纵扭复合型超声波电机的研讨.pdfVIP

第八届全国振动理论及应用学术会议论文集，上海，2003 年 11 月 纵扭复合型超声波电机的研究 郭吉丰，龚书娟，纪科辉 (浙江大学电气工程学院，杭州 310027) 摘 要： 纵扭复合型超声波电机可以实现大力矩，但由于其定子由纵、扭振子组成，是超声波电机中最复杂 的电机，有许多理论问题不清楚。为此该文介绍了这种电机的新结构及其调谐设计，其次介绍了摩擦材料及 其工艺，并分析了其振动过程中摩擦力传递模型和机械特性，再其次分析了瞬态特性的理论，并说明了这种 电机的步进特性与电机特性的关系。最后，介绍了利用步进特性实现高精度定位的步进定位控制策略。实现 的纵扭复合型超声波电机直径 80mm，堵转力矩达到了 13.2Nm，空转转速 12.5 r/min，其重复定位精度优于 0.010 °，电机的工作频域较宽，有近 7kHz，纵扭振动的谐振频率接近,起动时间在 5ms 左右，关断时间在 2ms 左右，是一个性能优越的控制电机。 关键词： 超声波电机；纵扭复合型；频率调谐；步进定位；特性研究 Research on the Longitudinal-Torsional Hybrid Transducer Type Ultrasonic Motor GUO Ji-feng, GONG Shu-juan, JI Ke-hui (Electrical Engineering College, Zhejiang University, Yuquan, Hangzhou 310027) Abstrct: The longitudinal-torsional hybrid transducer type ultrasonic motor can realize high torque. But there are still many theoretical problems not to be clear since its structure is most complex among all kinds of ultrasonic motors (its stator is composed of two vibrators, longitudinal vibrator and torsional one). So, This paper first introduces the new structure and frequency resonance design, the frictional material and its crafts, the frictional force transfer model and the mechanical characteristics. Then analyses transient response theory, points out the relationship between stepping characteristics and mechanical characteristics. Finally, high precise position control strategy named stepping-position control method, based on stepping-characteristic of the motor, is presented in the paper .We have developed a longitudinal-torsional hybrid transducer type ultrasonic motor with 13.2Nm in maximum torque, 80mm in diameter and 12.5 r/min in revolution speed. We also have realized high repeating positioning accuracy that is less than 0.010 deg