Design of a hybrid transducer type ultrasonic motor

The authors present a design method for a hybrid transducer-type ultrasonic motor (HTUSM) for practical use. They introduce a simple equivalent circuit that expresses the unique operation mechanism of the hybrid transducer-type motor. A numerical simulation based on the model enables them to predict the motor characteristics such as the maximum torque and the no-load revolution speed. In addition, for the purpose of efficient design and physical interpretation of the phenomena, they discuss analytically the maximum torque of a special case and develop two design charts for the prediction of the no-load speed of the motor.     

Characteristics estimation of a traveling wave type ultrasonic motor

A method for calculating the load characteristics of a traveling-wave-type ultrasonic motor (TWUM) is proposed. A systematic method using an equivalent circuit is suggested for estimating the performance of the motor, including its electrical and the mechanical parts. In the proposed method, a governing equation for the motor is derived to describe the relation between the applied voltage at an electrical terminal, vibration velocities, and the external forces at mechanical terminals of a vibrator. A method for estimating the forces between the rotor and the vibrator of the motor is presented and used to calculate the load characteristics. The numerically calculated load characteristics are shown to agree well with the measured ones, confirming the validity of the method.     

复合型超声马达纵-扭振动固有频率简并研究

纵、扭振动固有频率简并是提高纵-扭复合型超声马达输出力矩的关键问题。然而同一弹性体内的纵振固有频率远高于扭振固有频率．目前对两种振动固有频率的简并缺乏深入的理论研究。纵一扭复合型超声马达振动分析模型都基于一维理论。在此提出了一种纵、扭振动固有频率简并的新方法。通过将纵一扭复合型超声马达设计成双定子对称结构．在定子上附加一个调整环改变定子的力学边界条件。实现纵、扭振动同频共振。应用Hamilton原理建立了考虑泊松效应的定子纵、扭振动理论模型，分析了定子的纵振与扭振第一阶固有频率随调整环质量和位置的变化规律，通过优化马达的几何结构参数获得了纵振与扭振的同频谐振点。     

超声电机定子热机电耦合特性

应用于极端环境的超声电机会受到温度场、应力场和电场的共同作用,定子在热机电耦合激励下的响应与电机工作特性密切相关.以行波型旋转超声电机为对象建立定子的能量泛函,采用假设模态的方法得到了热机电耦合动力学模型.运用有限元方法对热机电耦合作用下的定子进行仿真,分析了与理论计算结果的差异.建立了定子热扫频试验平台和热变形试验平台,测定温度对定子稳态形变、模态频率和振幅的影响,对理论模型的分析方法进行了评价.理论分析和试验结果揭示了超声电机定子在热机电耦合作用下的振动行为的变化规律,为下一步极端环境超声电机的设计和优化提供了依据.     

Development of a radial-torsional vibration hybrid type ultrasonic motor with a hollow and short cylindrical structure

A longitudinal-torsional hybrid-type ultrasonic motor has larger torque and lower revolution speed compared with other kinds of ultrasonic motors. It drives devices directly and precisely, so it is adaptable to many fields, especially aeronautics and astronautics, as a servo actuator. Due to the different sound propagation speeds of longitudinal and torsional vibrations in the stator, it is difficult to match resonant frequencies of longitudinal and torsional vibrations. In this paper, a new radial-torsional vibration hybrid-type ultrasonic motor is put forward, which utilizes longitudinal vibration derived from radial vibration by the Poisson effect. The short, hollow cylindrical structure easily makes resonant frequencies of first-order radial and torsional vibrations into degeneracy. First, the new structure of the motor is presented. Second, the principle of matching the resonant frequencies is developed, and the motor geometry is optimized by ANSYS software. Finally, a 60-mm diameter prototype is fabricated, which performs well. The no-load velocity and maximum torque are 25 r/min and 5 N·m, respectively. This kind of motor is small, light, and noiseless.     

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。
     

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.     

Modeling of a piezoelectric rotary ultrasonic motor

A piezoelectric rotary ultrasonic motor is modeled for the purpose of predicting, a priori, motor performance as a function of design parameters. The Rayleigh-Ritz assumed mode energy method is used to model the distributed piezoceramics and the traveling wave dynamics of the stator. Natural frequencies and modeshapes are obtained for a generally configured motor. Nonlinear normal and tangential interface forces between the rotor and stator are incorporated into the forcing function along with the linear piezoelectric forcing. Given the applied torque, applied axial loading, and piezo drive voltages as inputs to the model, general motor performance measures are obtained-namely speed, input power, output power, and efficiency. The approach presented here provides a general framework for modeling these motors as well as a design tool for optimizing prototypes with the added flexibility of allowing for a wide variety of geometries and materials     

Design of a traveling wave type ultrasonic motor

The purpose of the present paper is to establish a method of design for a traveling wave type ultrasonic motor. This method is based on two models for the ultrasonic motor. A two-dimensional elastic contact model is used for estimating the friction drive between the rotor and vibrator of the motor. Moreover, an electrical equivalent circuit is used to estimate the interaction between the electrical and mechanical parts of the vibrator. The proposed method is applied to the design of a prototype motor. To determine applicability of the method, the load characteristics of the prototype motor are measured. The measured characteristics agree with the required ones which are specified in advance. As a result, the validity of the proposed method is experimentally confirmed     

Characteristics of traveling wave ultrasonic motor under atmosphere and vacuum cycle condition

Under atmosphere and vacuum cycle condition, characteristics of a disc-type traveling wave ultrasonic motor (TWUSM) are tested, variations of rotation speed with time and load are also obtained. Two vacuum conditions used are low vacuum of 2 Pa and high vacuum of 5 × 10⁻³ Pa. The lower the environment pressure is, the smaller the rotation speed of TWUSM. And load characteristics of TWUSM in vacuum are poorer than that in atmosphere. Then, using polyfluortetraethylene (PTFE) composite and p-hydroxybenzoic acid polymer (Ekonol) composite as friction materials, load characteristics of TWUSM are compared. As a result, the load characteristics of Ekonol composite are better than the former one, which can hold bigger torque with higher speed. Both principle of ultrasonic motor and knowledge of tribology are applied to analyze the reason that stall torque of TWUSM in vacuum is smaller than in atmosphere.     

转换器型方向规性能研究

本文介绍了球锥形转换器型方向规的工作原理、结构及性能参数,具有结构简单、方向性高、反应速度快、转换效果好等特点,并通过实验对其性能参数进行了测试,其方向性角为15°,动力学时间常数为5 ms,转换器平衡度系数为98.3％.     

Optimization of a new type of ultrasonic linear motor

This paper presents the design, the properties, and the optimization study of a new type of ultrasonic linear motor. Numerical modeling has been carried out and simulations with software have been realized. To avoid performing a large number of simulations, sensitivity analysis has been carried out, in particular using design of experiments. The Doehlert method has been chosen in our study. The results found show that this preoptimization stage allows one to improve the deformation amplitude and to reduce the input parameter variation ranges. Finite element (FE) optimization is then carried out, and results show that the motion amplitudes can be increased compared to the initial design of the motor. Some experiments on prototypes show that the travel range of the motor has been increased while decreasing the applied voltage by a factor of 2.     

Dynamic and contact analysis of a bimodal ultrasonic motor

A bimodal ultrasonic motor, which operates with only one power amplifier, uses two simultaneously excited modes to drive the rotor; a longitudinal mode and a flexural mode. The equations of motion describing the vibrations and contact behavior are derived by Hamilton's principle and the geometry constraint. The Lagrange multiplier method is used to treat the frictional contact problem. The finite element method and numerical integration scheme are used to simulate the dynamic responses of this system with and without contact. Some important factors are studied for the bimodal ultrasonic motor design. The factors include structure design, amplitude of input voltage, phase displacement, exciting frequency, and contact behavior.     

Dynamic modeling and analysis of a bimodal ultrasonic motor

A dynamic model that includes four subsystems is developed to analyze the fundamental characteristics of a bimodal ultrasonic motor. The first subsystem is the driving circuit designed for the motor to achieve bidirectional motion. The stator is modeled as a Timoshenko beam, and the assumed mode energy method is used to obtain the dynamic equations. The normal interface force is represented by an elastic spring existing in between the tip of the stator and the moving platform. The interface forces are coupled into the dynamic formulations of the stator and the moving platform. The behavior of the force transmission between the stator and the moving platform are analyzed using the developed model. Transient and steady-state responses of the system are obtained by numerical simulation, and the results are validated by experiments. Furthermore, the existing of a nonlinear deadzone is predicted analytically, and the causes of this nonlinearity are clarified.     

Hybrid transducer type ultrasonic motor

A type of ultrasonic motor whose stator is composed of a torsional vibrator and multilayered piezoelectric actuators is proposed and has been fabricated for trial. The stator is operated at the resonance frequency of the torsional vibration. The vibrator generates the mechanical output force and the actuators control the frictional force. The construction provides for arbitrary Lissajous's figures at the contacting surface and contributes to large mechanical output power with high efficiency and bidirectional motion. It also gives greater freedom of design. The prototype motor produced a maximum torque of 7 kg-cm and a maximum efficiency of 33%     

New type of piezoelectric ultrasonic motor

The authors describe a newly developed motor concept which allows a bidirectional piezoelectric ultrasonic motor to be operated with only a single voltage feed and thus only one power amplifier. The motor concept is based on the superposition of a longitudinal and a flexural oscillation of a rod-shaped resonator. In a way analogous to the generation of a Lissajous figure, this superposition produces a rotary movement of the resonator end by means of which a rotor is directly driven. By selecting the relative phase of the electrical stimulations of both modes, the speed can be continuously varied in both directions. The motor can be driven in both right and left directions with speeds of 0 to 300 r/min, and a freewheeling state can be set up by means of a suitable phase between the oscillation modes. In the off state, the motor blocks the motion.     

An ultrasonic motor using bending vibrations of a short cylinder

An ultrasonic motor using bending vibrations of a short cylinder with free-free ends is proposed, and its performance and efficiency are discussed. The motor is small in size and realizes a high mechanical output of more than 1 W. The general principle of the motor, which uses traveling waves, is as follows. When a traveling wave propagates along an elastic object, particles at the surface move elliptically. A movable object (a slider or a rotor) pressed to the elastic object may be caused to move due to the frictional forces between it and the surface. A motor based on this principal has been constructed and studied. The vibration mode used is found to have an undesirable radial component, which restricts the efficiency of the motor to about 10% at best. A large amount of the energy supplied is lost by the slippage owing to the existence of the undesirable component. It is concluded that to derive larger output power, the frictional material needs to be carefully chosen.     

Development of a novel ultrasonic motor resonator using topology optimization

The use of topology optimization in the design of a novel stator for an ultrasonic motor (USM) is investigated. The design challenge is to produce a stator, with two resonant modes whose frequencies are in a ratio of 1:2. When driven together, these modes result in a contact point trajectory in a figure of eight shape. As a result, only one electronic amplifier is required to drive the proposed device. In contrast traditional travelling wave USM, with elliptical contact point trajectories, require two modes with equal resonant frequencies to be driven 90° out of phase, and therefore require two amplifiers, one for each mode. To achieve a suitable stator design, a slightly unconventional topology optimization problem formulation is proposed, in which the objective function is to minimize the amount of material with intermediate density, while satisfying a constraint related to the frequency ratio of selected resonant modes. The planar design produced using the optimization procedure was refined using a detailed three dimensional finite element analysis. A prototype of the proposed stator design was manufactured and experimentally characterized. Scanning laser vibrometry measurements from two positions were used to measure the figure of-eight motion. Finally, the stator was fitted with a preloaded slider to form a simple linear motor demonstrator which was characterized experimentally. The prototype motor produced a slider speed of 14 mm/s reversibly and a maximum force of 50 mN.     

Analysis of a disk-type piezoelectric ultrasonic motor using impedance matrices

The dynamic behavior and the performance characteristics of the disk-type traveling wave piezoelectric ultrasonic motors (USM) are analyzed using impedance matrices. The stator is divided into three coupled subsystems: an inner metal disk, a piezoelectric annular actuator with segmented electrodes, and an outer metal disk with teeth. The effects of both shear deformation and rotary inertia are taken into account in deriving an impedance matrix for the piezoelectric actuator. The impedance matrices for each subsystem then are combined into a global impedance matrix using continuity conditions at the interfaces. A comparison is made between the impedance matrix model and the three-dimensional finite element model of the piezoelectric stator, obtaining the resonance and antiresonance frequencies and the effective electromechanical coupling factors versus circumferential mode numbers. Using the calculated resonance frequency and the vibration modes for the stator and a brush model with the Coulomb friction for the stator and rotor contact, stall torque, and no-load speed versus excitation frequencies are calculated at different preloads. Performance characteristics such as speed-torque curve and the output efficiency of the USM also are estimated using the current impedance matrix and the contact model. The present impedance model can be shown to be very effective in the design of the USM.     

A high-power traveling wave ultrasonic motor

In the present work, a traveling wave ultrasonic motor (TWUSM) is proposed. It is composed of an annular-shaped stator and two cone-shaped rotors that are pressed in contact to the borders of the inner surface of the stator. A rotating traveling wave has been generated in the stator by using as vibration generators two bolted Langevin transducers (BLT) opportunely shifted in space and in time. The vibrational behavior of the stator as well as the traveling wave generation has been simulated with the finite-element method (FEM) software. A prototype of the motor has been manufactured and experimentally characterized. It exhibits a static torque of about 0.8 N x m and a maximum angular speed of about 300 rpm. Possible variations of the present design aimed to increase output torque or minimize encumbrance are described and discussed.