二自由度行波型超声波电机定子的数学模型与实验研究  

Modeling and tests for a stator of a traveling-wave type spherical ultrasonic motor with 2-DOF

作　　者：傅平[1] 沈润杰[2] 帅光举 郭吉丰[2] 胡锡幸[2] 

机构地区：[1]闽江学院物理学与电子信息工程系,福州350121 [2]浙江大学电气工程学院,杭州310027 [3]浙江万马集团电子有限公司,杭州311300

出　　处：《振动与冲击》2013年第14期16-22,共7页Journal of Vibration and Shock

基　　金：国家自然科学基金(51277091);中国博士后科学基金(2012M521267);福建省科技计划重点项目(2011H0017);福建省自然科学基金项目(2007F3077);福建省教育厅项目(JA11197;JB10125)

摘　　要：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45 mm,定子直径为30 mm,实现的堵转力矩为120 mNm,空转转速12 r/min。该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。A 2-DOF spherical traveling wave type ultrasonic motor is a kind of multi-DOF ultrasonic motors.The driving principle and basic structure of this kind of spherical ultrasonic motor were firstly introduced.Then,some basic problems of the motor were presented and the structure of the motor,the optimal structure of its stator and the tuning devices were explained.The stator with a big rake angle on its outer edge,a small rake angle on its inner edge and the tuning method of adjusting rake angles on its outer edge were presented.The contact model of the stator was built for calculation of its mechanical characteristics.Simulation and test results were verified each other for the stator.It was shown that the rotor diameter of the prototype motor is 45mm and the stator diameter is 30mm,the maximum output torque is 120mNm,the maximum rotating speed is 12r / min.The results provided a foundation for design theory and performance improvement of a 2-DOF spherical traveling wave type ultrasonic motor.

关 键 词：行波型超声波电机 二自由度 球电机 运行机理 结构设计 

分 类 号：TM355[电气工程—电机]