Nanometer stepping drives of surface acoustic wave motor

High resolution (from nanometer to subnanometer) stepping drives of a surface acoustic wave motor are presented. It was shown that step displacement was easily controlled by adjusting a number of driving waves, using a steel ball slider equipped with permanent magnet for preload. By means of this open loop control, the step displacement was controlled from centimeter-order to submicrometer-order. In this paper, using a silicon slider equipped with a ball bearing linear guide, the stepping motions of a surface acoustic wave motor were investigated. A laser interferometer equipped with a 2-picometer resolution displacement demodulator was introduced. Motions of the slider ranging from several hundreds of nanometers to several nanometers in each step displacement were observed. Reduction of the driving waves down to 25 cycles, under a 100 V/sub peak/ driving voltage and a 30 N preload condition, generated about 2 nm stepping motion using our experimental setup under an open loop condition. We also demonstrated subnanometer step movements. These experimental results indicated that the surface acoustic wave motor has an ability of subnanometer positioning with a centimeter-level stroke.     

Standing wave bi-directional linearly moving ultrasonic motor

A standing wave bi-directional linearly moving ultrasonic motor has been studied for the purpose of implementing a practical linear ultrasonic motor with simple structure, simple driving and high resolution. The fundamental principle of this linear motor is projections on the right sides of a standing wave crests generating thrust force right-diagonally on the slider pressed against the projections. Correspondingly, projections on the left sides of the wave crests make the slider move toward the left. In order to realize bi-directional actuating, vibration mode B3 or B4 is excited in a rectangular plate-type vibrator to make the projections on the right sides or the left sides of the wave crests. In this paper, the operation principle of the linear motor is demonstrated. Furthermore, a prototype linear ultrasonic motor of 40 mm in length, 10 mm in width is fabricated and investigated. The following performances have been achieved: maximum speed 200 mm/s, maximum force output 150 gf, and resolution less than 0.1 mum.     

直接驱动步进电动机伺服系统新型驱动控制器的研究

采用模糊控制方法 ,设计了直接驱动步进电机位置伺服驱动控制器。实验结果表明 ,这种新型的驱动控制器使直接驱动系统具有较高的性能     

驻波声流马达

目前的超声马达研究与应用主要关注于接触驱动型,而对非接触型、非线性驱动的研究较少。在声场强度足够大时,声场的非线性效应足以在低频情形下驱动马达转子。利用驻波管中的强声场引起空气质点非周期运动形成声流,获得时均不为零的驱动力,驱动非接触型轻质马达叶轮运转。在理论分析的基础上,经过管端修正,最后通过实验发现,马达相对转速曲线与驻波声场理想声压曲线吻合。在实验中还观察到马达叶轮能够达到较快的转速,并且转速可以通过声场频率和马达所处位置来调节。     

Stepping-Motor-Driven Constant-Shear-Rate Rotating Viscometer

Despite the frequent use of stepping motors in robotics, automation, and a variety of precision instruments, they can hardly be found in rotational viscometers. This paper proposes the use of a stepping motor to drive a conventional constant-shear-rate laboratory rotational viscometer to avoid the use of velocity sensor and gearbox and, thus, simplify the instrument design. To investigate this driving technique, a commercial rotating viscometer has been adapted to be driven by a bipolar stepping motor, which is controlled via a personal computer. Special circuitry has been added to microstep the stepping motor at selectable step sizes and to condition the torque signal. Tests have been carried out using the prototype to produce flow curves for two standard Newtonian fluids (920 and 12560 mPa middot s, both at 25degC). The flow curves have been obtained by employing several distinct microstep sizes within the shear rate range of 50-500 s^-1 . The results indicate the feasibility of the proposed driving technique.     

新型箝位式压电电机的设计研究

针对传统箝位式压电电机在谐振态下工作时,方波振动的箝位部分结构设计复杂问题,提出一种新型箝位式压电电机。该电机箝位部分与驱动部分均由同频正弦电压驱动实现正弦振动,通过定子对动子的箝位接触,实现动子单向输出运动。相较于传统箝位式压电电机和超声电机,该电机的定子结构设计无需采用模态简并,结构设计难度降低。利用有限元仿真确定定、动子结构参数,制造样机并搭建实验平台。对箝位部分分别采用正弦波与方波做激励,再对驱动部分进行波形对比,表明正弦波亦能达到预期效果。实验结果表明:准静态时,激励电压频率为250Hz、电压峰峰值Vp-p为10V时,步进距离为0.5μm,步进速度0.13mm/s;谐振态时,激励电压频率为540Hz、电压峰峰值Vp-p为70V时,步进距离为32μm,步进速度16.9mm/s;该电机可兼顾低频高分辨率和高频高速输出以实现跨尺度工作。     

驻波比法吸声尖劈测试分析

根据驻波理论,利用PLC、步进电机等设备研制出应用于吸声尖劈声学性能测试的驻波管全自动测试系统,为高效、准确、方便地测量材料吸声性能参数提供了很好的方法和途径;从驻波比选取、是否考虑声波衰减、尖劈的安装方式、传声器的安装位置等几方面,应用此测试系统对底部截面为0.6m×0.6m的吸声尖劈进行测试分析,提出在实际测量当中可以不用考虑声波衰减以及尖劈与传声器的安装问题,而驻波比选取第一组值即可满足工程应用测量需求。     

Improvement of the longitudinal vibration system for the hybrid transducer ultrasonic motor

This paper presents a symmetric hybrid transducer ultrasonic motor designed to produce large longitudinal vibration stress in the rotor/stator contact interface for high-torque operation. The nodal plane of the longitudinal vibration mode was adjusted to match the rotor/stator contact interface, and the piezoelectric ceramic disks for the longitudinal vibration were installed at the nodal plane of the longitudinal vibration mode for effective excitation. An experimental motor, 20 mm in diameter, using the first torsional vibration mode and the second longitudinal vibration mode was manufactured. A maximum torque of 0.8 N.m was achieved in the prototype, an improvement over previous versions.     

Fast auto-focus scheme based on optical defocus fitting model

An optical defocus fitting model-based (ODFM) auto-focus scheme is proposed. Considering the basic optical defocus principle, the optical defocus fitting model is derived to approximate the potential-focus position. By this accurate modelling, the proposed auto-focus scheme can make the stepping motor approach the focal plane more accurately and rapidly. Two fitting positions are first determined for an arbitrary initial stepping motor position. Three images (initial image and two fitting images) at these positions are then collected to estimate the potential-focus position based on the proposed ODFM method. Around the estimated potential-focus position, two reference images are recorded. The auto-focus procedure is then completed by processing these two reference images and the potential-focus image to confirm the in-focus position using a contrast based method. Experimental results prove that the proposed scheme can complete auto-focus within only 5 to 7 steps with good performance even under low-light condition.     

Shape memory alloy based motor

Design and characterization of a new shape memory alloy wire based Poly Phase Motor has been reported in this paper. The motor can be used either in stepping mode or in servo mode of operation. Each phase of the motor consists of an SMA wire with a spring in series. The principle of operation of the poly phase motor is presented. The motor resembles a stepper motor in its functioning though the actuation principles are different and hence has been characterized similar to a stepper motor. The motor can be actuated in either direction with different phase sequencing methods, which are presented in this work. The motor is modelled and simulated and the results of simulations and experiments are presented. The experimental model of the motor is of dimension 150 mm square, 20 mm thick and uses SMA wire of 0·4 mm diameter and 125 mm of length in each phase.     

Novel method for driving the ultrasonic motor

This paper reports a novel driving method for an annular plate-type ultrasonic motor. Instead of the direct current/alternating current (DC/AC) converter type driver using a conventional electromagnetic transformer, a compact disc-type piezoelectric transformer is used to obtain a high voltage output for driving the ultrasonic motor. The piezoelectric transformer is operated in the radial vibration mode at resonance frequency close to the resonance frequency of the ultrasonic motor. Later, it was found that the piezoelectric transformer could drive the ultrasonic motor, even if their resonance frequencies are not exactly the same by incorporating a matching network in the circuit. The maximum speed of the ultrasonic motor obtained by using this driving method is over 300 rpm. It is believed that the results of this study will have impact on the integration and miniaturization of the ultrasonic motor and its driving circuit.     

Travelling wave ultrasonic motor using the B08 flexural mode of a circular membrane

This paper describes the design, construction, and performance of a piezoelectric motor that uses the travelling B₀₈ mode of an 80-mm diameter circular membrane to drive a rotor by frictional contact. The motor is of a thin planar design, giving high torque of up to 0.33 Nm at low speed and has been developed as a design that can be made with lithographic techniques for miniaturization. Investigations of the free stator with a vibration pattern imager and impedance analyser gave the resonance frequency, mode, and electromechanical coupling of the stator. Motor speed as a function of frequency for a constant voltage and performance charts of speed, output power, and efficiency against torque are presented for a particular input voltage and rotor pre-load. The effects of two different lead zirconate titanate (PZT) ring dimensions have been investigated. Excitation of the B₀₉ mode has been observed, incommensurate with the piezoelectric excitation of the stator. This is discussed with relation to edge-clamping of the stator. Single standing wave motoring was observed, believed to arise from asymmetry of the stator and its perturbation of the B₀₈ resonance mode. Sources of power loss, including frame vibration and friction interface slip, are considered and discussed     

Initial Position Estimation for Closed-Loop Linear Hybrid Stepping Motor Drives Using DC Excitation

This paper presents a simple and economical way to accurately estimate an initial position for linear hybrid stepping motor (LHSM) drives by utilizing dc excitation. In order to detect an absolute position of the mover, two preliminary tests are carried out under two different dc conditions: single-phase and two-phase dc excitation. The proposed algorithm has been successfully applied to a practical system with a rated initial load and stiction without causing any mechanical damage. The proposed scheme is not affected by the harmonic force ripple of the LHSM and its benefits are much more significant for multi-axis systems. The paper presents experimental results to prove the effectiveness of the scheme.     

A standing wave-type noncontact linear ultrasonic motor

In this study, a novel standing wave-type noncontact linear ultrasonic motor is proposed and analyzed. This linear ultrasonic motor uses a properly controlled ultrasonic standing wave to levitate and drive a slider. A prototype of the motor was constructed by using a wedge-shaped aluminum stator, which was placed horizontally and driven by a multilayer PZT vibrator. The levitation and motion of the slider were observed. Assuming that the driving force was generated by the turbulent acoustic streaming in the boundary air layer next to the bottom surface of the slider, a theoretical model was developed. The calculated characteristics of this motor were found to agree quite well with the experimental results. Based on the experimental and theoretical results, guidelines for increasing the displacement and speed of the slider were obtained. It was found that increasing the stator vibration displacement, or decreasing the gradient of the stator vibration velocity and the weight per unit area of the slider, led to an increase of the slider displacement. It was also found that increasing the amplitude and gradient of the stator vibration velocity, or decreasing the weight per unit area of the slider and the driving frequency, gave rise to an increase of the slider speed. There exists an optimum roughness of the bottom surface of the slider at which the slider speed has a maximum     

碳纤维复合材料旋转超声钻孔装置研究

探索碳纤维复合材料旋转超声钻孔设备及工艺，换能器采用压电陶瓷材料，进给由步进电机驱动，从而使结构大为简化。单片机作为中心控制，实验预定轴向力进给加工，而且超声波发生器具有频率自动跟踪的能力。试验表明，此项研究可望作为一种有效的新工艺方法。     

Flextensional ultrasonic motor using the contour mode of a square piezoelectric plate

This paper presents the design, fabrication, and characterization of a new type of standing wave piezoelectric ultrasonic motor. The motor uses a metallic flextensional amplifier, or cymbal, to convert the contour mode vibrations of a square piezoelectric ceramic plate into flexural oscillations, which are further converted to produce rotary actuation by means of an elastic-fin friction drive. The motor operates on a single-phase electrical supply. A beryllium copper rotor design with three-fin configuration was adopted, and the geometry was varied to include different material thicknesses, fin lengths, and inclinations. The best stall torque and no load speed for a 25-mm square motor were 0.72 Nmm and 895 r/minute, respectively. The behavior of the stator structure was analyzed by ANSYS finite element software using harmonic and modal analyses. The vibration mode estimated by finite element modeling (FEM) was confirmed by laser Doppler vibration measurements.     

空间站大柔性太阳电池翼驱动装置的滑模伺服控制

针对空间站大柔性太阳电池翼高稳定对日跟踪驱动控制问题,提出了一种带运动规划和振动抑制的非线性快速终端滑模伺服控制方案。推导了太阳电池翼驱动状态方程、永磁同步电机动力学模型,同时考虑驱动装置传动间隙、静/动摩擦力矩切换等非线性传动特性,在动力学建模基础上设计高次样条运动规划、位置环积分分离调节器、速度环快速终端滑模变结构调节器的组合控制系统。通过对太阳电池翼对日跟踪过程的仿真校验,表明设计的控制方案可实现大惯量、超低频太阳电池翼较高的驱动速度稳定度和较好的跟踪精度。     

Asynchronous collision integrators: Explicit treatment of unilateral contact with friction and nodal restraints

This article presents asynchronous collision integrators and a simple asynchronous method treating nodal restraints. Asynchronous discretizations allow individual time step sizes for each spatial region, improving the efficiency of explicit time stepping for finite element meshes with heterogeneous element sizes. The article first introduces asynchronous variational integration being expressed by drift and kick operators. Linear nodal restraint conditions are solved by a simple projection of the forces that is shown to be equivalent to RATTLE. Unilateral contact is solved by an asynchronous variant of decomposition contact response. Therein, velocities are modified avoiding penetrations. Although decomposition contact response is solving a large system of linear equations (being critical for the numerical efficiency of explicit time stepping schemes) and is needing special treatment regarding overconstraint and linear dependency of the contact constraints (for example from double‐sided node‐to‐surface contact or self‐contact), the asynchronous strategy handles these situations efficiently and robust. Only a single constraint involving a very small number of degrees of freedom is considered at once leading to a very efficient solution. The treatment of friction is exemplified for the Coulomb model. Special care needs the contact of nodes that are subject to restraints. Together with the aforementioned projection for restraints, a novel efficient solution scheme can be presented. The collision integrator does not influence the critical time step. Hence, the time step can be chosen independently from the underlying time‐stepping scheme. The time step may be fixed or time‐adaptive. New demands on global collision detection are discussed exemplified by position codes and node‐to‐segment integration. Numerical examples illustrate convergence and efficiency of the new contact algorithm. Copyright © 2013 The Authors. International Journal for Numerical Methods in Engineering published by John Wiley & Sons, Ltd.     

磁浮列车磁场测量系统中运动控制平台的设计

磁浮列车气隙磁场的测量可以为列车电磁系统的设计和控制提供重要依据．本文对气隙测量系统中磁传感器运动控制平台的设计进行了详细介绍,阐述了运动控制平台的工作原理和光栅尺信号的处理方法．采用双计数器鉴相法消除了光栅尺抖动的影响,提高了传感器的定位精度．同时采用电流矢量恒幅旋转的细分方法实现了步进电机恒转矩均匀细分控制,提高了步进电机的分辨率和运行稳定性．所设计的运动控制平台的定位精度可以达到1μm．