纵弯模态复合型直线超声电机定子质心振动研究

PDF(1158 KB)

振动与冲击 ›› 2017, Vol. 36 ›› Issue (24) : 124-129.

论文

付前卫，姚志远

作者信息 +

Stator mass center’s vibration of a linear ultrasonic motor with bending and longitudinal modes

FU Qian-wei, YAO Zhi-yuan

Author information +

文章历史 +

摘要

针对纵弯模态复合型直线超声电机的质心振动问题，采用等效非线性弹簧层接触理论，建立了刚性平面接触模型和定子法向运动的动力学模型，进而解出一阶纵振模态和定子质心振动的动力学方程，得出质心振动的稳态解。根据建立的模型，分析了定子质心振动对电机机械输出性能的影响；并通过MATLAB仿真计算进一步分析了预压力弹簧刚度、预压力大小等因素对定子质心振动响应的影响。最后制作样机并开展了实验研究。实验表明模型是有效的，该研究可以为直线超声电机的动力学建模和结构优化设计提供理论依据。

Abstract

Aiming at the stator’s mass center vibration problem of a linear ultrasonic motor with bending and longitudinal modes, based on the nonlinear spring layer contact theory, the rigid plane contact model and the dynamic model of the stator’s motion in normal direction were established. By solving the first order longitudinal vibration mode of the motor and the dynamic equation of the stator’s mass center, the steady-state solution to the mass center vibration was obtained. According to the established models, the effect of the stator mass center vibration on the motor’s mechanical output performance was analyzed. The influence of pre-pressure spring stiffness and pre-pressure on the stator mass center vibration response was analyzed with MATLAB simulation computation. Finally, the prototype was made and used to conduct tests. The test results showed that the two models are effective; this study can provide a theoretical basis for dynamic modeling and structural optimization design of linear ultrasonic motors.

导出引用

付前卫，姚志远. 纵弯模态复合型直线超声电机定子质心振动研究[J]. 振动与冲击, 2017, 36(24): 124-129

FU Qian-wei, YAO Zhi-yuan. Stator mass center’s vibration of a linear ultrasonic motor with bending and longitudinal modes[J]. Journal of Vibration and Shock, 2017, 36(24): 124-129

参考文献

[1] 赵淳生. 超声电机技术与应用[M]. 北京:科学出版社,
2007. 313-317.
ZHAO Chun-sheng. Ultrasonic motors technologies and applications[M].Beijing: science ,2007.1-22.
[2] 张健滔, 李朝东, 何晓菁. 卧板式直线超声电机的特性分析模型[J]. 中国电机工程学报, 2012(18):137-144.
ZHANG Jian-tao, LI Chao-dong, He Xiao-jing. Modeling for Characteristic Analysis of a Plate-type Linear Ultrasonic Motor[J]. Proceedings of the CSEE, 2012(18):137-144.
[3] 丁庆军, 姚志远, 郑伟,等. 行波型超声电机定子摩擦材料的研制及其摩擦磨损性能研究[J]. 摩擦学学报, 2007, 27(6):578-582.
DING Qing-jun, YAO Zhi-yuan, ZHENG Wei, et al. Experimental Study of Friction Material adhere to the Stator of the Traveling Wave Type Rotary Ultrasonic Motor[J]. Tribology, 2007, 27(6):578-582.
[4] 曲焱炎, 曲建俊, 袭建军. 驻波超声电机摩擦材料ABAQUS特性仿真计算与研究[J]. 电机与控制学报, 2014(12):95-101.
QU Yan-yan, QU Jian-jun, XI Jian-jun. ABAQUS simulation and research of frictional material for standing wave ultrasonic motor[J]. Electric Machines and Control, 2014(12):95-101.
[5] 贺红林, 何文丛, 刘文光. U型变截面薄板面内复合模态驱动的直线超声电机[J]. 振动与冲击, 2014(18):65-71.
    HE Hong-lin, HE Wen-cong, LIU Wen-guang. A linear ultrasonic motor driven by an U-shaped stator’s in-plane hybrid vibration modes[J]. Journal of Vibration and Shock, 2014(18):65-71.
[6] 王金鹏,周宏平,时运来. 直线超声电机驱动的精密运动平台的位移分辨率[J]. 振动与冲击, 2015, 34(22):178-182.
     WANG Jin-peng, ZHOU Hong-ping, SHI Yun-lai. Displacement resolution of precision stage driven by linear ultrasonic motors[J]. Journal of Vibration and Shock, 2015, 34(22):178-182.
[7] 李向华, 陈超, 赵淳生. 非接触式直线型超声电机的振动分析[J]. 振动与冲击, 2010, 29(7):149-152.
    LI Xiang-hua, CHEN Chao, ZHANG Chun-sheng. Vibration Studies of non-contact linear ultrasonic motor[J]. Journal of Vibration and Shock, 2010, 29(7):149-152.
[8] Mashimo T, Toyama S. Micro rotary-linear ultrasonic motor for endovascular diagnosis and surgery[C]//Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on. IEEE, 2008: 3600-3605.
[9] 王赟, 姚志远, 耿冉冉. 直线超声电机驱动的并联微操作手的结构设计[J]. 机器人, 2015, 37(5):573-580.
WANG Yun, YAO Zhi-yuan, GENG Ran-ran. Structure Design of a Parallel Micromanipulator Driven by Ultrasonic Motors[J]. Robot, 2015, 37(5):573-580.
[10] 颜佳佳, 阮新波. 旋转型行波超声电机的等效电路模型[J]. 中国电机工程学报, 2009(15):80-87.
    YAN Jia-jia, RAN xin-bo. Electrical Equivalent Circuit Model of Traveling Wave Type Rotary Ultrasonic Motor[J]. Proceedings of the CSEE, 2009(15):80-87.
[11] Moal P L, Minotti P. A 2-D analytical approach of the stator-rotor contact problem including rotor bending effects for high torque piezomotor design[J]. European Journal of Mechanics - A/Solids, 1997(6).
[12] 陈超. 旋转型行波超声电机理论模型的研究[D]. 南京航空航天大学, 2005.
    CHEN Chao. Research on Traveling Wave Type Rotary Ultrasonic Motor modeling[D]. Nanjing University of Aeronautics and Astronautics, 2005.
[13] 陈超, 赵淳生. 旋转型行波超声电机中三维接触机理的研究[J]. 中国电机工程学报, 2006, 26(21):149-155.
CHEN Chao, ZHAO Chun-sheng. Study on the Three Dimensional Contact Mechanism of Traveling Wave Type Rotary Ultrasonic Motor[J]. Proceedings of the CSEE, 2006, 26(21):149-155.
[14] 王金鹏, 金家楣, 赵淳生. 行波型旋转超声电机速度稳定性研究[J]. 中国电机工程学报, 2011, 31(30):109-116.
WANG Jin-peng, JIN Jia-mei, ZHAO Chun-sheng. Velocity Stability Research of Traveling Wave Type Rotary Ultrasonic Motor[J], Proceedings of the CSEE, 2011, 31(30):109-116.
[15] 罗辞勇, 张帆, 杜劲超. 行波型超声电机的稳定性分析[J]. 重庆大学学报, 2014, 37(2):46-53.
LUO Yong-ci, ZHANG Fan, DU Jin-chao. Stability study of the traveling wave ultrasonic motor[J]. Journal of Chongqing University, 2014, 37(2):46-53.
[16] 许海, 赵淳生. 直线型驻波超声电机的定、动子间接触及摩擦分析[J]. 南京航空航天大学学报, 2005, 37(2):144-149.
XU Hai, ZHAO Chun-sheng. Contact Process and Friction Analysis of Linear Ultrasonic Motor[J]. Journal of Nanjing University of Aeronautics and Astronautics, 2005, 37(2):144-149.
[17] 周胜利, 姚志远. 直线超声电机定/动子接触的微观力学模型[J]. 振动与冲击, 2012(20):90-93.
ZHOU Sheng-li, YAO Zhi-yuan. Micromechanic model for contact between a linear ultrasonic motor’s stator and mover[J]. Journal of Vibration and Shock, 2012(20):90-93.
[18] 万志坚, 胡泓. 面内弯纵型直线超声电机的驱动与摩擦分析[J]. 振动、测试与诊断, 2014, 34(2):229-236.
    WAN Zhi-jian, HU Hong. Analysis on Friction Driving of Linear Ultrasonic Motor with In-Plane Bending and Longitudinal Mode[J]. Journal of Vibration, Measurement and Diagnosis, 2014, 34(2):229-236.
[19] Li X, Yao Z, Wu R. Modeling and sticking motion analysis of a vibro-impact system in linear ultrasonic motors[J]. International Journal of Mechanical Sciences, 2015, 100:23-31.
[20] Tsai M S, Lee C H, Hwang S H. Dynamic modeling and analysis of a bimodal ultrasonic motor.[J]. IEEE Transactions on Ultrasonics Ferroelectrics & Frequency Control, 2003, 50(3):245-56.
[21] Wan Z, Hu H. Modeling and experimental analysis of the linear ultrasonic motor with in-plane bending and longitudinal mode[J]. Ultrasonics, 2013, 54(3):921-928.
[22] Zhou S, Yao Z. Design and optimization of a modal-independent linear ultrasonic motor[J]. Ultrasonics, Ferroelectrics, and Frequency Control, IEEE Transactions on, 2014, 61(3): 535-546.