转子变形对超声电机自校正功能的影响

自校正超声电机不用编码器可自动消除位移或角位移的累加误差,具有体积小,结构简单的优点。本文首次研究了转子变形对超声电机自校正功能的影响,用有限元方法对边缘切缝转子变形产生的恢复力矩进行了计算,解释了自校正超声电机中发生的新现象。并用两个原型电机对转子的恢复力矩进行了测试,实验结果与有限元计算一致。     

复合振子型大推力大行程直线超声电机特性研究

该复合振子型直线超声电机是作者提出的一种新型直线超声电机结构型式．本文叙述了该电机的基本结构和动作原理,说明了该电机产生大推力和大断电自锁力的机理,给出了所制作的原型机特性实验的结果．该原型机最大推力为１１Ｎ,最大输出功率为１．４Ｗ,正反两向性能基本一致．     

多自由度超声电机的研究现状与展望

多自由度超声电机是将两种以上的超声振动模式按照一定的方式组合,通过在定子的表面产生椭圆运动来实现转子的多自由度转动.文中综述了近年来发展起来的几种多自由度超声电机的结构、工作原理和特征,并就多自由度超声电机的工程应用和未来发展方向进行了展望.     

响应面法的杆式超声电机有限元模型修正

现有杆式超声电机的有限元模型大都采用连续复合材料的简化结构形式,忽略了实际超声电机各部件间的接触特性,导致计算结果与实验结果具有较大偏差。针对该问题,提出了一种采用响应面法的杆式超声电机有限元模型修正方法,来获得高精度的有限元模型。该方法考虑了超声电机螺栓预紧力及各部件接触界面的法向接触刚度和摩擦系数,筛选出显著影响电机工作模态的参数,建立响应面模型替代超声电机的有限元模型实现快速计算结构响应的目的,并以实验模态分析结果为目标对模型进行修正。修正结果表明,修正后的模型模态频率的平均误差由修正前的1.20%降到0.21%,模型精度得到明显改善,表明以响应面的有限元模型修正方法对杆式超声电机以及类似夹心式压电振子的设计具有应用价值。      

机载多环架光电吊舱伺服控制电机的力矩估算

采用多环架稳定的机栽光电吊舱，需要科学准确地估算各环架伺服控制电机的力矩，选择满足控制精度和安装要求的控制电机。通过分析各种扰动作用的途径和多环架结构的抑制效果，估算系统实现指标所需要的加速度、速度，综合出各环架控制电机应有的力矩。得到的数据可用于吊舱系统的性能实现和小型化设计。     

基于相位差起转机制异步电机的模型分析

电机学问题一直以来是人们广泛研究的重点.为了探究异步电机的转速平滑灵活调控问题,简化其电路复杂程度和降低成本,本文提出了一种基于相位差起转机理的电机模型.从电机旋转机制出发,并结合基于有限元差分的商业仿真软件COMSOL加以分析探究,理论上分析了模型中导致电机转盘旋转的力矩的大小及方向,定量地探究了影响转盘旋转速率的影响因素.结果表明,相位差导致转盘所受吸引力的不对称而产生的力矩使得转盘旋转,并且圆盘转速与金属插片相对面积,施加电压等因素成正比,与二者插入间距成反比,金属薄片的插入位置带动圆盘的旋转方向.     

三梁纵弯扭超声驻波电机

论述三梁纵弯扭超声驻波电机的结构及原理．重点用F．E．M．方法研究了三梁纵弯扭耦合振子的动态特性．给出了振动频率和振型随耦合振子结构尺寸的变化规律，并对所研制的实验驻波电机性能进行了测试，还研制了驱动电路．这种电机运行性能优于已有的单梁纵弯扭驻波电机，具有广阔的应用前景．     

弯曲振动模式压电超声微马达研究

对一种圆柱状结构、基于弯曲振动模式的压电超声微马达作了一些结构改进性探索和实验研究,并采用有限元方法对其振动模式进行了分析．已研制的直径为15mm、长25mm的微马达样机,显示出非常高的角分辨率（0．01°）、低速（30r／min～70r／min）和大的力矩（0．055N.m）特性,已在激光多维精密控制系统中获得成功的应用．     

超声马达发展与应用

 超声马达(简称USM)是国内外日益受到重视的一种新型直接驱动电机。同传统的电磁电机不同,USM没有磁极和绕组,不依赖电磁相互作用来传递能量,而是利用压电陶瓷的逆压电效应,将材料的微观形变通过共振放大和磨擦耦合转换成转子或滑块的宏观运动(直线或旋转)。USM具有功率密度大、无电磁干扰、低速大转矩、动作响应速度快、运行无噪音、无输入自锁等特性,在非连续运动领域比传统电机性能优越,USM在工业控制系统、汽车专用电器、超高精密测量仪器、办公自动化设备、智能机器人等领域具有广阔的应用前景,近年来倍受科学界和工业界的重视,是机电控制领域的一个研究热点。     

行波型超声电机定子的共振与反共振特性的研究

针对行波型超声电机定子在共振和反共振点附近表现的不同特性,以压电陶瓷材料大功率驱动下的理论分析和电学分析为基础,通过对实验现象的描述和分析,确立了以频率、机械谐振品质因数、机电耦合系数和相对振动效果等参数作为定量和定性分析定子共振和反共振的性能指标。在实验研究中,以激光测振为直接实验手段,设计了相关实施方案,对行波型超声电机定子在不同驱动方式下表现出的共振和反共振特性进行了分析和对比研究。研究结果表明,行波型超声电机定子在反共振点附近的综合性能要优于共振点附近的性能,实验结果可为行波型超声电机工作状态以及驱动方式的选择提供依据和指导。     

A traveling wave ultrasonic motor of high torque

A traveling wave ultrasonic motor of high torque with a new configuration is proposed in this paper. In the new design, a part of the motor serves as the stator. The rotor is the vibrator consisting of a toothed metal ring with piezoelectric ceramic bonded, which generates ultrasonic vibration. The rotor is in contact with the shell of motor and is driven by the friction between the rotor and the stator. This configuration not only removes the rotor in a conventional type of traveling wave ultrasonic motor but also changes the interaction between the rotor and the stator of the motor so that it improves the output performance of the motor. Although an electric brush is added to the ultrasonic motor, it is easy to be fabricated because of the low speed of motor. The finite element method was used to compute the vibration modes of an ultrasonic motor with a diameter of 100mm to optimize the design of the motor. A 9th mode was chosen as the operation mode with a resonance frequency about 25 kHz. According to the design, a prototype was fabricated. Its performance was measured. The rotation speed-torque curves for various frequencies were obtained. The result shows that its stall torque is greater than 4 Nm within a range of 400 Hz. This ultrasonic motor was used to drive the window glass of a mobile car and the result was satisfactory. In the further the research on the friction material between the stator and the rotor is under way to improve the efficiency of the ultrasonic motor.     

A High Revolution Speed Noncontact Ultrasonic Motor Driven by a Non-Symmetrical Electrode

A noncontact ultrasonic motor based on a non-symmetrical electrode is proposed. This motor has the advantages of using a simple driving electrode and having a high revolution speed. The revolution speed of its three-blade rotor can reach 5100rpm under a driving voltage of 20 V. A method operated easily is proposed to measure the output torque,     

Performances estimation of a rotary traveling wave ultrasonic motor based on two-dimension analytical model

The understanding of ultrasonic motor performances as a function of input parameters, such as the voltage amplitude, driving frequency, the preload on the rotor, is a key to many applications and control of ultrasonic motor. This paper presents performances estimation of the piezoelectric rotary traveling wave ultrasonic motor as a function of input voltage amplitude and driving frequency and preload. The Love equation is used to derive the traveling wave amplitude on the stator surface. With the contact model of the distributed spring-rigid body between the stator and rotor, a two-dimension analytical model of the rotary traveling wave ultrasonic motor is constructed. Then the performances of stead rotation speed and stall torque are deduced. With MATLAB computational language and iteration algorithm, we estimate the performances of rotation speed and stall torque versus input parameters respectively. The same experiments are completed with the optoelectronic tachometer and stand weight. Both estimation and experiment results reveal the pattern of performance variation as a function of its input parameters.     

Development and study of novel non-contact ultrasonic motor based on principle of structural asymmetry

The article presents novel design of non-contact rotary ultrasonic motor consisting of ring-shaped stator vibrating in in-plane flexural mode and rotor provided with blades. In contrast to other motors with similar design proposed motor relies on the use of standing ultrasonic waves. This simplifies design and electronic control of motor and becomes possible due to introduction of artificial asymmetry, for example by tilting one or several blades of the rotor relative to the surface normal. Operating principle of the proposed motor is based on acoustic radiation torque exerted on rotor by ultrasonic waves propagating in air or fluid gap between rotor and stator. This torque is calculated using finite element method by means of COMSOL Multiphysics software. Dynamics of rotor is studied using MathCad software and general theory of nonlinear conservative oscillators. Role of asymmetry is explained on the basis of comparative analysis of potential functions and phase trajectories for symmetric and asymmetric cases. It is shown that direction of rotation is determined by structural parameters of motor, particularly tilting direction (clockwise or counter-clockwise) of the blades. Conceptual design of motor with bidirectional rotation is described. Direction and velocity of rotation in the proposed conceptual design can be potentially controlled by changing excitation frequency of stator.     

Characteristics of ring type traveling wave ultrasonic motor in vacuum

The characteristics of ultrasonic motor strongly depend on the properties of stator/rotor contact interface which are affected by ambient environment. With the developed apparatus, load properties of two ring type traveling wave ultrasonic motors in atmosphere, low vacuum and high vacuum were studied, respectively. Wear of friction material, variations of vacuum degree and the temperature of motor during the experiment were also measured. The results show that load properties of motor A in vacuum were poorer than those in atmosphere, when load torque M_f was less than 0.55 N m. Compared to motor A, load properties of motor B were affected a little by environmental pressure. Wear of friction material in vacuum was more severe than wear in atmosphere. The temperature of motor in vacuum rose more quickly than it in atmosphere and had not reached equilibrium in 2 h experiment. However, the temperature of motor in atmosphere had reached equilibrium in about forth minutes. Furthermore, outgas was also observed during experiment under vacuum conditions.     

Fuzzy auto-tuning PID control of multiple joint robot driven by ultrasonic motors

A three-joint robot is directly driven by ultrasonic motors with advantage of high torque at low speed. The speed of the ultrasonic motors is actually controlled by regulating their operating frequencies. The kinematic and kinetic analyses of the robot have been carried out using Adams. Due to the lack of accurate control model of ultrasonic motors and the time-varying motor parameters, a fuzzy auto-tuning proportional integral derivative (PID) controller for the robot is experimented, in which a simple method to tune parameters of the PID type fuzzy controller on-line is developed and a new position–speed feedback strategy is proposed and implemented. The effectiveness of the proposed control strategy and fuzzy logic controller is verified by experimental investigation.     

Standing wave brass-PZT square tubular ultrasonic motor

This paper reports a standing wave brass-PZT tubular ultrasonic motor. The motor is composed of a brass square tube with two teeth on each tube end. Four PZT plates are attached to the outside walls of the brass tube. The motor requires only one driving signal to excite vibration in a single bending mode to generate reciprocating diagonal trajectories of teeth on the brass tube ends, which drive the motor to rotate. Bi-directional rotation is achieved by exciting different pairs of PZT plates to switch the bending vibration direction. Through using the brass-PZT tube structure, the motor can take high magnitude vibration to achieve a high output power in comparison to PZT tube based ultrasonic motors. Prototypes are fabricated and tested. The dimension of the brass-PZT tube is 3.975 mm × 3.975 mm × 16 mm. Measured performance is a no-load speed of >1000 RPM, a stall torque of 370 μNm and a maximum output power of 16 mW when a sinusoidal driving voltage of 50 V is applied. The working frequencies of the motor are 46,050 Hz (clockwise) and 46,200 Hz (counter-clockwise).     

A vibrators alternation stepping ultrasonic motor

A new concept of a vibrators alternation stepping ultrasonic motor, based on longitudinal vibrations of rectangular Langevin resonators, is presented. The new motor fed by a single-phase resource without feedback is capable of bi-directions step displacements without accumulative displacement error. The step angle is 1.44 degrees, when the 150 grooves on the rotor are used in positioning. The average rotation speed without load in one step is 16.49-14.65 rad/s, and the braking torque is 0.071-0.088 Nm in operating frequency 30 kHz and operation voltage 200 V.     

压电陶瓷超声波马达

压电陶瓷超声波马达是利用压电陶瓷材料激发超声波实现驱动的一种新型电机，同传统的电磁马达和静电马达比较，它具有低速下大力矩输出、无电磁干扰、静音操作、保持力矩大、响应速度快、结构简单等特点。在国外，它已经在精密仪器、航天航空、自动控制、办公自动化、微型机械系统、微装配、精密定位等领域得到了实际应用。文章系统地总结了电压陶瓷声马达的特点，简略介绍了国内外相关技术的发展发问及前沿性研究方向，并提出进一步开发研究的几点建议，希望会对我国压电陶瓷声马达的研究以及相应产品的开发起到积极的促进作用。     

光栅卡卷尺测长技术

本文在光栅卡尺技术和力矩电机技术的基础上，把卡尺量程扩大到２０ｍ作成卡卷尺。利用力矩电机作为卡卷尺的卷紧机构和利用力矩电机作为保证光栅编码器标尺光栅平直度的施力元件，在此基础上，发展了光栅卡卷尺测长技术。基于莫尔条纹技术的光栅卡尺测长技术与其它现有长度测量技术相比成本较低、性能可靠，其测量精度可达０．０５ｍｍ甚至更高。为克服实际应用中卡卷尺的平直度对测量精度的影响，在系统设计中使力矩电机工作在堵转状态作为保证光栅卡卷尺标尺光栅平直的施力元件，并设计了线性调节的力距电机电源。对系统的检测表明，在２０ｍ测程内测量精度为０．１ｍｍ。