纵振夹心换能器式圆筒型行波超声电机理论与实验研究
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摘要
超声电机是近三十年发展起来的一种新型驱动器,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,受到国内外的广泛关注,并在众多领域得到应用,其中对行波超声电机研究的最多,并且应用最广。
传统的圆环型行波超声电机定转子之间的接触状态为动态的点面接触,造成其输出力矩低。另外这种类型的电机将陶瓷片粘在定子齿的背面,通常陶瓷片都比较薄,能量转换能力有限,也限制了电机的输出力矩。针对传统行波电机的上述缺点,本文提出了一种纵振夹心换能器式圆筒型行波超声电机,一方面将定转子之间的动态点面接触改为线面接触,另一方面采用两对纵振夹心换能器激发圆筒的弯振模态。
本文首先介绍了换能器式圆筒型超声电机的基本结构,并对圆筒型定子进行理论分析,从圆柱壳体的振动微分方程出发,通过给定边界条件和初始条件,求解出圆柱壳体振动的特征频率,为此类电机的设计提供初始参数。推导出了弹性体中弯曲行波的方程、激励条件以及定子齿面质点的运动轨迹方程,在理论层面验证该结构电机的可行性。
以理论计算得到的初始参数为基础,采用有限元软件ANSYS10.0设计了振动模态相互匹配的圆筒型定子和换能器。在此基础上,对电机整体建模,先通过模态分析,得到整个电机定子的振型和特征频率,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电机的可行性,最终确定电机的结构参数,并且根据仿真结果发现了该构型电机行波畸变现象,初步分析其产生的原因,提出了改善行波波形质量的方法。
在理论分析的基础上,制作了纵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,验证了理论分析结果的正确性。并结合样机的制作过程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.
The contract states between the stator and the rotator of traditional ring type traveling wave USM is dynamic point-area contract, which lead to low output torque. In addition, the USM by pasting PZT on the other side of the stator’s teeth is limited in output torque, for the small volume of the PZT and low capacity of energy conversion. To make up for the disadvantages of the traditional traveling wave USM, a new type of cylindrical traveling wave USM using longitudinal sandwich transducer (LST-CTUSM) has been presented, which changes the dynamic point-area contract to dynamic line-area contact and uses two pairs of longitudinal sandwich transducer to excited the bending vibration of the cylindrical stator.
The structure of LST-CTUSM is introduced at first, and the theoretical analysis of the stator has been carried out later, derive the bending wave equation of the cylinder、excitation condition and the motion trajectory equation of particles on the teeth surface. Moreover the vibration frequency of the cylindrical shell is computed by giving boundary and initial conditions to its vibration differential equation, and provide initial parameters for designing this kind of USM.
Based on the initial parameters by theoretical calculation, stator and trans-ducer whose vibration mode are matching each other are designed by Ansys 10.0. And then, build the model of the whole motor, get the vibration mode and frequ-ency by model analysis, and get the elliptical motion trajectory of the particles on the driving teeth by transient analysis, verify the feasibility of this kind of USM on the level of simulation, and determine the structure parameters of LST-CTUSM finally. According to the result of the simulation, discover the distortion of the traveling wave and analysis its reason.
Based on the theoretical analysis, the prototype of LST-CTUSM has been made and the experimental platform also has been built to measure mechanical output characteristics of ST-CTWUSM. Moreover, the factors which affect the operation of USM are studied combined with the making process of USM.
传统的圆环型行波超声电机定转子之间的接触状态为动态的点面接触,造成其输出力矩低。另外这种类型的电机将陶瓷片粘在定子齿的背面,通常陶瓷片都比较薄,能量转换能力有限,也限制了电机的输出力矩。针对传统行波电机的上述缺点,本文提出了一种纵振夹心换能器式圆筒型行波超声电机,一方面将定转子之间的动态点面接触改为线面接触,另一方面采用两对纵振夹心换能器激发圆筒的弯振模态。
本文首先介绍了换能器式圆筒型超声电机的基本结构,并对圆筒型定子进行理论分析,从圆柱壳体的振动微分方程出发,通过给定边界条件和初始条件,求解出圆柱壳体振动的特征频率,为此类电机的设计提供初始参数。推导出了弹性体中弯曲行波的方程、激励条件以及定子齿面质点的运动轨迹方程,在理论层面验证该结构电机的可行性。
以理论计算得到的初始参数为基础,采用有限元软件ANSYS10.0设计了振动模态相互匹配的圆筒型定子和换能器。在此基础上,对电机整体建模,先通过模态分析,得到整个电机定子的振型和特征频率,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电机的可行性,最终确定电机的结构参数,并且根据仿真结果发现了该构型电机行波畸变现象,初步分析其产生的原因,提出了改善行波波形质量的方法。
在理论分析的基础上,制作了纵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,验证了理论分析结果的正确性。并结合样机的制作过程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.
The contract states between the stator and the rotator of traditional ring type traveling wave USM is dynamic point-area contract, which lead to low output torque. In addition, the USM by pasting PZT on the other side of the stator’s teeth is limited in output torque, for the small volume of the PZT and low capacity of energy conversion. To make up for the disadvantages of the traditional traveling wave USM, a new type of cylindrical traveling wave USM using longitudinal sandwich transducer (LST-CTUSM) has been presented, which changes the dynamic point-area contract to dynamic line-area contact and uses two pairs of longitudinal sandwich transducer to excited the bending vibration of the cylindrical stator.
The structure of LST-CTUSM is introduced at first, and the theoretical analysis of the stator has been carried out later, derive the bending wave equation of the cylinder、excitation condition and the motion trajectory equation of particles on the teeth surface. Moreover the vibration frequency of the cylindrical shell is computed by giving boundary and initial conditions to its vibration differential equation, and provide initial parameters for designing this kind of USM.
Based on the initial parameters by theoretical calculation, stator and trans-ducer whose vibration mode are matching each other are designed by Ansys 10.0. And then, build the model of the whole motor, get the vibration mode and frequ-ency by model analysis, and get the elliptical motion trajectory of the particles on the driving teeth by transient analysis, verify the feasibility of this kind of USM on the level of simulation, and determine the structure parameters of LST-CTUSM finally. According to the result of the simulation, discover the distortion of the traveling wave and analysis its reason.
Based on the theoretical analysis, the prototype of LST-CTUSM has been made and the experimental platform also has been built to measure mechanical output characteristics of ST-CTWUSM. Moreover, the factors which affect the operation of USM are studied combined with the making process of USM.
引文
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2 K.Uchino Piezoelectric Ultrasonic Motors:Overview. Smart Mater. Structure 1998,(7):173-285
3贺思源.超声电机理论模型与新型超声驱动器的研究.哈尔滨工业大学博士论文. 1998:7~10
4 A L. W. Williams , W. J. Brown. Piezoelectric Motor. 1948 , US Patent:2439499
5褚祥诚.行波超声电机理论建模及其振动行为实验研究.哈尔滨工业大学博士论文. 1999:1~19
6 H. Hose. Ultrasonic Motor for Auto Focus Lenses. Ultrasonic Technology. 1989,1(2): 36~41
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
13 S. Ueha. Present State of the Art of Ultrasonic Motors. Japanese Journal of Applied Physics. 1989, 28(3):34~37
14 K. Nakamura, M. Kurosawa and S. Ueha. Characteristics of a Hybrid Transducer-Type Ultrasonic Motor. IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control. 1991, 38(3): 188~193
15 K. Nakamura, J. Margairaz, T. Ishii and S. Ueha. Ultrasonic Stepping Motor Using Spatially Shifted Standing Vibrations. IEEE Transactions onUltrasonics Ferroelectrics and Frequency Control. 1997, 44(4): 823~828
16 J. R. Friend, J. Satonobu, K. Nakamura, S. Ueha and D. S. Stutts. A Single-Element Tuning Fork Piezoelectric Linear Actuator. IEEE Transactions on Ultrasonics Ferroelectrics and Frequency Control. 2003, 50(2): 179~186
17 J. Satonobu, J. R. Friend, K. Nakamura and S. Ueha. Numerical Analysis of the Symmetric Hybrid Transducer Ultrasonic Motor. IEEE Transactions on Ultrasonics Ferroelectrics and Frequency Control. 2001, 48(6): 1625~1631
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