行波型超声波电机的模型仿真与试验研究
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摘要
超声波电机(Ultrasonic Motor,简称USM)是一种全新概念的电机,它突破了传统电磁感应电机的概念,利用压电陶瓷的逆压电效应以及电机定子和转子的摩擦耦合来进行电能与机械能间的能量转换。超声波电机的发展历史较短,涉及到多个学科,有关超声波电机运行机理的更深层次研究还处在探索和不断完善的阶段,因此需要在学术研究和工业应用中做更多的工作。
论文围绕超声波电机特别是行波型超声波电机进行模型仿真,采用三种分析方法对其不同特性进行研究,并对这些电机运行性能进行了测试。论文最后还介绍了两种新结构电机的设计。
论文共分8章。第1章主要介绍了超声波电机的发展历史、特点、分类、应用以及研究现状,并结合国内外超声波电机技术的发展趋势,阐述了本论文的研究意义和研究内容。第2章,首先介绍了行波型超声波电机中压电陶瓷的逆压电效应,然后将电机定子等效成一个圆环形薄板,分析了电机定子的横向弯曲固有振动,并给出两种行波型超声波电机的工作模态的振型。最后,根据振动分析结果,简要分析了电机定子表面运动以及定子和转子间的接触情况。在第3章中,作者利用有限元分析方法对行波型超声波电机进行仿真,并介绍了行波型超声波电机定子的模态分析、谐响应分析以及阻抗特性分析,对直径为60mm和100mm的电机定子进行了仿真计算,并利用有限元方法对100mm电机的定子支撑进行了优化。本章的最后介绍了电机转子的有限元分析:包括转子的模态分析、静力学分析以及接触分析,在此基础上对转子结构进行了优化。第4章中对直径为60mm的行波型超声波电机的定子和转子的接触模型进行研究,将电机定子等效成一个复合梁,分析定子表面的质点运行规律,并且研究考虑齿的放大作用时的定子和转子间接触情况。最后将接触模型与转子运行方程结合,建立了基于二维线性接触的仿真模型,并用于实际电机。在第5章中,作者通过对电机定子振型的假设,利用Hamilton能量变分原理,建立了完整的行波型超声波电机动力学仿真模型。根据实际电机参数,计算出电机仿真模型的参数,利用Matlab对电机的动力学仿真模型进行了求解,给出了仿真得到的行波型超声波电机的起动过程,并分析了预压力和驱动频率对电机性能的影响。第6章主要介绍了电机的输入阻抗、起动过程以及运行特性的测试方法,并利用这些方法对实际电机进行了测试,将测试结果与前面各章内仿真计算得到的结果进行比较。最后设计实验,测试了电机在不同预压力下的工作特性以及电机的微步进运行。在第7章中,作者介绍了圆柱定子三自由度超声波电机和基于薄板面内振动的直线型超声波电机的设计,并对三自由度超声波电机结构进行了优化,提出在实际电机调试中,这两种电机工作模态共振频率调整的结构动力学修正方法。第8章是全文的总结部分,简要介绍了本论文的贡献,以及下一步研究方向。
The ultrasonic motor (USM) is a new kind of conceptual electrical machine. Breaking through the principle of the traditional electro-magnetic motor, ultrasonic motors utilize the converse piezoelectric effect and the friction coupling operation of the stator/rotor to perform the energy conversion between the electric energy and the mechanical energy. The research of USM is related to many fields, and its history is not long. The profound research of the USM operation mechanism is exploring and optimizing, so the further study of the USM should be taken.
In this dissertation, three methods are used to study the operation characteristics of the traveling wave type ultrasonic motor (TWUM), and some performance tests are done. At the last, the design method of two types of USM is introduced.
The dissertation contains eight chapters. In 1st chapter, the USM’s developing history, features, classification, application and present research state are introduced respectively, as well as the content and purpose of this dissertation. In 2nd chapter, the converse piezoelectric effect of ceramic is introduced. Simplified with the equivalent ring type plate, the lateral bending vibration and operation mode of USM’s stator is presented. The operation mechanism of USM is also introduced in this chapter. In 3rd chapter, the finite element analysis (FEA) method is used to simulate USMs. The model analysis, harmonic analysis and impedance analysis are used to study the USMs’stator with 60mm and 100mm in diameter. The optimum design is applied to the structure of stator and rotor in USM with 100mm in diameter. With the optimum structure stator and rotor, the USM’s operation performance is improved. In 4th chapter, taking into account the USM with 60mm in stator diameter, the contact model between stator and rotor is studied. In this model, the stator is simplified as an equivalent composite beam, and the teeth on the stator are also considered. In the end of the chapter, the motion equations of the rotor are combined with the contact model, and the 2D linear contact simulation model is established. By using that model, the operation performance of USM is calculated. In 5th chapter, with the assumed vibration model shape of USM stator, using the Hamilton energy variation principle, the complete dynamics simulation model of USM is established. According to the actual structure parameters of USM, the model parameters are calculated. By studying that dynamic model, the starting process is obtained, and the effect of pre-pressure and driving frequency on operation performance is also presented. In 6th chapter, the input impedance, starting process and the test method of USM’s operation performance are presented. By using that method, the testing results are obtained and compared with the simulation results. In this chapter, the test of pre-pressure’s effect and the USM micro-stepping characteristic is also introduced, and the test results are presented. In 7th chapter, the design and optimization of the cylinder stator 3-freedom USM and the piezoelectric ceramic linear USM is presented. And the structure dynamics correcting methods of the two types USM are brought forward. The last chapter is the summary of this dissertation.
论文围绕超声波电机特别是行波型超声波电机进行模型仿真,采用三种分析方法对其不同特性进行研究,并对这些电机运行性能进行了测试。论文最后还介绍了两种新结构电机的设计。
论文共分8章。第1章主要介绍了超声波电机的发展历史、特点、分类、应用以及研究现状,并结合国内外超声波电机技术的发展趋势,阐述了本论文的研究意义和研究内容。第2章,首先介绍了行波型超声波电机中压电陶瓷的逆压电效应,然后将电机定子等效成一个圆环形薄板,分析了电机定子的横向弯曲固有振动,并给出两种行波型超声波电机的工作模态的振型。最后,根据振动分析结果,简要分析了电机定子表面运动以及定子和转子间的接触情况。在第3章中,作者利用有限元分析方法对行波型超声波电机进行仿真,并介绍了行波型超声波电机定子的模态分析、谐响应分析以及阻抗特性分析,对直径为60mm和100mm的电机定子进行了仿真计算,并利用有限元方法对100mm电机的定子支撑进行了优化。本章的最后介绍了电机转子的有限元分析:包括转子的模态分析、静力学分析以及接触分析,在此基础上对转子结构进行了优化。第4章中对直径为60mm的行波型超声波电机的定子和转子的接触模型进行研究,将电机定子等效成一个复合梁,分析定子表面的质点运行规律,并且研究考虑齿的放大作用时的定子和转子间接触情况。最后将接触模型与转子运行方程结合,建立了基于二维线性接触的仿真模型,并用于实际电机。在第5章中,作者通过对电机定子振型的假设,利用Hamilton能量变分原理,建立了完整的行波型超声波电机动力学仿真模型。根据实际电机参数,计算出电机仿真模型的参数,利用Matlab对电机的动力学仿真模型进行了求解,给出了仿真得到的行波型超声波电机的起动过程,并分析了预压力和驱动频率对电机性能的影响。第6章主要介绍了电机的输入阻抗、起动过程以及运行特性的测试方法,并利用这些方法对实际电机进行了测试,将测试结果与前面各章内仿真计算得到的结果进行比较。最后设计实验,测试了电机在不同预压力下的工作特性以及电机的微步进运行。在第7章中,作者介绍了圆柱定子三自由度超声波电机和基于薄板面内振动的直线型超声波电机的设计,并对三自由度超声波电机结构进行了优化,提出在实际电机调试中,这两种电机工作模态共振频率调整的结构动力学修正方法。第8章是全文的总结部分,简要介绍了本论文的贡献,以及下一步研究方向。
The ultrasonic motor (USM) is a new kind of conceptual electrical machine. Breaking through the principle of the traditional electro-magnetic motor, ultrasonic motors utilize the converse piezoelectric effect and the friction coupling operation of the stator/rotor to perform the energy conversion between the electric energy and the mechanical energy. The research of USM is related to many fields, and its history is not long. The profound research of the USM operation mechanism is exploring and optimizing, so the further study of the USM should be taken.
In this dissertation, three methods are used to study the operation characteristics of the traveling wave type ultrasonic motor (TWUM), and some performance tests are done. At the last, the design method of two types of USM is introduced.
The dissertation contains eight chapters. In 1st chapter, the USM’s developing history, features, classification, application and present research state are introduced respectively, as well as the content and purpose of this dissertation. In 2nd chapter, the converse piezoelectric effect of ceramic is introduced. Simplified with the equivalent ring type plate, the lateral bending vibration and operation mode of USM’s stator is presented. The operation mechanism of USM is also introduced in this chapter. In 3rd chapter, the finite element analysis (FEA) method is used to simulate USMs. The model analysis, harmonic analysis and impedance analysis are used to study the USMs’stator with 60mm and 100mm in diameter. The optimum design is applied to the structure of stator and rotor in USM with 100mm in diameter. With the optimum structure stator and rotor, the USM’s operation performance is improved. In 4th chapter, taking into account the USM with 60mm in stator diameter, the contact model between stator and rotor is studied. In this model, the stator is simplified as an equivalent composite beam, and the teeth on the stator are also considered. In the end of the chapter, the motion equations of the rotor are combined with the contact model, and the 2D linear contact simulation model is established. By using that model, the operation performance of USM is calculated. In 5th chapter, with the assumed vibration model shape of USM stator, using the Hamilton energy variation principle, the complete dynamics simulation model of USM is established. According to the actual structure parameters of USM, the model parameters are calculated. By studying that dynamic model, the starting process is obtained, and the effect of pre-pressure and driving frequency on operation performance is also presented. In 6th chapter, the input impedance, starting process and the test method of USM’s operation performance are presented. By using that method, the testing results are obtained and compared with the simulation results. In this chapter, the test of pre-pressure’s effect and the USM micro-stepping characteristic is also introduced, and the test results are presented. In 7th chapter, the design and optimization of the cylinder stator 3-freedom USM and the piezoelectric ceramic linear USM is presented. And the structure dynamics correcting methods of the two types USM are brought forward. The last chapter is the summary of this dissertation.
引文
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