双振子自走型直线超声波电机的研究.pdfVIP

双振子自走型直线超声波电机的研究 双振子自走型直线超声波电机的研究 1 1 1 2 1 鹿存跃 沈润杰 郭吉丰 胡金云 魏燕定 (1.浙江大学电气工程学院,浙江 杭州 310027； 2.清华大学物理系,北京 100084) ⎯ 摘 要：本文设计了一种双振子自走型直 线超声波电机，具有低成本、高可靠性、能长期稳定工作等特点。 电机的定子由两个同轴对称布置的弯曲摇头型振子和中部带细颈的柔性振动块组成。两个振子的弯曲振动 会激励出中间振动块的摇头振动，使驱动头上的质点产生椭圆运动轨迹，与导轨摩擦接触并产生自走直线 运动。测量得到定子上振动块的局部弯曲共振模态频率为 20792Hz，两个振子一阶局部弯曲共振模态频率 在 40420Hz附近。仿真发现，以振动块的局部弯曲共振模态作为工作模态时，能够得到更大的振幅，实验 证明在该模态频率下，电机可提供较大的驱动速度，发热很少，较长时间工作仍旧稳定可靠，因而选作工 作模态。在 40420Hz附近电机也能驱动，但是振子发热严重，不易稳定工作。当两相驱动信号的频率为 20.8kHz，相位差为90º，驱动信号电压的峰峰值为138V时，电机的驱动速度达到598mm/s，电机的最大驱 动力达到1.94N。 关键词：直线超声电机；压电陶瓷；弯曲振动 Study of a Self-driving linear Ultrasonic Motor with Double Vibrators 1 1 1 2 LU Cun-yue , SHEN Run-jie , GUO Ji-feng , HU Jin-yun , WEI Yan-ding (1.College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China; 2.Department of Physics, Tsinghua University, Beijing 100084, China) Abstract ：In the paper, a self-driving type linear ultrasonic motor with double vibrators was developed. It possesses such traits as low cost, good reliability for long working duration. The stator consists of two vibrators, which assembled symmetrically along the axis, and a mass, with slender shafts connecting to the vibrators, in the middle. The vibrations of the vibrators inspire wobbling motion of the mass. The friction force between the mass and the leader drives the motor moving itself. The measured local resonant frequency of the mass is 20792 Hz. The resonant bending vibration frequency of the vibrators is about 40420 Hz. Experiment results show that the amplitude of