An electric contact method to measure contact state between stator and rotor in a traveling wave ultrasonic motor

Performances of ultrasonic motor (USM) depend considerably on contact state between stator and rotor. To measure the contact state in a traveling wave ultrasonic motor (TWUSM), a special test method is necessary. This paper develops a new method named electric contact method to measure contact state of stator and rotor in traveling wave type USM. The effects of pre-load and exciting voltage (amplitude) of stator on contact state between stator and rotor are studied with this method. By a simulating tester of friction properties of TWUSM, the variations of stalling torque and no-load speed against the pre-load and the exciting voltage have been measured. The relative contact length that describes the contact characteristic of stator and rotor is proposed. The relation between the properties of TWUSM and the contact state of stator and rotor are presented. Additionally, according to a theoretical contact model of stator and rotor in TWUSM, the contact lengths at given conditions are calculated and compared with the experimental results.     

Finite element modelling of a rotating piezoelectric ultrasonic motor

The evaluation of the performance of ultrasonic motors as a function of input parameters such as the driving frequency, voltage input and pre-load on the rotor is of key importance to their development and is here addressed by means of a finite element three-dimensional model. First the stator is simulated as a fully deformable elastic body and the travelling wave dynamics is accurately reproduced; secondly the interaction through contact between the stator and the rotor is accounted for by assuming that the rotor behaves as a rigid surface. Numerical results for the whole motor are finally compared to available experimental data.     

Numerical analysis of the hybrid transducer ultrasonic motor: comparison of characteristics calculated by transmission-line and lumped-element models

In this paper, a hybrid transducer ultrasonic motor is numerically analyzed by using two equivalent electrical circuit models. A transmission-line model for the torsional vibration in the stator, which can model any torsional vibration mode and their combinations, was introduced and compared with a lumped-element model, which modeled the fundamental torsional resonance mode in the stator. The calculation result by using the transmission-line model demonstrated that the second harmonic torsional vibration increased either with the static spring force by which the rotor was pressed to the stator or with the load torque placed on the rotor. The difference in the calculated motor performance between the two models appeared when the second harmonic torsional vibration became large at a sufficient static spring force.     

Rotordynamical simulations of a fibre refiner during production

A key component in panel board production is the refiner, whose task is to break raw cellulose wood chips into slender fibres, done by a relative angular motion between stator and rotor. The main problem in predicting the dynamics of these machines is to model the complicated fibre breaking process, since the refining process leads to a three-phase flow (solid wood, water and steam) between the stator and rotor. By modelling the rotor as a rigid body, the process can only contribute by a resulting force and a resulting moment. Through this approach and axial force measurements, it has been shown that the refining process can be treated as a time dependent stiffness matrix and external load. The objective for this paper is to predict and explain dynamical characteristics of fibre refiners during production in such a way that the results can be used already at early stages of the product development process. Two different pressure distribution cases are studied, i.e. one axisymmetric with only radial variations and one non-axisymmetric. It is found that the axisymmetric case only excited forward modes, while the non-axisymmetric case excited all modes. The time dependent stiffness matrix resulted in unstable domains, but also in stable domains with intermittent high amplitudes.     

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.     

Traveling wave ultrasonic motor: coupling effects in free stator

Generally a stator of traveling wave ultrasonic motor (TWUM) consists of piezoelectric transducers (annular plate or rods) coupled by the way of a metallic ring. These transducers divided into halves are excited independently by two electrical signals with different phases of about 90 degrees. So an elastic traveling wave propagates along the circumference of the ring and a rotor pressed on this vibrating surface is then driven by the stator via contact forces. Many difficulties appear in developing TWUM because the contact between the stator and the rotor via a frictional material is very important. However that may be, the first stage consists in obtaining a vibrating stator with optimum characteristics with two symmetrical phases. The aim of this paper is to discuss some coupling effects in a free stator through an enhanced equivalent circuit model. A simple experimental method based on impedance measurements is performed to estimate the coupling characteristics at a low driving voltage. This paper reports results obtained with the free stator of the well known piezoelectric ultrasonic motor "USR60" by Shinsei Co. Ltd. Since the stator behaves as an elastic body, interactions between the two electrical inputs might be described by the introduction of a coupling oscillator. The comparison of experimental and theoretical results leads to validate the new equivalent circuit of the free stator. The presence of coupling impedance could imply a change of electrical supply condition to optimize the TWUM efficiency. The effects of unbalanced features for each electrical input and the applicability of the proposed model to actual operating condition are discussed in the paper.     

Dynamic analysis of a BLDC motor with mechanical and electromagnetic interaction due to air gap variation

In this study, the dynamic behaviors of a BLDC motor are analyzed, when the motor undergoes mechanical and electromagnetic interaction due to an air gap variation between the stator and rotor. When considering the air gap variation caused by the translational motion of the rotor relative to the stator, the kinetic and potential energies, Rayleigh dissipation function, and the magnetic coenergy are expressed in terms of the rotor displacements and stator currents. With these energies and function, new equations of motion are derived using Lagrange’s equation. The equations for the proposed model are nonlinear equations in which the displacements and currents are coupled. The time responses for the displacements and currents are computed for the proposed and previous models. Furthermore, the effects of rotor eccentricity are also investigated. It is found that, when the air gap varies with time, the time responses for the proposed and previous models have small differences in the stator currents, electromagnetic torques, and rotating speeds. However, the time responses have large differences in the rotor displacements. Therefore, this paper claims that the proposed model describes the dynamic behaviors of the motor more accurately than the previous model. It is also shown that rotor eccentricity increases the stator current period and the electromagnetic torque, while it decreases the rotating speed of the rotor.     

A finite volume method and experimental study of a stator of a piezoelectric traveling wave rotary ultrasonic motor

Piezoelectric traveling wave rotary ultrasonic motors are motors that generate torque by using the friction force between a piezoelectric composite ring (or disk-shaped stator) and a metallic ring (or disk-shaped rotor) when a traveling wave is excited in the stator. The motor speed is proportional to the amplitude of the traveling wave and, in order to obtain large amplitudes, the stator is excited at frequencies close to its resonance frequency. This paper presents a non-empirical partial differential equations model for the stator, which is discretized using the finite volume method. The fundamental frequency of the discretized model is computed and compared to the experimentally-measured operating frequency of the stator of Shinsei USR60 piezoelectric motor.     

Reluctance machines incorporating high temperature superconducting materials on the rotor

The computer modelling of reluctance machines with rotors containing both iron and high temperature superconducting (HTS) materials, using the finite element method (FEM), is presented in this paper. The modelling permits to obtain the field and stator current distribution from where reluctance torque is evaluated. Different solutions are analyzed and experimental results on a 2 kW reluctance motor using HTS materials on the rotor and cooled by liquid nitrogen, show a significant increase in the torque values, when compared with that of a correspondent conventional machine. Pre-magnetization of these rotors by field cooling is explained and this process gives a mechanical output power undoubtedly better than that of a conventional reluctance machine.     

Acceleration of unbalanced flexible rotors through the critical speeds

The bending vibrational behaviour of a flexible rotor with a continuous mass distribution passing its critical speeds under a driving torque is considered. It is shown that the (non-linear) equations of motion for an actual shaft can be formally traced back to those of a Laval rotor. In this way, the results for a Laval rotor, which, in an earlier publication by the authors [1], have been presented generally for constant load torque can be applied to actual rotors. The system parameters of the Laval rotor merely have to be replaced by the generalized parameters of the respective bending modes. A special study shows that the effect of the torsional flexibility of the shaft on the bending vibrational behaviour is negligible.     

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.     

Influence of load torque on stability of rotor driven by flexible shaft

The influence of the load torque on the stability of a symmetric rotor, driven by a flexible shaft, is studied. Both linear and angular displacements of the rotor are considered. The analysis—which is approximate, and with the deflection, the damping and the load torque assumed to be small—shows that the main destabilizing effect of the load torque is due to the transverse moments acting while the rotor is inclined. The reaction pattern at the ends of the shaft, determined by means of the Kirchhoff equations, indicates that the semitangential mode of loading (conservative) is operative.     

Balancing of machinery with a flexible variable-speed rotor

The balancing procedure of machines composed of a flexible rotating part (rotor) and a non-rotating part (stator) mounted on suspensions is presented. The rotating part runs at a variable speed of rotation and is mounted on bearings with variable-speed-dependent characteristics. Assuming that the unbalance masses are relatively well defined, such as in the case of a crank-shaft, the procedure is based on a numerical approach using rotordynamics theory coupled with the Finite Element and Influence Coefficient Methods. An academic rotor/stator model illustrates the procedure. Moreover, the industrial application concerns a refrigerant rotary compressor whose experimental investigation permits validating the model. Assuming that the balancing planes are located on the rotor, it is shown that reducing the vibration level of both rotor and stator requires a balancing procedure using target planes on the rotor and on the stator. In the case of the rotary compressor, this avoids rotor-to-stator rubs and minimizes vibration transmission through pipes and grommets.     

Contact mode and force transferring model of cylindrical ultrasonic motor with bending vibration mode

Cylindrical Ultrasonic Motor （CUSM） can be widely used in many fields such as zoom and focus system of cameras, electric curtain and micro-driver of MEMS. This work concentrates on the single-point and the double-point contact modes between the stator and the rotor, which are proved by theory and experiment. There is a critical point of the pre-pressure. When the pre-pressure is below the critical point, the single-point model is suitable; otherwise the double-point model is appropriate. Then the force transferring model is analyzed, and expressions of mechanical characteristics and efficiency of the motor are put forward. Simulation results are confirmed by experimental ones, which shows that the model is well suited to guide design of the motor. Finally a Ф14 mm prototype was fabricated. Its maximum torque is 0.11 Nm, and the no-load speed is about 300 r/min.     

基于电接触法的行波超声电机接触特性研究

电接触法是测试超声电机定转子接触状态的有效方法,但目前该方法主要用来研究电机堵转时的定转子接触状态,没有进行电机旋转时的接触状态的测试。针对该问题,对电接触法进行改进,使之可以测试电机旋转时的接触状态。基于改进后的电接触法分别对超声电机堵转和空载情况下定转子相对接触长度进行测试。结果表明,空载时定转子相对接触长度要小的多,与堵转时的最大差值约为36%。说明负载对超声电机接触状态有不可忽视的影响。最后,基于黏弹性接触模型对电机空载时定转子接触状态进行仿真计算,结果与实验值有很好的一致性,表明改进后的电接触法可有效的测试电机动态接触状态。      

The global responses characteristics of a rotor/stator rubbing system with dry friction effects

Rotor/stator rubbing systems may undertake a number of quite different responses. Recent experiments on rotor/stator rubbing have revealed that two or three different responses may coexist. In this paper the global response characteristics of a general rotor/stator rubbing system, which takes into account the dominant factors in the process of rotor/stator rubbing, especially, the dry friction effect that is mostly neglected in the previous works and is the main factor for the self-excited dry friction backward whirl, are studied. The different solutions of the piecewise nonlinear system are derived and their stability are analyzed to get the existence boundaries of the different responses. An overall picture of the global response characteristics of this model is then obtained by drawing the existence boundaries in a same parameter space. The present results provide good understanding on the coexistence of different rubbing responses observed in tests. Moreover, deeper insight into the types of coexistence of different rubbing responses and their relationship with the system parameters is gained.     

轴向间隙对动 /静相干叶排内部非定常特性的影响

本文采用文献［3,4］所发展的滑移界面技术,求解了不同轴向间隙时某一透平级内的非定常流场, 发现轴向间隙由0.152倍栅距变化到0.533倍栅距时,监测点速度u的相对振幅由26.27%下降为7.94%; 速度v的相对振幅由21.34%下降到7.3%。计算结果表明轴向间隙的增大将使动/静叶排间的相互干扰作用减弱,从而使其内部非定常流动特性减小,为设计工作提供了参考依据     

亚音速轴流风扇后掠叶片定子与湍流互作用宽频辐射噪声预报

针对亚音速轴流风扇后掠叶片定子的宽频辐射噪声问题,介绍并推导了叶栅宽频辐射声功率计算公式,通过该公式计算后掠叶片定子的宽频辐射声功率级,并从湍流入流和叶栅响应的角度揭示后掠角对定子辐射噪声的影响机理。在此基础上,考虑到实际风扇定子工作在转子尾流中的情况,采用Gauss尾流模型模拟转子尾流,建立转子尾流湍流波数谱模型,推导得到定子叶片与转子尾流互作用的宽频辐射声功率计算公式。通过与NASA风扇试验模型对比得到,考虑转子尾流的定子叶栅宽频辐射声功率计算公式能够较好的预报后掠定子宽频辐射声功率。最后,针对试验风扇模型,分析叶片安装角、叶片弦长对后掠叶片定子辐射噪声的影响。      

共轴双旋翼悬停状态气动噪声特性分析

结合CFD(Computational fluid dynamics)方法和FW-H(Ffowcs Williams-Hawkings)方程,建立了一套适合于悬停状态下共轴刚性双旋翼气动噪声特性计算方法。为了准确模拟共轴旋翼流场的涡干扰现象和非定常特性,基于运动嵌套网格技术与双时间推进方法,采用积分形式的可压雷诺平均Navier-Stokes(RANS)方程作为双旋翼非定常流场求解控制方程,湍流模型选用Baldwin-Lomax模型。通过Farassat 1A公式计算双旋翼气动噪声特性,每个声源微面的位置和载荷信息直接从桨叶表面网格中获取。然后,对水平面内和竖直面内观测点处共轴双旋翼厚度噪声、载荷噪声和总噪声的声压时间历程和频谱特性做了细致对比。模拟结果表明:上旋翼和下旋翼反向旋转的特点对声压时间历程影响显著,不同方向观察点的声压波形峰值对应的相位不同;共轴旋翼流场中存在的文丘里效应、桨-涡干扰现象以及下洗流的作用使得桨叶气动载荷呈现明显的非定常特征,导致共轴双旋翼的载荷噪声辐射强度较大;在低频段,总噪声受厚度噪声主导,而在高频段则受载荷噪声主导。