纵弯复合多自由度球形超声电机的研究

摘 要：目前国内外对多自由度超声电机的研究和应用尚属探索阶段,出现了多种结构的多自由度超声电机。本文提出了一种新型单振子纵弯夹心换能器式超声电机结构,由单一驱动足产生多自由度振动轨迹,驱动球形转子作多自由度运动;对十字交叉换能器做了模态分析,对纵振和弯振做了模态简并;建立了驱动足的运动轨迹方程,并仿真分析了典型驱动方式下驱动足的振动轨迹;试验测试了样机转子绕X、Y、Z轴转动的速度与电压之间的关系和转矩与速度之间的关系,计算了相应情况下电机的最大效率;电机旋转方向与分析结果一致。
     

单振子二自由度球面马达的运动机理

利用矩形板形压电振子的两种振动模态,构建了一种采用单片压电振子驱动球形转子,形成两个旋转自由度的压电球面超声马达,对马达的作用机理进行了仿真分析和试验验证.利用有限元法对马达的矩形板压电振子的振动模态、共振频率进行了分析计算,仿真结果表明矩形板压电振子能够形成振型清晰的B32和B23振动模态,模态频率分别为49.127 kHz和49.756 kHz.对压电振子上每个凸起与球形转子之间的接触点的运动轨迹进行了计算机仿真,并对仿真结果进行了试验验证.分析结果表明各接触点能有效形成时序合理的椭圆运动轨迹,作为支撑足的一组凸起的变形量占作为驱动足的一组凸起的变形量的30%,能够用于驱动球形转子形成二自由度转动.仿真分析和试验结果证明了二自由度球面马达球形转子形成二维运动的作用机理.     

A piezoelectric motor using flexural vibration of a thin piezoelectric membrane

This paper describes a new implementation of a disk-type piezoelectric motor, whose stator is a commercial available piezomembrane composed of a nickel alloy disk to which a piezoceramic disk is bonded. The two disks are concentric, and the total thickness is very small. Ultrasonic motors are based on the concept of driving a rotor by mechanical vibration excited on a stator, via the piezoelectric effect. The rotor is in contact with the stator, and the driving force is the frictional force between rotor and stator. To transform the mechanical vibration of the stator in the rotor rotation, a traveling wave must be excited on the stator surface. The proposed motor can be regarded as a disk-type, single wavelength motor in which the traveling wave is due to the natural flexural vibration of the piezomembrane at low frequency. The behavior of the stator is analyzed both theoretically, by using the theory of isotropic and homogeneous vibrating plates, and by means of a commercial finite element computer code, finding a good agreement with the experimental results. The main features of the motor are very small thickness, appreciable torque, and high speed, obtained with low input power at low voltage; the intended application is to substitute the moving-coil in analogic instrumentation.     

Performance of high speed air spindle motor equipped with composite squirrel cage rotor

The dynamic characteristics of a built-in motor type air spindle system can be improved by the reduction of mass of squirrel cage rotor because the critical whirling vibration frequency of a high speed air spindle system is highly dependent on the rotor mass of motor and the spindle specific bending modulus. In this paper the rotor of an AC induction motor was manufactured using magnetic powder containing epoxy composite whose density is half of conventional metal rotor and the motor shaft was made of high modulus carbon fiber epoxy composite material. In order to enhance the magnetic flux of the composite squirrel cage rotor of the motor, a steel core was inserted into the composite rotor. The magnetic behavior of composite squirrel cage rotor was analyzed with respect to shapes and positions of the conductor bars and the steel core of the rotor, and the optimal configuration for the dynamic performance of the rotor system was proposed.     

定子永磁型高速电机凸极转子强度分析

定子永磁型电机具有转子上既无永磁体也无绕组、功率密度高、效率高等优点,因此非常适合在高速下工作。然而由于凸极转子复杂的几何形状,对其强度进行分析只能采用有限元法等数值方法。基于弹性力学理论,建立了凸极转子强度的解析分析模型。分析了凸极转子的载荷分布,在此基础上,基于平面应力模型和应力函数法,推导了定子永磁型电机凸极转子的应力及变形的解析解;用有限元法对解析解的有效性进行了验证;分析了凸极转子的凸极高度及形状对转子强度的影响。结果表明,建立的凸极转子强度解析解在转子应力最大区域内的计算结果与有限元法的计算结果完全吻合,能够对定子永磁型高速电机凸极转子的最大应力进行精确分析,可为定子永磁型高速电机的转子设计提供支持。     

某型机构弹簧刚度和预压力与碰撞力关系分析

目的研究用于某型精密球形电机中球形转子的杠杆型释放机构的可行性,以及解脱弹簧的最优刚度和预压力。方法首先对杠杆型压紧释放机构进行结构设计,然后对将该释放机构分析模型进行简化,最后采用刚体动力学分析软件ADAMS进行解脱弹簧不同刚度和预压力的动力学仿真。结果仿真结果表明,杠杆型释放机构可满足精密球形电机球形转子固定的指标要求,解脱弹簧最优刚度为1.98 N/mm,最优预压力为4~5 N。结论采用合理的弹簧刚度和预压力,能够降低释放过程中产生的碰撞力。     

Development of a Spherical Induction Motor With Two Degrees of Freedom

This paper reports on the development of a spherical actuator with two actuated degrees of freedom (DOFs). The electromechanical conversion principle is that of an induction motor. The paper first discusses possibilities of adapting the actuator to a spherical rotor actuated with an unlimited angular range along two DOFs. These concepts are then characterized and compared by analytical and numerical modeling, and the final shape of the actuator, composed of a two-layer rotor with teeth surrounded by five inductors, is described. A prototype has been built, and its performance, in terms of characteristic torque-speed and efficiency, has been measured.     

载波注入的无传感器PMSM转子自测角研究

提出一种基于载波电压信号注入的新型无传感器永磁电机转子自测角原理,将电机本体作为旋变器,向电机绕组中注入载波电压激励信号．在分析载波电压信号激励下永磁同步电机数学模型的基础上,研究了基于凸极跟踪转子位置的自测角方法．讨论了载波信号的注入、提取以及包含转子位置信息的高频负序电流的外差处理技术．采用仿真结果进行了分析,通过旋变器的实测结果验证了其正确性．仿真结果表明,以此机理实现的永磁同步电机无传感器控制具有很好的鲁棒性,同时具有良好的静、动态性能．     

Piezoelectric stepper motor with direct coupling mechanism to achieve high efficiency and precise control of motion

The paper describes a piezoelectric motor that combines the merits of piezoelectric materials, such as high power density generated at electromechanical resonance, and a precise control of displacement. In the motor, a standing shear wave is excited at the resonance in the piezoelectric tube, and it produces high-frequency torsional vibrations of the stator. The vibrations are converted into unidirectional rotation of a rotor by using a direct coupling mechanism between the stator and the rotor in which a clutch drives the rotor via locking it. The direct coupling makes it possible to transmit the whole power generated in the piezoelectric tube to the rotor, and thus achieve the high efficiency of the motor. It also allows combining two regimes of operation: continuous rotation and a stepwise motion within a 360 degrees interval with a high resolution of angular displacement.     

偏心有限长大间隙环流的动特性研究

基于作者建立的大间隙环流中转子运动的三维力学模型,用摄动法推导了有限长大间隙环流流场非线性控制方程的零阶摄动方程组.该方程组是一个复杂的三维非线性偏微分方程组,其求解有一定的困难. 为此, 提出了一种简化数值方法. 该简化方法是采用作者以前获得的同心有限长大间隙环流的动特性系数来计算三维偏心有限长大间隙环流的动特性系数. 与已有的数值计算结果和实验结果比较, 该简化方法具有较好的实用性和精度. 数值计算结果表明与同心有限长大间隙环流相比, 偏心有限长大间隙环流的动特性系数不再具有主项相等, 耦合项大小相等、符号相反的特点, 动特性系数主项随着偏心率的增加而呈不同程度的指数增加, 这意味着在大偏心情况下有限长大间隙环流的动特性系数将增大.     

Analysis of Relationship Between Abnormal Current and Position Detection Error in Sensorless Controller for Interior Permanent-Magnet Brushless DC Motors

We have analyzed the characteristics of terminal voltages used to detect rotor position in interior permanent-magnet (IPM) brushless DC (BLDC) motors in sensorless control by employing a two-phase conduction method. We found that a detected zero crossing point (ZCP) of the open phase voltage advances the real rotor position due to additional voltage components caused by variation of inductance with rotor position. We conclude that the amount of position error is related to rotor saliency, load, and motor speed. We also present the relationship between abnormal currents and amount of position errors in the sensorless controller by using simulations that take into account additional voltages in our model of terminal voltages and motor neutral voltage as well as experiments with a position sensor. We verified the validity of our analysis on IPM motors having various motor parameters under sensorless control.      

非线性转子的反向全周碰摩响应

本文对一个具有非线性刚度的单盘转子的反向全周碰摩进行研究。通过数值计算和已有实验结果的比较说明在反向全周碰摩研究中考虑转轴的非线性刚度是有必要的;采用平均法求得了系统反向全周碰摩的解析解,判断了解的稳定性,研究表明非线性转子系统既存在摩擦力方向改变引起的反向全周碰摩,同时转轴的非线性刚度和干摩擦共同作用也可以导致转子的反向全周碰摩,且这种反向全周碰摩运动是稳定的周期运动;讨论了系统参数对反向全周碰摩振幅、频率及其存在性的影响。本文的研究结论为转子系统的设计提供了一定的理论支持。     

二自由度行波型超声波电机定子的数学模型与实验研究

二自由度行波型超声波电机是一种新型多自由度超声波电机。本文从二自由度行波型超声波电机的驱动机理和基本结构出发,就电机的结构实现、驱动球转子的最佳定子结构进行了分析,利用所建立的有限元模型进行定子振动的模态分析和共振频率计算,提出了外缘大倾角内缘线接触的行波定子。然后建立定子的接触模型,对其机械性能进行分析。测试结果表明,修正的数学模型更加符合电机的实际运行特性。所研制样机的球转子直径为45mm,定子直径为30mm,实现的堵转力矩为120mNm,空转转速12r/min。本文工作为多自由度行波型超声波电机的优化设计、性能提高奠定了基础。     

Force transfer model and characteristics of hybrid transducer type ultrasonic motors

The characteristics of longitudinal-torsional hybrid transducer-type ultrasonic motors (HTUSM) are low speed and high torque. The discontinuous-surface-contact mode between the stator and the rotor is different from the many-point-contact mode of traveling wave motors, which is also an essential cause for high torque. Therefore, it is important to analyze its force transfer model between the rotor and the stator. In this paper, issues of using the method of equivalent circuit model are addressed. The relationships between the contact angle, preload, and physical parameters of frictional materials are given, according to the impulse conservation law axially. The equations describing output torque, amplitudes of longitudinal and torsional vibration, and parameters of the rotor are derived according to the principle that the work done by the load is equal to that by the driving force in one vibrating cycle. All factors that influence the mechanical characteristics are analyzed, and accuracy and suitability of the force transfer model are verified by comparison with the prototype motor. The formula for transfer efficiency on the stator/rotor interface is given, and the low-efficiency of this type motor is explained. The wide-working frequency range property of this type motor is shown with experimental results. Based on this study, the parameters of the rotor and preload are determined. The maximum torque of the prototype motor is up to 13.2 nm, and no-load speed of this type of motor is 12.5 rpm.     

Calculating petal tools by using genetic algorithms

To pass from a spherical surface to a conic one, it is possible to use a petal tool or a small solid tool that is placed at different time intervals at several radial zones of the glass. Genetic algorithms are applied to calculate the angular sizes of the incomplete annular tools that make up the petal tools. We also present the desired wear results carried out with the petal tool that was designed on the basis of the dwell times of complete annular tools. These dwell times are calculated by using base functions that are generated with annular tools and by applying the genetic algorithms.     

环状光束通过球差透镜的聚焦特性

利用偏心高斯光束相干叠加的方法,建立了柱坐标系下环状光束的新模型.从广义衍射积分理论出发,经过大量数值计算分析,详细研究了环状光束通过球差透镜的聚焦特性,定量分析了环状光束的阶数L,M、偏心高斯光束的束腰宽度w0以及球差系数C4对聚焦光场实际焦点(轴上最大光强)位置以及轴上最大光强的影响.研究结果表明,本文提出的模型可统-描述基模高斯光束和环状光束.在透镜焦距和入射光束波长一定的情况下,环状光束通过球差透镜的聚焦特性不仅与透镜的球差系数C4有关,而且还与环状光束的阶数L,M以及偏心高斯光束的束腰宽度w0有关.     

Deformation Analysis and Optimization on Hollow Spherical Rotor in Electrostactically Suspended Gyroscope

Nonspherical of rotor was described with solution method. Electrostatically suspended gyroscope’s hollow spherical rotor’s structure was presented. The simulative analysis of static deformation,dynamic deformation and synthesize deformation of rotor under different working conditions using the finite element software were carried out. Its deformation law and volume were obtained. The structural parameters of the rotor were optimized. The value of pressure required when the rotor was machined was calculated. The analysis has important theoretical reference val- ue to the design for hollow spherical rotor in electrostatically suspended gyroscope.     

质量偏心旋转机械整圈碰摩的稳定性及其Hopf分叉

针对仅考虑质量偏心的Ｊｅｆｃｏｔ转子碰摩的动力学方程,研究了整圈碰摩的稳定性,讨论了转、静件间摩擦系数对稳定性的影响;研究、发现了转子整圈碰摩存在Ｈｏｐｆ分叉现象,且是超临界分叉。通过对分叉解析解的研究,得出了分叉解的振幅及稳定性判据,并且将分叉解与动力学方程的数值解作了比较。     

Analysis of nonaxisymmetric vibration mode piezoelectric annular plate and its application to an ultrasonic motor

The development of an ultrasonic motor using nonaxisymmetric vibration modes of a piezoelectric annular plate is described. A piezoelectric annular plate is analyzed to find its mode patterns, elliptic motions of displacement for the motor, and the distributions of the induced charge on the plate surface, and to calculate electromechanical coupling factors. On the basis of the analyzed results, motors using the annular plate have been built and their characteristics measured. The construction and characteristics of these motors are discussed.     

Finite-element analysis of the rotor/stator contact in a ring-type ultrasonic motor

A way to understand mechanical characteristics of an ultrasonic motor is presented. First, the vibration mode of a stator is calculated using a finite-element method (FEM) code. The path of the elliptic motion of the stator's teeth is obtained. The computed vibration mode at the surface of the stator is compared with that measured by an electrooptical displacement transducer. Next, the contact condition of the rotor/stator is calculated. The displacement and velocity of the rotor/stator, the distortion of the stick/slip area, the rotational speed of the rotor, and the friction loss of the motor are obtained. The calculated rotor displacement and torque-rotational speed curve correspond closely to the experimentally measured ones. The internal loss of the rotor/stator and the loss of the supporting felt are measured. The total loss of these losses and the calculated friction loss agree with the measured total loss. The calculated and the measured efficiency of the motor also agree.