• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2022, Vol. 58 ›› Issue (7): 227-236.doi: 10.3901/JME.2022.07.227

• 数字化设计与制造 • 上一篇    下一篇

扫码分享

单相驻波驱动的旋转型超声电机结构设计与试验研究

王瑞锋1, 王亮1, 贾博韬1, 金家楣1, 张泉2, 吴大伟1   

  1. 1. 南京航空航天大学机械结构力学及控制国家重点实验室 南京 210016;2. 上海大学机电工程与自动化学院 上海 200072
  • 收稿日期:2021-03-16 修回日期:2021-12-10 出版日期:2022-05-20 发布日期:2022-05-20
  • 通讯作者: 王亮(通信作者),男,1990年出生,博士,副研究员,硕士生导师。主要研究方向为超声电机技术及应用。E-mail:lwang@nuaa.edu.cn
  • 作者简介:王瑞锋,男,1988年出生,博士研究生。主要研究方向为压电驱动技术。E-mail:ruifengw@nuaa.edu.cn
  • 基金资助:
    国家自然科学基金(51905262、U2037603),江苏省自然科学基金(BK20190398),机械结构力学及控制国家重点实验室开放课题 (MCMS-E-0320G01),上海市自然科学基金探索类项目(19ZR1474000)和江苏高校优势学科建设工程资助项目。

Structural Design and Experimental Studies of Rotating Ultrasonic Motor Driven by Single-Phase Standing Wave

WANG Ruifeng1, WANG Liang1, JIA Botao1, JIN Jiamei1, ZHANG Quan2, WU Dawei1   

  1. 1. State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016;2. School of Mechanical and Electrical Engineering and Automation, Shanghai University, Shanghai 200072
  • Received:2021-03-16 Revised:2021-12-10 Online:2022-05-20 Published:2022-05-20

摘要: 单相驱动的超声电机由于其驱动电路简单、设计灵活、结构紧凑等优点,受到越来越多的关注。但单相驱动的超声电机主要以直线型电机为主,且工作模态一般为退化模态,存在能量利用率低、频率易漂移等缺点。此外,现有旋转型单相驱动的超声电机存在输出性能差、不易装夹等问题,严重制约了其应用。为解决上述问题,提出了一种新型单相驻波驱动的旋转型超声电机,通过单一工作模态实现对转子的摩擦驱动。该超声电机的定子主要由压电复合梁和带驱动齿的圆环构成,在两组压电陶瓷片的交替激励下分别产生两相工作模态,并通过两相工作模态相互切换实现电机的双向旋转运动。首先,采用有限元分析方法计算得到了超声电机定子的几何尺寸和两相工作模态(包括共振频率和振型)。其次,通过测振实验对定子原理样机进行了振动特性测试,得到了定子的幅频特性、振型和驱动齿的运动轨迹,并与仿真计算结果进行了比较,验证了仿真分析的正确性。最后,装配了旋转型超声电机原理样机,并开展了性能测试实验研究。结果表明:在300 V激励电压、1 N预压力的条件下,超声电机原理样机在两个工作模态下的最大转速分别为123.9 r/min (顺时针旋转)和450.9 r/min (逆时针旋转),最大扭矩分别为1.058 mN·m和2.534 mN·m。有限元分析结果和实验研究结果均验证了所提出的单相驻波驱动的旋转型超声电机结构设计的可行性和工作原理的正确性,并为后续同类型超声电机的设计提供了新思路。

关键词: 超声电机, 单相驱动, 驻波, 仿真分析, 动力学特性

Abstract: Single-phase driven ultrasonic motors have attracted more and more attention due to their advantages of simple driving circuit, flexible design, and compact structure. However, the existing single-phase driven ultrasonic motors are mainly linear motors, and their operating mode is generally a degenerate mode, holding the disadvantages of low energy utilization ratio and easy frequency drift. The rotating ultrasonic motors with single-phase excitation present some problems, such as poor output performance and difficult clamping, restricting their applications. In order to solve the aforementioned problems, a novel rotating ultrasonic motor with single-phase excitation is proposed, and its rotor is driven by friction. The stator of the proposed ultrasonic motor is mainly composed of a piezoelectric composite beam and a ring with driving tooth, and the two operating modes are generated under the alternating excitation of two groups PZT plates, respectively. Therefore, the two-directional rotating motions of the motor are realized by switching the two operating modes. At first, the finite element method is used to calculate the geometric dimensions of the ultrasonic motor stator and two operating modes (including resonance frequency and vibration shapes). Additionally, the vibration characteristics of the stator prototype are tested by the vibration measurement experiments, and the amplitude frequency characteristics, the vibration shapes, and the motion trajectory of the driving teeth of the stator are obtained and compared with the simulation results, verifying the correctness of the simulation analysis. Finally, the prototype of the rotating ultrasonic motor is assembled, and its output performance evaluation are carried out. The experimental results show that the maximum speeds of the motor prototype in the two operating modes are 123.9 r/min (clockwise rotation) and 450.9 r/min (anticlockwise rotation), respectively, and the maximum torques are 1.058 mN·m and 2.534 mN·m, respectively, under the excitation conditions of the voltage of 300 V voltage and the pre-pressure of 1 N. The results of finite element analysis and experimental studies have verified the feasibility of the structure design of the proposed motor and the correctness of its operating principle, and the studies provide a new idea for the subsequent design of the same type of ultrasonic motors.

Key words: ultrasonic motor, single phase excitation, standing wave, simulation analysis, dynamic characteristics

中图分类号: