A single vibration mode tubular piezoelectric ultrasonic motor

A novel tubular ultrasonic motor is presented that uses only a single vibration bending mode of a piezoelectric tube to generate rotation. When the piezoelectric tube bends, the diagonal motion of points on selected areas at the ends of the tube generates forces with tangential components along the same circumferential direction, driving the rotors to rotate. Bi-directional motion is achieved by simply switching the direction of bending. Because only one vibration mode is used, the motor requires only one driving signal and no vibration mode coupling is needed, simplifying the design, fabrication, assembly, and operation of the device. Two prototypes [one with cut-in lead zirconate titanate (PZT) teeth and one with added metal teeth] were built and tested using PZT tubes available to the authors. The tubes have an outside diameter of 6.6 mm, inner diameter of 5.0 mm, and length of 25.4 mm. The working frequencies of the two motors are 27.6 and 23.5 kHz. The motors achieved a maximum no-load speed of 400 rpm and a stall torque of 300 μN·m.     

Slip-based regenerative ABS control for in-wheel-motor drive EV

Research on regenerative brake systems on electric vehicles (EVs) has progressed considerably, but anti-slip functions have not been practical due to the difficulty in coordinating with conventional hydraulic brake systems. This paper takes advantage of the features of driving electric motors to derive an allowable torque according to the expected relation between the vehicle and wheel acceleration. Then, an innovative saturation control in a regenerative antilock braking system (ABS), which adopts logic threshold control, is presented. The control system realizes lock prevention on a wheel by constraining the motor reference torque directly with the derived allowable value. By theoretical analyses and simulation studies, including a comparison with conventional ABS control, the resulting control design is shown to be effective in anti-slip performance.     

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.     

Magnetically induced vibration in a permanent-magnet brushless DC motor with symmetric pole-slot configuration

The paper reports a numerical and experimental study of magnetically induced vibration associated with rotor/stator eccentricity and imperfect magnetization for 8-pole 6-slot symmetric brushless dc (BLDC) motors. Magnetic forces and cogging torque are calculated for various slot angles by using the finite-element method (FEM). The results show that there is an optimal slot angle for minimum cogging torque, but this slot angle is not optimal for reducing magnetic forces. In the idle acoustics test, the motors with reduced magnetic forces show clear reduction at the expected frequencies while the motors with minimum cogging torque show no change at the cogging torque frequency, which implies unbalanced magnetic forces have greater effect on actual vibration of the spindle motor than cogging torque. The results show that the proper direction in motor design is to reduce unbalanced magnetic forces when both cogging torque and unbalanced magnetic forces are not achievable simultaneously.     

基于缓冲阻尼的空间大惯量负载驱动系统的研究

为了实现某空间飞行器在空间低功耗平稳转动,从提高其动态性能和稳态性能的角度,提出了基于缓冲阻尼的空间大惯量负载驱动系统的设计方法.通过系统阻尼参数匹配设计,并利用弹簧阻尼技术,实现了驱动系统大惯量转动过程的快速启动和平稳制动,解决了其转角行程过冲较大的问题,满足了运动精度要求.采用SimulationX软件对该驱动系统...     

望远镜双电机驱动消齿隙的动力学设计

齿侧间隙会影响齿轮传动式望远镜的指向和跟踪精度.采用多电机驱动,通过施加偏置力矩能消除齿隙影响.以双电机驱动为例,建立动力学的数学模型,考虑齿隙非线性,齿轮传动链刚度的周期时变性,随机风扰力矩以及电机齿槽力矩的作用,以最小化偏置力矩为目标函数,齿轮不脱离啮合为约束条件,进行优化设计,获得了各驱动力矩下,全速度范围内的最优偏置力矩,并分析了传动系统的转动惯量,刚度及阻尼等参数,对偏置力矩设计的影响,得到了偏置力矩的变化规律.     

A mathematical optimization methodology for the optimal design of a planar robotic manipulator

A general optimization methodology for the optimal design of robotic manipulators is presented and illustrated by its application to a realistic and practical three‐link revolute‐joint planar manipulator. The end‐effector carries out a prescribed vertical motion for which, respectively, the average torque requirement from electrical driving motors, and the electric input energy to the driving motors are minimized with respect to positional and dimensional design variables. In addition to simple physical bounds placed on the variables, the maximum deliverable torques of the driving motors and the allowable joint angles between successive links represent further constraints on the system. The optimization is carried out via a penalty function formulation of the constrained problem to which a proven robust unconstrained optimization method is applied. The problem of singularities (also known as degeneracy or lock‐up), which may occur for certain choices of design variables, is successfully dealt with by means of a specially proposed procedure in which a high artificial objective function value is computed for such ‘lock‐up trajectories’. Designs are obtained that are feasible and practical with reductions in the objective functions in comparison to that of arbitrarily chosen infeasible initial designs. Copyright © 1999 John Wiley & Sons, Ltd.     

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.     

双线圈旁置式新型磁流变制动器的设计与优化

为提高传统单线圈混合式磁流变制动器的制动力矩,提出了一种双线圈旁置式新型磁流变制动器.利用一种新的线圈安装方式,增大了制动盘圆柱面的可控作用面积,从而增大了磁流变制动器的制动力矩.基于Herscher-Bulkley模型,提出了双线圈旁置式磁流变制动器的力矩模型与磁路设计方法,并在特定条件下对其进行了多目标优化.研究结果表明:与单线圈混合式相比,在相同体积条件下,双线圈旁置式能产生更大的制动力矩;而为了充分利用磁流变液的流变性能,获得更紧凑的结构,双线圈旁置式磁流变制动器的宽度应在80~100mm之间,长宽比的合理范围应在0.6~1.2之间;优化后在制动器质量基本维持不变的情况下,制动力矩提高了11%.研究结果可作为磁流变制动器的设计参考.     

A cylindrical traveling wave ultrasonic motor using a circumferential composite transducer

This paper intends to present and verify a new idea for constructing traveling wave ultrasonic motors that may effectively avoid the drawbacks of conventional traveling wave motors using bonded PZT plates as the exciting elements. In the configuration of the motor's stator, a composite sandwich type transducer is used to excite a traveling wave in a cylinder with two cantilevers as the coupling bridges between the transducer and the cylinder. The design process of the stator is described using the FEM modal analysis method, and the establishment of traveling wave on the cylindrical stator was simulated by FEM transient analysis. To verify the theoretical analysis results, a laser Doppler scanner was employed to test the mode shapes of a prototype stator excited by the longitudinal and bending vibrations respectively. Finally, to validate the design idea, a prototype motor was fabricated and tested; the typical output features are no-load speed of 156 rpm and maximum torque of 0.75 N·m under exciting voltages of 70 V(rms) applied to excite the longitudinal vibration of the transducer and 200 V(rms) applied to excite the bending vibration.     

Effects of work zone configurations and traffic density on performance variables and subjective workload

This paper investigates the effect of changing work zone configurations and traffic density on performance variables and subjective workload. Data regarding travel time, average speed, maximum percent braking force and location of lane changes were collected by using a full size driving simulator. The NASA-TLX was used to measure self-reported workload ratings during the driving task. Conventional lane merge (CLM) and joint lane merge (JLM) were modeled in a driving simulator, and thirty participants (seven female and 23 male), navigated through the two configurations with two levels of traffic density. The mean maximum braking forces was 34% lower in the JLM configuration, and drivers going through the JLM configuration remained in the closed lane longer. However, no significant differences in speed were found between the two merge configurations. The analysis of self-reported workload ratings show that participants reported 15.3% lower total workload when driving through the JLM. In conclusion, the implemented changes in the JLM make it a more favorable merge configuration in both high and low traffic densities in terms of optimizing traffic flow by increasing the time and distance cars use both lanes, and in terms of improving safety due to lower braking forces and lower reported workload.     

HEV动力切换过程车内振动与噪声试验分析

为对某混合动力汽车动力切换过程中车内振动与噪声进行研究,测试正副驾驶地板的振动加速度、正驾驶双耳噪声、副驾驶右耳以及正驾驶后排右耳的噪声、发动机转速、蓄电池电量(SOC)。数据处理采用小波包变换、时域以及频域分析法,分析动力切换过程中车内振动与噪声。试验结果表明,动力切换时的振动与噪声都呈现明显的非稳态特征且能量集中分布在低频段,与稳定车速纯电动模式下的幅值相比较差异明显;在558 Hz处振动幅值明显加强,与起动电机拖动发动机起动快速上升的转矩有关系;在800 Hz处振动幅值明显加强,与动力耦合装置动力输出不平稳有关系。     

xPC目标在EPS试验台电机控制中的应用

针对汽车电动助力转向试验平台,利用Matlab/Simulink和xPC 目标工具箱实现了对伺服电机的控制.通过组建低成本的双机型快速实时仿真系统,开发xPC目标工具箱下PCI-1720数据卡的驱动程序,连接试验电路,并对电动助力转向试验平台中的伺服电机进行加载实验,结果表明xPC控制的伺服电机能够随着转角变化而加载相应变化的转矩,达到了通过双机型实时控制伺服电机加载的目的.通过开发xPC的驱动程序扩展了xPC工具箱的应用范围,增强了Matlab与硬件通信的能力.     

多层立体汽车客运站车致振动实测研究

随着城市化的加速,多层立体客运站已经渐渐成为汽车客运站的主要形式。多层立体客运站拥有寻求向空间发展、多层同时发车、功能层层叠加的等优点,但停车场和发车点设置在客运站内部的楼板上会带来一系列的振动问题。考虑了不同速度、不同车型、不同行驶方式等因素的影响,基于振动实测数据测量分析楼板的动力响应、频谱特性及其影响因素,并对客运站内的功能区进行振动测试和舒适度评价。研究结果表明:车速是整个客运站振动超标的主要原因,而轴重在小幅度增加的情况下振动响应影响不大;刹车(急刹或缓刹)和转弯等情况下的行车方式会导致速度的减小,从而导致竖向振动的减小;当车辆通过办公区域正下方时,办公区域内舒适度会出现超过限值的情况,建议在客运站内部车辆的行驶速度要低于一定的阈值。最后,客运车辆导致的楼板垂车向、顺车向振动存在量级上的差异,因此综合交通枢纽车站的振动舒适度问题可以主要关注竖向振动。     

高速摩擦制动界面振动信号时频法分析技术研究

利用MM-1000型摩擦制动试验机进行了高速摩擦制动试验,使用加速度传感器采集了摩擦制动过程中界面轴向与径向振动信号。利用Morlet小波变换对不同制动压力、干湿工况下的振动信号进行分析,结合摩擦制动过程中瞬时摩擦系数变化对高速摩擦制动界面振动行为时频法分析技术进行了研究。结果表明:重采样能够大幅减小计算量且对低频段振动时频分析无明显影响;Morlet小波时频分析比短时傅里叶变换和HHT边际谱具有更好的分辨率,对制动界面振动信号处理效果更好;时频图中的斜率与制动过程中的转速变化相对应,表明高速摩擦制动过程中转速基本呈线性降低;结合时频图与瞬时摩擦系数曲线可以评估高速摩擦制动过程中界面状况变化过程;振动能量主要集中在基频、二倍频和三倍频,超过三倍频部分能量较少。     

电机节能材料一磁性槽楔

用磁性槽楔取代电机中的绝缘槽楔可降低电机损耗和温升，减小电机的振动和噪声，提高电机效率；但同时也会引起电机起动转矩和最大转矩的下降。就磁性槽楔的发展、分类和磁性槽楔对电机性能的影响进行了简要．的探讨和分析，并对目前磁性槽楔制备和应用中存在的一些问题提出了看法和建议。     

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.     

大力矩径向驻波型超声波电机有限元分析与实验研究

提出了一种大力矩径向驻波型超声波电机,在实现电机大力矩输出的同时保持结构紧凑的特点。首先设计并分析了电机的结构和工作原理,采用有限元法分析了电机定子的振动特性。接着制作了超声波电机样机,样机直径为32 mm。采用激光测振仪测量了定子的共振频率及径向振动的振幅,测量结果与理论分析结果相吻合。最后,搭建了电机输出特性测试平台,测量了电机在不同电压下的转矩-转速特性。实验测试结果显示,定子工作模态的共振频率为73.3 kHz,当施加的电压幅值为100 V、频率为74 kHz时,电机的空载转速为45 r/min,堵转力矩达到0.41 N·m。与其他同尺寸的超声波电机相比,所提出的径向驻波型超声波电机具有更大的堵转力矩。     

Improvement in the field-weakening performance of switched reluctance machine with continuous mode

A new operation mode for switched reluctance motors (SRMs), called 'continuous mode', is described. By using this mode, the torque and then power in field-weakening mode can be considerably increased without any hardware modifications. Consequently, power and torque densities of SRMs become comparable to other technologies (synchronous and induction motors) and with a field weakening operation over a large speed range. This new degree of freedom makes it possible to improve the motor design, by modifying the rotor pole arc size or the windings turns per pole. Only simulation results are presented here, for a 12/8 SRM. Results confirm that the maximum power is improved (constant power on a very large speed range) and with a higher efficiency than that in the classical discontinuous mode.     

A rotary ultrasonic motor using bending vibration transducers

A rotary ultrasonic motor using bending vibration transducers is proposed. In each transducer, two orthogonal bending vibrations are superimposed and an elliptical trajectory is generated at the driving foot. Typical output of the prototype is a no-load speed of 58 rpm and maximum torque of 9·5 Nm under an exciting voltage of 200 V(rms).