【摘要】：超聲電機自問世至今已獲得廣泛關(guān)注。它的工作原理與傳統(tǒng)電機不同。運行時,定子在壓電陶瓷的帶動下高頻振動,轉(zhuǎn)子在與定子的摩擦力帶動下轉(zhuǎn)動,而壓電陶瓷的振動是外加輸入電壓的結(jié)果。超聲電機特點鮮明,在很多方面比電磁電機更有優(yōu)勢。它運行速度遠(yuǎn)低于電磁電機,單位體積輸出轉(zhuǎn)矩更大,響應(yīng)時間更短,斷電后存在保持轉(zhuǎn)矩。由于上述優(yōu)點,超聲電機已經(jīng)成為科技界的一個研究熱點。超聲電機運行時將產(chǎn)生大量損耗,損耗一方面來源于壓電陶瓷內(nèi)部,另一方面來源于定轉(zhuǎn)子的接觸摩擦。損耗的積累使電機運行時溫度上升,導(dǎo)納特性發(fā)生變化。補償電機的溫漂特性需要從源頭入手,因此需要研究如何減小系統(tǒng)損耗。針對行波旋轉(zhuǎn)型超聲電機運行時的溫漂特性,本文提出一種基于頻率跟蹤原理的溫漂補償方法,最終實現(xiàn)了一套有溫漂補償功能的最優(yōu)頻率跟蹤系統(tǒng)。主要研究內(nèi)容如下:本文首先構(gòu)建了一個可以反映溫漂特性的超聲電機數(shù)學(xué)模型。建模過程從超聲電機內(nèi)部的能量轉(zhuǎn)化過程出發(fā),對超聲電機內(nèi)部的損耗進(jìn)行定量計算,指出了損耗對壓電陶瓷參數(shù)的影響,最終建立了包含溫度特性的超聲電機等效電路模型。通過對模型仿真,研究發(fā)現(xiàn)損耗導(dǎo)致超聲電機導(dǎo)納頻譜和相位頻譜向左偏移,同時發(fā)現(xiàn)超聲電機存在最小導(dǎo)納相位點。本文設(shè)計了一種用于溫漂補償?shù)某曤姍C最優(yōu)頻率跟蹤原理。最優(yōu)頻率跟蹤原理以機械品質(zhì)因數(shù)為性能指標(biāo),通過調(diào)整驅(qū)動頻率,保證超聲電機運行在機械品質(zhì)因數(shù)最大的狀態(tài)�？梢宰C明,機械品質(zhì)因數(shù)最大的頻率近似等于導(dǎo)納相位最小的頻率,最優(yōu)頻率跟蹤原理的核心問題從對最大機械品質(zhì)因數(shù)的跟蹤轉(zhuǎn)化為對最小導(dǎo)納相位的跟蹤。最優(yōu)頻率跟蹤系統(tǒng)是基于最優(yōu)頻率跟蹤原理實現(xiàn)的一套軟硬件系統(tǒng)。該系統(tǒng)包含超聲電機驅(qū)動器和軟件系統(tǒng)兩部分,本文對該系統(tǒng)的實現(xiàn)做了介紹,實現(xiàn)后的最優(yōu)頻率跟蹤系統(tǒng)具備了對超聲電機溫漂特性的補償功能。
[Abstract]:Ultrasonic motor has been paid more and more attention since it came out. Its working principle is different from the traditional motor. When the stator is driven by piezoelectric ceramics, the stator vibrates at high frequency and the rotor rotates with the friction between the stator and the stator. The vibration of the piezoelectric ceramic is the result of the applied input voltage. Ultrasonic motor has distinct characteristics and has more advantages than electromagnetic motor in many aspects. Its running speed is much lower than that of electromagnetic motor, the output torque per unit volume is larger, the response time is shorter, and the holding torque exists after power loss. As a result of the above advantages, ultrasonic motor has become a research hotspot in the field of science and technology. Ultrasonic motor will produce a lot of loss when it is running. On the one hand, the loss comes from piezoelectric ceramic, on the other hand, it comes from the contact friction between stator and rotor. The accumulation of loss causes the temperature to rise and the admittance characteristic to change when the motor is running. The temperature drift characteristics of the compensated motor need to start from the source, so it is necessary to study how to reduce the loss of the system. Aiming at the temperature drift characteristics of traveling wave rotary ultrasonic motor, a temperature drift compensation method based on frequency tracking principle is proposed in this paper. Finally, an optimal frequency tracking system with temperature drift compensation function is realized. The main contents are as follows: firstly, a mathematical model of ultrasonic motor, which can reflect the temperature drift characteristics, is constructed in this paper. Based on the internal energy conversion process of ultrasonic motor, the loss of ultrasonic motor is calculated quantitatively, and the influence of loss on piezoelectric ceramic parameters is pointed out. Finally, the equivalent circuit model of ultrasonic motor including temperature characteristics is established. Through the simulation of the model, it is found that the loss leads to the shift to the left of the admittance spectrum and phase spectrum of the ultrasonic motor, and the minimum admittance phase point of the ultrasonic motor is found at the same time. In this paper, an optimal frequency tracking principle of ultrasonic motor for temperature drift compensation is designed. The optimal frequency tracking principle takes the mechanical quality factor as the performance index. By adjusting the driving frequency, the ultrasonic motor is guaranteed to run in the state of the maximum mechanical quality factor. It can be proved that the maximum frequency of the mechanical quality factor is approximately equal to the minimum frequency of admittance phase. The core problem of the optimal frequency tracking principle is transformed from the tracking of the maximum mechanical quality factor to the tracking of the minimum admittance phase. The optimal frequency tracking system is a set of hardware and software system based on the optimal frequency tracking principle. The system consists of two parts: ultrasonic motor driver and software system. The realization of the system is introduced in this paper. The optimal frequency tracking system can compensate the temperature drift characteristics of ultrasonic motor.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TM359.9

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本文編號：2471043