建立了一种考虑不同运转情况的对于三定子多自由度超声电机的接触模型。首先介绍了三自由度超声电机的基本原理和结构并计算得出了其驱动转矩，再引入Hertz接触理论和Mindlin理论对摩擦情况进行分析，其中考虑了摩擦系数的动态非线性和摩擦力分布的非线性变化，提出了一种新型的接触模型，改进了传统的线性摩擦模型；最后通过转矩关系和摩擦模型对电机不同运动情况下摩擦力分布进行分析，并用Matlab绘制相应的摩擦力分布图。分析结果验证了三自由度超声电机合理性，说明了三相压电定子接触状态根据驱动情况和负载而定，为进一步的优化设计和性能改进奠定了基础。
Abstract
Here, a contact model of 3-stator multi-DOF ultrasonic motor considering different operational conditions was established. Firstly, the basic principle and structure of a 3-DOF ultrasonic motor were introduced and its driving torque was obtained with calculation. Then, Hertz contact theory and Mindlin theory were introduced to analyze friction case considering dynamic nonlinearity of friction coefficient and nonlinear variation of friction force distribution. A new type contact model was proposed to improve the traditional linear friction model. Finally, the friction force distribution of the motor under different motion conditions was analyzed with torque relationship and friction model, and the corresponding friction force distribution diagram was drawn with the software MATLAB. The analysis results verified the rationality of the 3-DOF ultrasonic motor. It was shown that the contact state of 3-phase piezoelectric stator is determined according to driving condition and load to lay a foundation for further optimization design and performance improvement.
关键词
多自由度 /
球形电机 /
转矩 /
接触模型
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Key words
multi-DOF /
spherical motor /
torque /
contact model
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