中弯曲行波的方程,在理论层面验证该结构电机的可行性。接着本文以理论计算得到的初始结构参数为基础,采用有限元分析软件ANSYS10.0设计了振动模态相互匹配的圆筒型超声电机定子和换能器。然后在此基础上,对超声电机进行整体建模,通过模态分析,得到整个超声电机定子的模态振型和特征频率,然后通过瞬态分析,得到齿端质点的运动轨迹,在仿真层面上验证了该结构超声电机的可行性。
在理论分析的基础上,制作了悬臂弯振夹心换能器式行波超声电机的实验样机,搭建了实验平台,测试了超声电机的机械输出性能,验证了该结构超声电机的可行性。并结合样机的制作过程和测试数据分析了影响电机运转的不利因素。
Ultrasonic motor (USM) is a new-style actuator developed in recent thirty years. With so many advantages such as simple structure, flexible design, low speed, high torque, quick response, and non-electro-magnetic interference, the USM has been attracting intensive attention at home and abroad and widely applied in many fields, especially the traveling wave USM.
This paper introduces a new structure of traveling wave USM, using bending sandwich-type transducer amplify ultrasonic vibration generated by piezoelectric ceramic, then through the cantilever the amplified vibration was transferred to the stator cylinder. There are tooth on the stator cylinder, which can further amplify the vibration amplitude on the stator cylinder. On the effect of traveling wave generated on stator cylinder. These tooth produce ellipse trajectory and drive the rotor. Then the rotor produces macroscopic motion. The traveling wave USM described in this paper has the following characteristics: 1, using sandwich-type transducer excite the bending vibration mode of cylinder, have high energy density; 2, the point to surface dynamic contact between rotor and stator is replaced by line to surface dynamic contact. Enlarge the contact area, and increase the output power; 3, By using the d33 mode of piezoelectric ceramics, electromechanical conversion efficiency can be improved.
This article also designed cylindrical rotor conformed with the cylinder stator, the rotor can adjust the preload between the stator and rotor, also automatic compensate the gap between the stator and rotor, to resolve the problems that there are gaps between the stator and rotor during the USM is working.
This article first introduces the basic structure of cylinder USM using sandwich-type transducer. Derived bending traveling wave equation in elastic objects, theoretically verify the feasibility of this type of motor structure. Then on the basis of initial structural parameters generated by theoretical calculation, this paper use the finite element analysis software ANSYS10.0 design the cylinder-type USM stator and the transducer have matched vibration mode. On this basis, Create the overall model of ultrasonic motors. By modal analysis, get the mode shape and the characteristic frequency of USM stator, and then by transient analysis, get the trajectory of tooth. Verify the feasibility of this type of USM structure in the simulation level.
On the basis of theoretical analysis, manufacture the prototype of cantilever-bending-vibration-sandwich-transducer-type traveling wave USM, built an experimental platform to test the performance of ultrasonic motor's mechanical output, to verify the feasibility of this structure of USM. Combined with prototype production process and test data, analyze the adverse factors affecting motor functioning.
引文
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2 K.Uchino Piezoelectric Ultrasonic Motors:Overview. Smart Mater. Structure 1998,(7):173-285
3 Wang J, Guo JF. Development of a Radial-Torsional Vibration Hybrid Type Ultrasonic Motor with a Hollow and Short Cylindrical Structure. IEEE transactions on ultrasonics ferroelectrics and frequency control, 2009,56(5): 1054~1058
4赵淳生,朱华.超声电机技术的发展和应用.机械制造与自动化, 2008,(03)
5林华,洪尚任,翁志刚,林星陵.纵扭复合型超声波电机的结构设计与实验.装备制造技术, 2008,(11)
6时运来,金家楣,赵淳生.单相激励旋转步进超声电机原理.光学精密工程, 2009,(02)
7卢亚萍,孟繁琴,姜开利,袁云龙.超声电机研究现状.微电机. 2005,38(5):75~77
8 Ueha S, Tomikawa Y. Ultrasonic Motors:Theory and Application. Claren-don Press, Oxford,1993,4(24):5~7
9朱美玲,金龙,赵淳生.行波超声电机传动机理的研究(一)――运动传动机理、定子中行波存在条件.振动、测试与诊断.1996,16(4):7~14
10 R.Inaba,.A.Tokushima,O.Kawasaki..Piezoelectric.Ultrasonic.Motor.Proceedings of IEEE Ultrasonics Symposium. 1987:747~756
11伊势悠纪彦.超音波モ―タ.日本音响学会誌.1987,43(3):184~188
12赵淳生,李朝东.日本超声电机的产业化、应用和发展.振动.测试与诊断.1999,(1):1~5
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