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。

Modeling and Experimental study of stator with Two Degree-of-Freedom Traveling-wave Spherical Ultrasonic Motor

Two degree-of-freedom spherical traveling wave ultrasonic motor is a kind of multi degree-of-freedom ultrasonic motor. The driving principle and basic structure of this kind of spherical ultrasonic motor are firstly introduced. Then some basic problems of motor are to be presented and structure of motor and optimal structure of stator and tuning devices are to be explained. Then this paper presents stator with big rake angle on outer edge and small rake angle on inner edge and tuning method of adjusting rake angle on outer edge of stator. Then contact model of the stator was set up for calculation of mechanical characteristics. Simulation and experiment results were verified for the stator. The diameter of prototype motor is 45mm in rotor and 30mm in stator and maximum output torque is 120mNm, maximum speed is 12r/min. From the abovediscussion and practical experiments availability of devices is to be verified. Results are used for designing theory and performance improvement of two degree-of-freedom spherical traveling wave ultrasonic motor.