Structure and operation mechanism of a friction-type piezoelectric motor utilizing the principle of strain-wave gearing

This paper proposes a new type of motor which utilizes multilayer piezoelectric devices for electromechanical power conversion and the mechanism of the strain-wave gearing to generate traveling waves and motive force. The construction and basic operation of the motor are described. The motor can be operated in variable frequency because piezodevices are operated in the nonresonant mode. Approximate analysis is performed to clarify the operating mechanism of the motor and to obtain characteristics on the rotational speed in the case of no-load. Experimental results on rotational speed of the prototype motor made of metals except for the piezoelectric devices also are presented, which verifies the feasibility of the proposed motor.     

行波接触型超声波电机定子振动有限元分析

行波接触型超声波电机是一种利用压电晶体的逆压电效应获得驱动力矩的新原理微特电机,它与由电磁作用获得转矩的电磁型电机的工作原理截然不同。该文在考虑定子环沿径向厚度变化及内外边界约束条件的基础上,建立了带有齿的行波接触型超声波电机定子模型,利用有限元法进行了定子模态和强迫振动响应分析,研究了定子直径和齿高对定子振动的影响。通过计算结果与实验的比较,证明有限元方法对于由复合材料构成、具有齿的结果超声波电机定子振动的分析是一种行之有的方法。     

环形行波型超声波马达的设计与试验研究

从行波超声波马达的工作原理出发,根据有限元的分析结果,设计并制作了一种目前国内同类马达中尺寸较小的环形行波马达样机,并测试了效率、扭矩、转速等主要性能参数。     

Causes and characteristics of the electromagnetic vibration of a capacitor motor under load

Capacitor motors (CRMs) are widely used to drive industrial equipment and home electric appliances. Recently, reduction of the vibration and noise of CRMs has become increasingly important from the standpoint of environmental improvement. However, electromagnetic vibration of CRMs under load has not been sufficiently analyzed. The present paper theoretically and experimentally discusses the causes and characteristics of CRM electromagnetic vibration under load. The primary conclusions are as follows:

• (1) The general formula for the dominant electromagnetic vibration caused by electromagnetic force waves was derived, including the influences not only of a backward magnetic field but also of magnetic saturation.
• (2) The dominant electromagnetic vibration of CRMs is theoretically attributed to three types of electromagnetic force waves. Two types of electromagnetic force wave are generated by the interaction of two forward magnetic fluxes, such as those of a three‐phase squirrel‐cage induction motor, and the other type of electromagnetic force wave is generated under the influence of a backward magnetic flux.
• (3) The characteristics of the dominant electromagnetic vibration depending on the load and the running capacitance are subdivided theoretically and experimentally into three types based on the characteristics of the electromagnetic force wave and the equivalent circuit current.
• (4) The influences of magnetic saturation in dominant electromagnetic vibration have been verified experimentally and their causes have been clarified theoretically in relation to electromagnetic force waves. © 2005 Wiley Periodicals, Inc. Electr Eng Jpn, 153(4): 68–76, 2005; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20129

     

A study on driving characteristics of the cross type ultrasonic rotary motor

Ultrasonic rotary motor which has cross type stator was studied. The stator was consists of hollowed cross type metal which has four piezoelectric ceramics on the ends of cross bars. When two harmonic voltages which have 90^∘ phase difference were applied to ceramics, the symmetric and anti-symmetric displacements were generated at the inside tips to make the elliptical motion. The finite element analysis was used for optimizing the dimension and displacement of the stator. And the analyzed results were compared with the experimental results of the motor. As results, the speed of motors could be controlled by changing the applied voltages, and the rotational direction of motors could be changed by the phase change. Speed and torque of the motors were increased by increasing the width of cross bars, and the torque and displacement was increased by increasing angle of the cross bars.     

Design and performances of high torque ultrasonic motor for application of automobile

We propose an ultrasonic motor of high torque with a new configuration for application in automobiles. The newly designed stator is a two sided vibrator consisting of a toothed metal disk with a piezoelectric ceramic ring bonded on both faces of the disk which generates a flexural traveling wave along the circumference of disk. In this configuration, the displacement on the surface of stator may not be confined. It also produces a large vibrating force and amplitude because the vibrator is sandwiched by two piezoelectric plates. It is possible to increase the torque by improving the vibration characteristics. We used the finite element method to compute the vibration mode of the motor of diameter 48 mm. A sixth mode was chosen as the operation mode with a resonance frequency of about 73 kHz. We fabricated a prototype according to this design and measured its performance. The performance measurement of the prototype motor showed that its stall torque was about 1.8 Nm and efficiency was 37% at 60% of the maximum torque. Compared to a conventional motor which employed a single sided piezoelectric vibrator of the same outer diameter, we obtained, with this prototype, a maximum torque of about twice as great. The motor may be useful to apply as an actuator in a mobile car.     

微小型纵弯复合激励式圆筒超声电机的设计

为了有效提高超声电机的机械输出性能,研制了一种微小型贴片式纵弯复合激励式圆筒型行波超声电机。该电机由圆筒和一个纵弯复合换能器组成,换能器位于圆筒的外侧壁上,换能器由一对弯振压电陶瓷片、一对纵振压电陶瓷片和前端为变幅杆的长方形铝块组成。对电机的工作原理进行了分析,利用有限元方法对电机进行了设计与仿真,实现了电机两个基本振动模态特征频率的简并。对振动特性进行了测试,测试结果与有限元分析结果吻合良好。测试结果表明,换能器的纵振、弯振和圆筒弯振模态之间均实现了很好的匹配。。     

磁动势法五相永磁力矩电机转矩分析

五相永磁力矩电机由于极数与槽数相近,含有丰富的磁动势谐波,磁动势谐波会影响电机的转矩性能。为此,采用磁动势法分析电机的电磁转矩,通过磁能和虚位移原理推导出了电机电磁转矩的解析表达式,揭示了具有相同空间次数的定子和转子磁动势谐波相互作用才能产生电磁转矩的规律。通过对五相永磁力矩电机的定、转子磁动势谐波与电磁转矩关系的分析,指出与与主波转速一致的定子和转子磁动势谐波相互作用能提高五相永磁力矩电机的平均电磁转矩。利用Ansoft有限元软件仿真分析了电机在正弦波、梯形波和方波供电下的定子磁动势、转子磁动势以及转矩性能。结果表明,非正弦供电能够增加电机的电磁转矩,但也带来了转矩脉动,验证了磁动势法分析五相永磁力矩电机转矩的有效性和正确性。     

Design of Unskewed Interior Permanent Magnet Traction Motor with Asymmetric Flux Barriers and Shifted Magnets for Electric Vehicles

Abstract

Interior permanent magnet synchronous motors (IPMSMs) are commonly used in electric and hybrid electric vehicles. Nissan Leaf electric vehicle (EV) uses skewed-rotor IPMSM as a traction motor. This motor is considered as a benchmark in this work. Although, skewing improves the torque quality of the motor by reducing the torque ripple, it reduces the average torque and increases the motor manufacturing complexity and cost. This article proposes improvements to the benchmark motor torque quality without skewing. The proposed motor uses the same stator winding and rotor magnet topologies of the benchmark motor with the same geometric constraints and magnet volume. Modifications are applied to the placement of the magnets in the rotor and the shape of the flux barriers to achieve the performance requirements. The design procedure of the proposed unskewed design is illustrated. Moreover, the electromagnetic performance of the proposed design is investigated. The design shows competitive performance in terms of the average torque, torque ripple, cogging torque, and efficiency compared to the benchmark motor. The mechanical integrity of the design is also verified. The proposed design is found to be a suitable alternative to the benchmark traction motor with a reduced rotor weight and without skewing.     

A novel technique for a DC brushless motor without position sensors

A dc brushless motor is a kind of synchronous motor driven by an inverter and requires sensors to detect the rotor position. As one of the methods, the induced voltages of a brushless motor have been utilized in practice. However, there are some problems in this method, e.g., the motor can obtain insufficient torque due to the low induced voltages in a low-speed range. This paper proposes a new method which controls the inverter angular frequency ω₁ by using inherent characteristics wherein the torque current i_r is almost proportional to the internal phase angle φ where the primary flux of a synchronous motor is controlled to be constant. If the parameters of a motor are given exactly, the speed regulation is quite small and the transient characteristics with high response and high starting torque are obtained. Furthermore, it is possible to operate a synchronous motor in the field-weakening range. Here, the principle of the control method and the performance characteristics of a dc brushless motor having no position sensors are discussed. The simulation and the experimental results of the tested machine show that the proposed method is very useful for practical applications.     

预见PWM控制在轧机调速系统中的应用

首先介绍了单传动轧机主传动调速系统的硬件结构,然后阐述了最优预见PWM控制原理及其工程应用。预见PWM控制新技术在轧机主传动调速系统中的成功应用解决了在采用PWM技术载波频率较低的情况下波形失真较高的问题,消除了脉动转矩,提高了控制精度,延长了功率开关器件的使用寿命。实践证实了这一新技术的有效性。     

无刷直流电机的直接转矩控制研究

直接转矩控制在正弦波交流电机方面的研究已趋于成熟,在反电势梯形波的电机研究方面相对较少.通过分析无刷直流电机直接转矩控制的基本原理,合理地选择空间电压矢量,将直接转矩控制技术应用于无刷直流电机的控制.运用Matlab/Simulink对其进行仿真,结果表明,永磁无刷直流电机转速响应迅速,转矩脉动非常小,取得了良好的控制...     

Modelling and characterization of piezoelectric and polarization gradients

A gradient of the piezoelectric properties in monolithic ceramics can be useful to minimize mechanical stresses inside piezoelectric bending actuators or at interfaces between layers with different electromechanical properties, and increase the bandwidth of ultrasonic transducers. Piezoelectric gradients can be prepared by different techniques. We use a powder pressing technique to prepare a gradient of the chemical composition, which is transformed to the piezoelectric gradient by the poling process. Conventional mixed-oxide powders of BaTiO₃ with different amount of Sn from 7.5 up to 15 mol% and Mn-doped BaTiO₃ were used to produce lead-free ceramic samples. We describe the poling process using a equivalent circuit approach. The ferroelectric behavior of the different layers are described by the Preisach model. In the Ba(Ti,Sn)O₃ system the properties can be changed from ferroelectric to paraelectric depending on the Sn content. A gradient of polarization and piezoelectric properties can be observed in monolithic ceramics with a tin gradient. The profile of the polarization distribution was measured by the thermal wave method. A gradient of polarization where the sign of polarization changes can be induced in a system consisting of piezoelectric hard and soft materials. We describe a special poling process using our poling model. The principle is demonstrated in a two layer model system.     

球形二自由度超声波电机的运行机理和特性

球形二自由度超声波电机可以实现二个自由度的运动,从二自由度行波型超声波电机的基本结构与驱动原理出发,建立了定转子的位置关系式,从而得到电机的驱动力方程,进而求出定子的驱动力矩方程,然后分别对转子在静止和转动情况下的驱动力方程做了讨论,最后求出球形二自由度超声波电机的驱动力矩数学模型.随之通过电机的结构参数对电机的驱动力矩进行了仿真计算,然后通过实验对驱动力矩做了初步验证,实验结果证明了数学模型的有效性,对二自由度行波型超声波电机的优化设计和性能提高奠定了理论基础.     

New tools for electromechanical characterisation of piezoceramics

This paper presents three methods that can be used to characterise piezoelectric integrated structures or materials, based on the resolution of an inverse problem. Analytical models that describe the electrical and/or mechanical behaviour of the material or structure as a function of piezoelastic properties are developed, and the appropriate measurements are carried out on the piezoelectric materials. The fitting of these models with experimental data allows the piezoelastic properties to be determined. Three characterisation methods are described. The first one is based on the electrical impedance measurement of piezoelectric integrated structures. The second one, purely acoustic, is based on the measurement of transmission coefficients of a plane wave through a piezoelectric plate. The third method uses the principle of resonance ultrasound spectroscopy of a piezoelectric cube combined with Laser detection.     

超声波电机定转子接触的摩擦传动模型及其实验研究

超声波电机是一种利用超声振动和摩擦力为驱动源的新原理电机。对行波型超声波电机定子转子之间的磨擦传动动模型进行了深入研究。在分析过程中,考虑了定转子之间的粘滑特性,获得了行波型超声波电机特性与结构参数之间关系的解析表达式,为电机的设计和制造提出理论依据。     

Fabrication of piezoelectric MEMS devices-from thin film to bulk PZT wafer

Integrating patterned functional piezoelectric layer onto silicon substrate is a key technique challenge in fabrication of piezoelectric Micro Electro Mechanical System (pMEMS) devices. Different device applications have different requirements on the thickness and in-plane geometry of the piezoelectric layers and thus have their own processing difficulties. In this paper, the techniques of integrating piezoelectric function into pMEMS has been discussed together with some diaphragm-based pMEMS devices which have relatively lenient requirement on patterning of the piezoelectric layers. Sol-gel thin film can meet the requirement of most of the sensor applications. The composite thick film is one of the promising solutions for thick film devices due to its good processing compatibility. Si/Pb(Zr _x Ti_1 − x )O₃ wafer bonding technique makes it possible to thin down the ceramic wafer to less than 10 μm by using chemical mechanical polishing, which, therefore, provide us another approach to integrate thick piezoelectric layer on silicon to cover the need of most of the thick film devices. Directly make double side aligned electrode patterns on bulk piezoelectric wafer/plate by using photolithography opens up a new area of pMEMS. The advantage of using bulk piezoelectric wafer/plate in pMEMS is that we can select commercial available ceramics or single crystals with excellent piezoelectric properties and thus ensure the overall performance of the devices.     

新型软起动最小转矩脉动的控制策略研究

研究了基于自关断器件的新型软起动。分析了新型软起动的摹本原理和工作特性，给出了软起动系统的数学模型，重点研究了电机起动过程中的转矩脉动问题。在仿真分析电机连接三相系统时定了电压的第一个系统周期内开关时刻与转矩脉动关系的基础上，给出了转矩脉动的控制策略。利用开关时刻计算函数，得到施加电压的最佳开关时刻。按照此开关时刻施加电压，可以减小甚至消除电机起动时的脉动转矩。实验结果证明该方法对于新型软起动是切实可行的。     

压电超声波马达发展现状及研究方向

阐述了超声波马达和传统电磁电机相比较的优点,对目前超声波马达发展概况和研究现状进行了详细分析,指出日本超声马达研究及应用主要在民用消费品领域,欧洲各国发展重点在高精仪器驱动方面,美国超声马达研究重点在航天领域和军事应用。分别对典型的行波马达、驻波马达、大力矩马达、多自由度马达、微马达以及非接触马达的原理、特点和性能进行了介绍,指出了现阶段超声波马达研究方向在于精确建立数学模型、设计新型马达结构、提高陶瓷材料和摩擦材料性能及改善控制手段等方面,从而全面提高超声波马达寿命和性能,扩展马达的应用领域。     

A single-mode Mn-doped 0.27PIN-0.46PMN-0.27PT single-crystal ultrasonic motor

Mn-modified rhombohedral phase yPb(In_1/2Nb_1/2)O₃-(1-x-y)Pb(Mg_1/3Nb_2/3)O₃-xPbTiO₃ (PIN-PMN-PT:Mn) single crystal has attracted considerable attention for its outstanding piezoelectric properties and high mechanical quality factor. Here, we report a device innovation using Mn doped 0.27PIN-0.46PMN-0.27PT single crystal in a single-mode piezoelectric ultrasonic motor. Based on the analyses of actuator characteristics with finite element method, the PIN-PMN-PT:Mn crystal actuator predicts lower excitation frequency, lower driving voltage, and less power loss comparing with the PZT ceramic actuator. A prototype motor (size: 12 × 6 × 1.5 mm³) was fabricated and tested. The typical output of this PIN-PMN-PT:Mn motor is a speed up to 42.3 cm/s, a driving torque of 0.42 N cm, and an output power density of 0.45 W/cm³, under the driving voltage of 21 V_0?P. This work presents that PIN-PMN-PT:Mn single crystal is quite advantageous in making miniaturized and high-power piezoelectric ultrasonic motors.