本文選題：超聲電機 + 模態(tài)變換�。� 參考：《哈爾濱理工大學(xué)》2014年博士論文

【摘要】：行波旋轉(zhuǎn)型超聲電機同傳統(tǒng)電磁電機相比，具有結(jié)構(gòu)簡單、低速靈活、大轉(zhuǎn)矩、斷電自鎖和不受磁場干擾等特點，在空間姿態(tài)調(diào)整機構(gòu)、精密定位、機器人關(guān)節(jié)和精密儀器等方面具有廣闊應(yīng)用前景。目前行波旋轉(zhuǎn)超聲電機多采用圓環(huán)軸向彎曲振動模態(tài)進行激勵，這種激勵方式主要依靠驅(qū)動足激勵，圓周運動部分與定子厚度成正比，影響驅(qū)動器運行速度、響應(yīng)精度和輸出力矩，而且定子厚度增加會導(dǎo)致彎振振幅下降，使其整體體積偏大，在上述應(yīng)用方面還不夠理想。由于復(fù)合激勵可以很好的解決振幅穩(wěn)定和驅(qū)動器小型化問題，使其比較適合上述應(yīng)用方面的驅(qū)動實現(xiàn)。目前國內(nèi)外對于復(fù)合激勵下超聲電機的研究和應(yīng)用還屬于探索性階段，還需要更進一步深入地研究理論、結(jié)構(gòu)設(shè)計、摩擦機理、控制算法及小型化等方面的關(guān)鍵科學(xué)技術(shù)問題。本文基于上述科學(xué)技術(shù)問題開展了研究探索，可以為行波旋轉(zhuǎn)型超聲電機小型化研究提供新思路和理論基礎(chǔ)，對于拓展應(yīng)用領(lǐng)域，具有很好的現(xiàn)實意義。 本文從行波超聲電機的運行機理出發(fā)，研究了縱振和彎振復(fù)合耦合關(guān)系對電機復(fù)合激勵時其驅(qū)動性能的影響，采用有限元建模分析方法對縱彎模態(tài)圓盤式小型超聲電機進行總體優(yōu)化設(shè)計，研究探討了適宜于該類型電機結(jié)構(gòu)的摩擦材料及其轉(zhuǎn)換機理，利用優(yōu)化算法對其控制器進行了設(shè)計，圍繞樣機設(shè)計了測試和實驗研究裝置，對其關(guān)鍵科學(xué)技術(shù)問題展開了理論和實驗研究探索，主要的研究內(nèi)容包括： 1.通過對模態(tài)變換研究和分析，提出了利于電機小型化的基于縱彎模態(tài)轉(zhuǎn)換的復(fù)合激勵貼片式圓盤行波超聲電機結(jié)構(gòu)。利用有限元分析方法對超聲電機的結(jié)構(gòu)參數(shù)進行了設(shè)計，，分析了模態(tài)轉(zhuǎn)換機理，建立了電機有限元模型，對兩個振動模態(tài)特征頻率進行了簡并，構(gòu)建了驅(qū)動齒振動軌跡圖譜，并對電學(xué)特性進行了分析。 2.研制了直徑為30mm的小型24齒復(fù)合激勵盤型超聲電機樣機。在理論分析的基礎(chǔ)上，制作了超聲電機樣機，利用齒形結(jié)構(gòu)解決了定轉(zhuǎn)子連續(xù)接觸問題，利用振動特性和阻抗特性測試完成了實驗研究工作，驗證了理論分析和有限元方法設(shè)計的正確性。 3.根據(jù)定轉(zhuǎn)子接觸面的微觀運動特點，研究了構(gòu)建納米復(fù)合摩擦材料的方法，通過對材料微觀形貌、負(fù)載響應(yīng)、摩擦系數(shù)等特性研究，探討了納米材料摩擦轉(zhuǎn)換機理。該方法較好地解決了摩擦材料微尺度的形變與超聲電機微米級運動狀態(tài)嚙合度和提高輸出力矩問題。 4.提出了對樣機控制器采用自適應(yīng)—隨機慣性權(quán)重粒子群算法（簡稱APSO-RIW）優(yōu)化PID參數(shù)的方法，通過與其他算法比較，該優(yōu)化算法對于提高控制器的收斂速度和定位精度具有優(yōu)勢。設(shè)計了基于DSP和雙DDS技術(shù)的超聲樣機驅(qū)動器，拓寬了驅(qū)動器頻率調(diào)整區(qū)間，提高了相位轉(zhuǎn)換誤差精度。 5.設(shè)計了基于LabVIEW虛擬儀器平臺的超聲電機測試裝置，并同傳統(tǒng)分立儀器測量方法進行了實驗比對，測試表明設(shè)計的測試裝置和傳統(tǒng)分立儀器測量方法測出的結(jié)果基本一致。
[Abstract]:Traveling wave rotating ultrasonic motor has the advantages of simple structure, low speed, low speed, high torque, self locking and undisturbed magnetic field. It has wide application foreground in space attitude adjustment mechanism, precision positioning, robot joint and precision instrument. The vibration mode is driven by the vibration mode, which mainly depends on the driving force. The circle motion part is proportional to the thickness of the stator, which affects the speed of the drive, the response accuracy and the output torque, and the increase of the stator thickness will lead to the decrease of the amplitude of the bending vibration, which makes the whole volume larger, and is not ideal in the application aspect. The excitation can solve the problem of amplitude stability and drive miniaturization very well, and make it more suitable for the actuation of the above application. At present, the research and application of ultrasonic motor under compound excitation still belong to the exploratory stage. It also needs to further study theory, structure design, friction mechanism, control algorithm and small control algorithm. This paper, based on the above science and technology problems, provides a new idea and theoretical basis for the study of the miniaturization of traveling wave rotating ultrasonic motors. It is of great practical significance to expand the application field.
Based on the operating mechanism of a traveling wave ultrasonic motor, the influence of the coupling relationship between the longitudinal vibration and the bending vibration on the driving performance of the motor is studied. The finite element modeling analysis method is used to optimize the longitudinal mode disc type small ultrasonic motor, and the friction material suitable for this type of motor structure is studied and discussed. The material and its conversion mechanism are designed with the optimization algorithm. The test and experimental research devices are designed around the prototype, and the theoretical and Experimental Research on its key scientific and technical problems are explored. The main contents include:
1. through the study and analysis of the modal transformation, the structure of a composite exciting patch type disk traveling wave ultrasonic motor based on the longitudinal bending mode conversion is proposed. The structure parameters of the ultrasonic motor are designed by the finite element method, the mechanism of the modal transformation is analyzed, and the finite element model of the motor is established, and the two vibration of the motor is established. The modal characteristic frequency is degenerated, and the vibration track map of driving teeth is constructed, and the electrical characteristics are analyzed.
2. the prototype of a small 24 tooth disc type ultrasonic motor with a diameter of 30mm is developed. On the basis of the theoretical analysis, the prototype of the ultrasonic motor is made. The continuous contact problem of the fixed rotor is solved by the tooth shape structure. The experimental work is completed by the test of the vibration characteristic and the impedance characteristic, and the theoretical analysis and the design of the finite element method are verified. The correctness of it.
3. according to the micro motion characteristics of the fixed rotor contact surface, the method of constructing nanocomposite friction material is studied. Through the study of the microstructure, load response and friction coefficient of the material, the mechanism of friction conversion of nanomaterials is discussed. This method is a good solution to the microscale deformation of the friction material and the microscale motion state of the ultrasonic motor. The problem of the meshing degree and the increase of the output torque.
4. an adaptive random inertia weight particle swarm optimization (APSO-RIW) method is proposed to optimize the PID parameters of the prototype controller. By comparing with the other algorithms, the optimization algorithm has the advantage of improving the convergence speed and positioning accuracy of the controller. An ultrasonic prototype driver based on DSP and double DDS is designed to broaden the drive. The accuracy of phase conversion error is improved by adjusting the frequency range of the actuator.
5. the ultrasonic motor testing device based on LabVIEW virtual instrument platform is designed and compared with the traditional discrete instrument measurement method. The test shows that the results of the designed test device and the traditional discrete instrument measurement method are basically the same.
【學(xué)位授予單位】：哈爾濱理工大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2014
【分類號】：TM359.9

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