本文選題：超聲電機(jī) + 直線電機(jī)��； 參考：《哈爾濱工業(yè)大學(xué)》2014年博士論文

【摘要】：超聲電動(dòng)機(jī)是近三十多年來發(fā)展起來的一種全新概念的驅(qū)動(dòng)裝置。與傳統(tǒng)電磁電機(jī)相比，超聲電機(jī)具有結(jié)構(gòu)簡單、能量密度大、啟停靈敏、位置分辨率高、斷電自鎖、低振動(dòng)、低噪聲、無電磁干擾等特點(diǎn)。所以它在航天器、微小型機(jī)械、精密儀器、小功率驅(qū)動(dòng)等方面的應(yīng)用具有明顯的優(yōu)越性。直線超聲電機(jī)是超聲電機(jī)的一個(gè)分支，它通過定子和滑塊（或者動(dòng)子）之間的摩擦耦合輸出直線運(yùn)動(dòng)和推力。由于其結(jié)構(gòu)簡單，可以直接輸出直線運(yùn)動(dòng)，不需要運(yùn)動(dòng)轉(zhuǎn)換機(jī)構(gòu)，所以除了具有旋轉(zhuǎn)型超聲電機(jī)的一般特點(diǎn)外，直線超聲電機(jī)的定位精度和速度控制精度更高，可達(dá)納米級(jí)精度。 本文提出了一種新型面內(nèi)彎縱型直線超聲電機(jī)。該電機(jī)的定子由一塊青銅矩形板和八片壓電陶瓷片組成，電機(jī)利用矩形板的面內(nèi)二階彎曲振動(dòng)和一階縱向振動(dòng)的復(fù)合模態(tài)來工作。由于矩形板的寬度遠(yuǎn)小于厚度，其面內(nèi)彎曲振動(dòng)難以被激發(fā)，所以，本研究中，在青銅矩形板的適當(dāng)位置開設(shè)了若干長條形孔來解決這個(gè)問題，并利用瑞利-里茲法確定了長條形孔的最佳長度尺寸。在電壓信號(hào)的激勵(lì)下，壓電陶瓷片產(chǎn)生超聲頻率的伸縮振動(dòng)，并激發(fā)出矩形板定子的面內(nèi)彎縱復(fù)合模態(tài)，使矩形金屬板產(chǎn)生共振，并使矩形板上的驅(qū)動(dòng)足產(chǎn)生橢圓運(yùn)動(dòng)。通過摩擦耦合將驅(qū)動(dòng)足的橢圓運(yùn)動(dòng)變成電機(jī)滑塊的直線運(yùn)動(dòng)，從而實(shí)現(xiàn)直線電機(jī)的動(dòng)力輸出。 分析了壓電材料的逆壓電效應(yīng)，從矩形板定子面內(nèi)二階彎曲振動(dòng)和一階縱向振動(dòng)的振動(dòng)方程出發(fā)，建立了矩形板定子的機(jī)電耦合動(dòng)力學(xué)模型，計(jì)算了壓電陶瓷片對定子所施加的面內(nèi)二階彎曲振動(dòng)和一階縱向振動(dòng)的模態(tài)力，給出了若干壓電陶瓷片的合理安裝位置，解釋了定子驅(qū)動(dòng)足橢圓運(yùn)動(dòng)的形成機(jī)理。 應(yīng)用有限元分析軟件建立了面內(nèi)彎縱型直線電機(jī)定子的有限元模型，對電機(jī)定子進(jìn)行全面的仿真分析，包括模態(tài)分析、諧響應(yīng)分析、瞬態(tài)動(dòng)力學(xué)分析和接觸分析。通過仿真，得到了定子的振型，優(yōu)化了電機(jī)的結(jié)構(gòu)尺寸，計(jì)算了定子產(chǎn)生面內(nèi)縱彎復(fù)合振動(dòng)時(shí)的最佳頻率，驗(yàn)證了定子驅(qū)動(dòng)足的橢圓運(yùn)動(dòng)的形成機(jī)理，比較了矩形板開孔前后定子的振幅、頻率等變化，，并通過接觸分析證明了這種直線超聲電機(jī)設(shè)計(jì)方案的可行性。 課題對彎縱型直線超聲電機(jī)進(jìn)行驅(qū)動(dòng)和摩擦分析，從定子驅(qū)動(dòng)足質(zhì)點(diǎn)的橢圓運(yùn)動(dòng)研究入手，以新的視角分析了驅(qū)動(dòng)足質(zhì)點(diǎn)的橢圓運(yùn)動(dòng)對動(dòng)子運(yùn)動(dòng)的驅(qū)動(dòng)和阻礙機(jī)理，提出了定子質(zhì)心位置和定子兩端的作用力隨著定子的振動(dòng)而變化的觀點(diǎn)。在此基礎(chǔ)上，分析了定子和動(dòng)子摩擦界面間的粘、滑摩擦機(jī)理，指出驅(qū)動(dòng)足對動(dòng)子的驅(qū)動(dòng)方式為跳躍式驅(qū)動(dòng)，且定子驅(qū)動(dòng)足相對于動(dòng)子適當(dāng)?shù)摹疤S”有利于電機(jī)的動(dòng)力輸出，還指出定子驅(qū)動(dòng)足的“跳躍”高度取決于預(yù)壓彈簧剛度、動(dòng)子摩擦層的剛度、電機(jī)預(yù)壓力、驅(qū)動(dòng)足振幅等因素。 為驗(yàn)證本課題所設(shè)計(jì)和制造的新型超聲電機(jī)合理性和可行性，加工制作了直線超聲電機(jī)的樣機(jī)，搭建了實(shí)驗(yàn)平臺(tái)并進(jìn)行了相關(guān)的實(shí)驗(yàn)。在實(shí)驗(yàn)中，對定子矩形板是否開孔兩種情況進(jìn)行了比較實(shí)驗(yàn)，證明矩形板開孔后可以擴(kuò)大定子的振幅，特別是面內(nèi)彎曲振動(dòng)的振動(dòng)幅度，并且電機(jī)的輸出速度和最大輸出力明顯加大。
[Abstract]:Ultrasonic motor is a new concept driving device developed in the past thirty years. Compared with the traditional electromagnetic motor, ultrasonic motor has the characteristics of simple structure, high energy density, high position resolution, high position resolution, low vibration, low noise, and no electromagnetic interference. So it is in spacecraft, micro machine, precision instrument. The linear ultrasonic motor is a branch of the ultrasonic motor, which outputs the linear motion and thrust through the friction coupling between the stator and the slider (or the motion). Because of its simple structure, it can directly output the linear motion without the need of motion conversion mechanism, so in addition to it The general accuracy of the rotary ultrasonic motor is that the accuracy and speed control accuracy of the linear ultrasonic motor is higher, and it can reach nanometer accuracy.
In this paper, a new type of in-plane curved longitudinal linear ultrasonic motor is proposed. The stator of the motor is composed of a bronze rectangular plate and eight piezoelectric ceramic plates. The motor uses the composite mode of the two order bending vibration and the first longitudinal vibration in the surface of the rectangular plate. The bending vibration of the rectangular plate is difficult to be subjected to the thickness of the plane. In this study, a number of long strip holes are set up in the proper position of the bronze rectangular plate to solve this problem, and the optimum length size of the long strip hole is determined by Rayleigh Ritz method. Under the excitation of the voltage signal, the piezoelectric ceramic plate produces the ultrasonic vibration of the ultrasonic frequency and excites the inner bending of the rectangular plate stator. The combined mode makes the rectangular metal plate resonate and causes the elliptical motion of the driving foot on the rectangular plate. Through the friction coupling, the elliptical motion of the driving foot is transformed into the linear motion of the motor slider, thus the power output of the linear motor is realized.
The inverse piezoelectric effect of the piezoelectric material is analyzed. Based on the two order bending vibration and the first order longitudinal vibration equation of the rectangular plate stator, the electromechanical coupling dynamic model of the rectangular plate stator is established. The modal forces of the two order bending vibration and the first longitudinal vibration of the stator are calculated, and some of the modal forces of the first order longitudinal vibration are calculated. The reasonable installation position of the piezoelectric ceramic plate explains the formation mechanism of the elliptical motion of the stator driving foot.
Finite element analysis software is used to establish the finite element model of the stator of an inner curved longitudinal linear motor. The stator of the motor is simulated and analyzed comprehensively, including modal analysis, harmonic response analysis, transient dynamic analysis and contact analysis. Through simulation, the stator vibration mode is obtained, the structure size of the motor is optimized, and the stator production surface is calculated. The optimum frequency of the longitudinal bending combined with vibration proves the formation mechanism of the elliptical motion of the stator driving foot, and compares the amplitude and frequency of the stator before and after the opening of the rectangular plate, and the feasibility of the design of this linear ultrasonic motor is proved by contact analysis.
In this paper, the driving and friction analysis of a curved longitudinal linear ultrasonic motor is carried out. Starting with the study of the elliptical motion of the particle driven by the stator, the driving and blocking mechanism of the elliptical motion of the driving foot particles is analyzed with a new angle of view. The position of the stator center of mass and the force of the two end of the stator change with the vibration of the stator. On this basis, the viscosity and sliding friction mechanism between the stator and the rotor friction interface is analyzed. It is pointed out that the driving mode of the driving foot is hopping, and the appropriate "jumping" of the stator driving foot is beneficial to the power output of the motor. It also points out that the "jump" height of the stator driving foot depends on the preloading spring stiffness. The stiffness of the friction layer, the preload of the motor, and the amplitude of the driving foot are all factors.
In order to verify the rationality and feasibility of the new ultrasonic motor designed and made in this project, a prototype of a linear ultrasonic motor is manufactured, the experimental platform is built and the related experiments are carried out. In the experiment, two cases of the stator opening are compared. It is proved that the amplitude of the rectangular plate can expand the amplitude of the stator after opening the hole. Especially the vibration amplitude of the bending vibration inside the plane, and the output speed and the maximum output force of the motor obviously increase.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2014
【分類號(hào)】：TM35

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本文編號(hào)：2013394