CN105471316B - Motor stator, the microminiature ultrasound electric machine of multichannel servos control and its control method - Google Patents
Motor stator, the microminiature ultrasound electric machine of multichannel servos control and its control method Download PDFInfo
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- CN105471316B CN105471316B CN201610012819.9A CN201610012819A CN105471316B CN 105471316 B CN105471316 B CN 105471316B CN 201610012819 A CN201610012819 A CN 201610012819A CN 105471316 B CN105471316 B CN 105471316B
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- stator
- sleeve
- electric machine
- driving foot
- driving
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- 238000002604 ultrasonography Methods 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title abstract description 7
- 210000002683 foot Anatomy 0.000 claims abstract description 49
- 239000000919 ceramic Substances 0.000 claims abstract description 38
- 239000011159 matrix material Substances 0.000 claims abstract description 25
- 230000009471 action Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 8
- 239000002245 particle Substances 0.000 abstract description 3
- 238000010276 construction Methods 0.000 abstract 1
- 238000006073 displacement reaction Methods 0.000 description 9
- 238000005452 bending Methods 0.000 description 5
- 239000000956 alloy Substances 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000005086 pumping Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000005284 excitation Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 229910052573 porcelain Inorganic materials 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/12—Constructional details
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/16—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors using travelling waves, i.e. Rayleigh surface waves
- H02N2/166—Motors with disc stator
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The present invention provides a kind of motor stator, the microminiature ultrasound electric machine and its control method of novel multi-channel servos control, the stator includes stator base piece, some driving foots, piezoelectric ceramic piece, stator base piece carries extension, its lower surface is provided with driving foot, the first piezoelectric ceramic piece is provided with the upper surface of stator base piece, the second piezoelectric ceramic piece is equipped with the side of each driving foot；The stator is applied in microminiature ultrasound electric machine, with the sinusoidal signal that two-way time phase difference is pi/2 while encourage piezoelectric ceramic piece, disk stator matrix is encouraged respectively, the particle on driving foot end face is set to produce elliptic motion trace, rubbed power effect promotes the connecting shaft rotation for being pressed in and driving on sufficient end face, and power is provided for connection；Four axle independences or individual operation, simple in construction, good output can be realized, physical dimension can carry out related adjustment with applicable situation, it is possible to achieve multichannel drives the microminiaturization of servos control, precision height.
Description
Technical field
The present invention relates to the small ultrasound electric machine of the novel multi-channel servos control of the inverse piezoelectric effect based on piezoelectric ceramics
The system integration, belong to ultrasound electric machine field.
Background technology
Ultrasound electric machine is a kind of new small and special electric machine, and its operation principle is the inverse piezoelectric effect using piezoelectric, is excited
Vibration and is changed into rotor in the micro breadth oscillation of supersonic range by elastomer (stator) by the rubbing action between stator and rotor
Rotation or linear motion, power output, driving load.The small ultrasound electric machine of novel multi-channel servos control is ultrasound electric machine
One kind, compared with traditional electromagnetic machine with it is many unique the advantages of：Compact-sized, flexible design, torque density (turns
Square/mass ratio) it is big, it is possible to achieve motor it is short, small, thin, beneficial to microminiaturization.Low speed high torque, can without gear reduction
Direct drive.Rotor inertia is small, and response is fast, can cut off self-lock, and have larger holding moment of torsion.Position and speed control
Property it is good, displacement resolution is high, electromagnetism interference.
At present, the domestic research for multichannel servos control is still in the starting stage, for the controlling party of matrix deflection
Formula, although expanding theoretical research, at this stage still in the exploratory stage.
Main control mode is broadly divided into two classes：One kind is held using intelligent alloy material as what driving force source was developed
Row mechanism；Another kind of is the executing agency developed using piezoelectric ceramics as driving force source.Intelligent alloy material mainly has memory
Alloy material and magnetostriction materials, the executing agency that is developed using this kind of material as driving force source control matrix inclined
Turn, and then control the aerodynamic force of matrix, and then correct flight path.This scheme can provide larger driving force and it is larger partially
Corner, but response speed is relatively low, so limits the number of amendment, and then have impact on the final precision of amendment.Piezoelectricity is made pottery
The executing agency that porcelain is developed as driving force source, small deformation is produced using the inverse piezoelectric effect of piezoelectric, using more
Level displacement amplifying mechanism, this micro-strain is amplified, and the deformation yet with piezoelectric is usually micron level, multistage amplification
Effect afterwards is also not ideal enough, it is impossible to produces larger drift angle, which results in pneumatic control power is smaller.
The content of the invention
It is contemplated that overcome the deficiencies in the prior art, there is provided a kind of compact-sized, fast response time, control flexibly, can
With the steering wheel of the multichannel steering wheel control performs device of multiple output shaft outputs simultaneously.
Motor stator provided by the invention includes stator base piece, some driving foots, piezoelectric ceramic piece, driving foot, stator
Base sheet is integrally machined, and the middle part of stator base piece thickness direction carries extension, and its lower surface is provided with driving foot, in stator base
The upper surface of piece is provided with the first piezoelectric ceramic piece, and the second piezoelectric ceramic piece is equipped with the side of each driving foot.
Specifically, the central point that driving is enough stator base piece is the center of circle, is uniformly distributed in circumferential, each driving foot
Same side is provided with the second piezoelectric ceramic piece.
A kind of microminiature ultrasound electric machine of novel multi-channel servos control, including stator, axle and one fastening stator and
The sleeve arrangement of axle；The stator includes the disk stator matrix with extension annulus integrally synthesized and some driving foots, in institute
The upper surface for stating disk stator matrix is provided with the first piezoelectric ceramic piece, and the second piezoelectric ceramics is equipped with the side of the driving foot
Piece；The lower surface of each driving foot is correspondingly provided with an axle, and the sleeve arrangement includes inner sleeve and outer sleeve, inner sleeve
Through hole is provided with, the axle is arranged in through hole by bearing；The disk stator matrix is arranged at the top of inner sleeve, driving foot
Go deep into the inside of inner sleeve, the top of outer sleeve is provided with boss, and boss is by the extension annulus clamping fixed of stator, and outer sleeve
Bottom is provided with fixing device, and inner sleeve is fixed therein into portion.
Further, nut is additionally provided with the top of the outer sleeve, the nut covers the upper of whole disk stator matrix
Surface, stator and the first piezoelectric ceramic piece are fixed.
Further, the driving foot has four, and its circumference along disk stator matrix is uniformly distributed, each driving foot
Same side be provided with the second piezoelectric ceramic piece.
Specifically, the inner sleeve side wall is four discontinuous cambered surfaces, circumferentially distributed into cross, right with driving foot
It should set；The through hole of installation axle is equipped among each cambered surface, the lower surface of driving foot is pressed on axle；Inner sleeve bottom is provided with
Four cambered surfaces are connected into an entirety by horizontal web, the web；The sidewall shape of the outer sleeve is corresponding with inner sleeve,
Inner sleeve is set slidably to be enclosed on outer sleeve, device end is fixed by end cap.
A kind of microminiature ultrasonic motor control method, stator base is respectively acting on the sine and cosine pumping signal of same frequency
The second piezoelectric ceramics on the first piezoelectric ceramics and driving foot on body.
Specifically, it is with sinusoidal voltage E1=V sin (ω t) are put on the first piezoelectric ceramic piece, with cosinusoidal voltage E2
It is on π a pair of second piezoelectric ceramic pieces that=V cos (ω t), which apply spatially phase difference,.
The present invention compared with prior art, has following technique effect using above technical scheme：
The present invention has selected a kind of multiple freedom degrees ultrasound motor as executing agency, because multiple freedom degrees ultrasound motor has
The characteristics of physical dimension is small, directly drives without reducing gear, and anti-overload ability is strong, so the design of multiple freedom degrees ultrasound motor
Provide another more preferable possibility.
The design of multichannel steering wheel control performs device, for small-bore applicable situation, by orthogonal to two pairs
The weave control of the rudder wing of installation, to realize rolling, pitching and the adjustment of yaw-position to matrix, it is finally completed to matrix
Projectile correction.Steering wheel is installed in body front end, while small occupancy installing space of trying one's best again, is provided enough for the swing of the rudder wing
Rudder face stabilizing moment, revision directive can be responded quickly.
Wherein, the upper surface of stator, extension annulus, driving foot are to be integrally machined one-shot forming, compact-sized, and four drives
Action spot circumferencial direction cross is uniformly distributed, and the piezoelectric ceramic piece of circular excitation longitudinal vibration, the sufficient side patch of four drivings are posted in upper surface
There is the piezoelectric ceramic piece that rectangle excites bending vibration, piezoelectricity on stator base is respectively acting on the sine and cosine pumping signal of same frequency
Piezoelectric ceramics on ceramics and driving foot, according to the inverse piezoelectric effect of piezoelectric ceramics, end face piezoelectric ceramic piece excitation disk stator
Matrix produces longitudinal vibration mode such as Fig. 4, makes the overall length travel produced along the z-axis direction.The piezoelectric ceramic piece of sufficient side is driven to swash
Encourage driving foot and produce mode of flexural vibration such as Fig. 5, driving is produced the flexural deformation perpendicular to z-axis enough, the displacement in both direction is folded
Add, promote to drive sufficient end face particle to produce elliptical trajectory, promotion, which is pressed in, drives the connecting shaft of sufficient end face to rotate.Put on drive
The driving voltage of rectangular piezoelectric ceramic piece can have certain phase difference on action spot, therefore more rudder wing connecting shafts are independent of each other.Should
The forward and backward direction of motor can two-phase is sinusoidal to be controlled with the phase difference of cosine pumping signal by changing.
On the premise of size requirement is met, the stator profile equidimension of motor can be arbitrarily devised as needed, Neng Gouti
For stable torque, position and speed control are good, and have the ability that cuts off self-lock, and this just provides possibility for accurate guidance,
Also condition is created for microminiaturization.
Brief description of the drawings
Below with reference to accompanying drawing, the invention will be further described：
Fig. 1 to Fig. 3 be respectively the front view of the small ultrasonic motor stator of novel multi-channel servos control, top view and
Stereogram；
Fig. 4 is the section view longitudinal vibration bending vibation mode picture of Cylinder stator matrix；
Fig. 5 is that the section view of driving foot bends bending vibation mode picture；
Fig. 6 is the small ultrasound electric machine internal stator topology layout of novel multi-channel servos control；
Fig. 7 is the outline drawing of the small ultrasound electric machine of novel multi-channel servos control；
Fig. 8 is the installation diagram of the microminiature ultrasound electric machine of novel multi-channel servos control；
In figure, 1 --- stator base, 2 --- driving foot, 3 --- extension annulus, 4 --- stator upper surface, 5 --- the
One piezoelectric ceramic piece, 6 --- the second piezoelectric ceramic piece, 7 --- sinusoidal voltage, 8 --- cosinusoidal voltage, 9 --- clamp nut,
10 --- bearing, 11 --- axle, 12 --- inner sleeve, 13 --- outer sleeve, 14 --- bolt, 15 --- end cap, 16 --- abdomen
Plate.
Embodiment
The present invention provides a kind of motor stator, the microminiature ultrasound electric machine and its controlling party of novel multi-channel servos control
Method, to make the purpose of the present invention, technical scheme and effect are clearer, clearly, and referring to the drawings and give an actual example to the present invention
It is further described.It should be appreciated that specific implementation described herein is not used to limit this hair only to explain the present invention
It is bright.
Motor stator provided by the invention, as shown in Figure 1 to Figure 3, including stator base piece 1, some driving foots 2, piezoelectricity
Potsherd, driving foot 2, stator base piece 1 are integrally machined, and the middle part of the thickness direction of stator base piece 1 carries extension 3, its following table
Face is provided with driving foot 2, and the first piezoelectric ceramic piece 5 is provided with the upper surface 4 of stator base piece 1, in the side of each driving foot 2
It is equipped with the second piezoelectric ceramic piece 6.
Specifically, driving foot 2 is uniformly distributed using the central point of stator base piece 1 as the center of circle in circumferential, each driving foot
2 same side is provided with the second piezoelectric ceramic piece 6.
Above-mentioned motor stator is applied on microminiature ultrasound electric machine, forms a kind of the small of novel multi-channel servos control
Type ultrasound electric machine, as shown in Figure 6 to 8, the ultrasound electric machine is arranged on rudder wing installation housing intersegmental part to its structure, by four connections
Axle 11 is press respectively against on each 2 end faces of driving foot, while ensures that the phase difference of four connecting shafts 11 in a circumferential direction is pi/2,
Rotated for connecting shaft and power resources are provided, share connecting shaft of two pairs of symmetrical and right angle settings in " cross " type layout.
Specifically, the motor includes stator, axle 11 and the sleeve arrangement of a fastening stator and axle；Stator includes one
The disk stator matrix 1 with extension annulus 3 of body synthesis and some driving foots 2, the is provided with the upper surface of disk stator matrix 1
One piezoelectric ceramic piece 5, the second piezoelectric ceramic piece 6 is equipped with the side of driving foot 2；The lower surface of each driving foot 2 is correspondingly set
There is an axle 11, and sleeve arrangement includes inner sleeve and outer sleeve, and inner sleeve 12 is provided with through hole, and axle 11 is pacified by bearing 10
In through hole；Disk stator matrix 1 is arranged on the top of inner sleeve 12, and driving foot 2 gos deep into the inside of inner sleeve 12, outer sleeve 13
Top be provided with boss, boss is by the clamping fixed of extension annulus 3 of stator, and the bottom of outer sleeve 13 is provided with fixing device, will
Inner sleeve 12 is fixed therein portion.
Wherein, clamp nut 9 is additionally provided with the top of outer sleeve 13, the nut 9 covers the upper of whole disk stator matrix 1
Surface, stator and the first piezoelectric ceramic piece 5 are fixed.In the present embodiment, driving foot 2 has four, and it is along disk stator base
The circumference of body 1 is uniformly distributed, and the same side of each driving foot 2 is provided with the second piezoelectric ceramic piece 6.
The side wall of inner sleeve 12 is four discontinuous cambered surfaces, circumferentially distributed into cross, is correspondingly arranged with driving foot 2；Often
The through hole of installation axle 11 is equipped among individual cambered surface, the lower surface of driving foot 2 is pressed on axle 11；The bottom of inner sleeve 12 is provided with water
Four cambered surfaces are connected into an entirety by flat web 16, the web 16；The sidewall shape of outer sleeve 13 is relative with inner sleeve 12
Should, inner sleeve 12 makes inner sleeve slidably be enclosed on outer sleeve, device end is by end cap in the sliding groove of outer sleeve 13
15 fix.
Because four driving foots 2 are along the circumferential direction uniform, spatially phase difference is pi/2 to two neighboring driving foot, therefore
Apply sinusoidal voltage 7 on circular piezoelectric potsherd 5 on the upper surface of disk stator matrix 1, disk stator matrix 1 can be excited to produce
Flexural vibrations, make stator is overall there are displacement modes in Z-direction, its bending vibation mode picture is as shown in figure 4, particle displacement is square with coordinate Z axis
Taken just to identical, conversely take negative, the driving foot 2 on the disk stator matrix 1 is produced displacement along the z-axis direction.This is
A kind of method for expressing, it is not the actual real displacement of stator.Similarly, four rectangle pressures enough on 2 sides can driven respectively
When applying cosinusoidal voltage 8 on electroceramics piece 6, driving foot 2 can be excited to produce flexural vibration mode, its bending vibation mode picture is as shown in figure 5, drive
Action spot 2 is without displacement along the z-axis direction, displacement only along the circumferential direction.When to driving, spatially phase difference is π's on foot 2
When applying cosinusoidal voltage simultaneously on a pair of rectangular piezoelectric ceramic pieces 6, a pair of a pair of companies that spatially phase difference is π can be controlled simultaneously
Spindle 11 produces equidirectional rotation.When to driving foot, spatially phase difference is to be applied respectively on π a pair of rectangular piezoelectric ceramic pieces 6
Add cosinusoidal voltage, when, can control simultaneously a pair spatially phase difference be π a pair of connecting shafts 11 produce opposite direction rotation.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (4)
1. a kind of microminiature ultrasound electric machine of multichannel servos control, it is characterised in that fastened including stator, axle and one
The sleeve arrangement of son and axle；The stator includes the disk stator matrix with extension annulus integrally synthesized and some driving foots,
The first piezoelectric ceramic piece is provided with the upper surface of the disk stator matrix, the second piezoelectricity is equipped with the side of the driving foot
Potsherd；The lower surface of each driving foot is correspondingly provided with an axle, and the sleeve arrangement includes inner sleeve and outer sleeve, interior
Sleeve is provided with through hole, and the axle is arranged in through hole by bearing；The disk stator matrix is arranged at the top of inner sleeve, is driven
Action spot gos deep into the inside of inner sleeve, and the top of outer sleeve is provided with boss, and boss is by the extension annulus clamping fixed of stator, and outside
Sleeve bottom is provided with fixing device, and inner sleeve is fixed therein into portion.
2. the microminiature ultrasound electric machine of a kind of multichannel servos control according to claim 1, it is characterised in that described
Nut is additionally provided with the top of outer sleeve, the nut covers the upper surface of whole disk stator matrix, and stator is fixed.
A kind of 3. microminiature ultrasound electric machine of multichannel servos control according to claim 1, it is characterised in that the drive
Action spot has four, and its circumference along disk stator matrix is uniformly distributed, and the same side of each driving foot is provided with the second piezoelectricity
Potsherd.
4. the microminiature ultrasound electric machine of a kind of multichannel servos control according to claim 3, it is characterised in that in described
Sleeve lateral wall is four discontinuous cambered surfaces, circumferentially distributed into cross, is correspondingly arranged with driving foot；It is all provided among each cambered surface
There is the through hole of installation axle, the lower surface of driving foot is pressed on axle；Inner sleeve bottom is provided with horizontal web, and the web is by four
Cambered surface connects into an entirety；The sidewall shape of the outer sleeve is corresponding with inner sleeve, inner sleeve is slidably embedded in
On outer sleeve, device end is fixed by end cap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610012819.9A CN105471316B (en) | 2016-01-08 | 2016-01-08 | Motor stator, the microminiature ultrasound electric machine of multichannel servos control and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610012819.9A CN105471316B (en) | 2016-01-08 | 2016-01-08 | Motor stator, the microminiature ultrasound electric machine of multichannel servos control and its control method |
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| Publication Number | Publication Date |
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| CN105471316A CN105471316A (en) | 2016-04-06 |
| CN105471316B true CN105471316B (en) | 2018-03-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108705329B (en) * | 2018-08-22 | 2023-08-22 | 金陵科技学院 | Precision workbench based on two-degree-of-freedom piezoelectric actuator and corresponding piezoelectric actuator |
| CN109921681B (en) * | 2019-03-20 | 2020-06-30 | 河北科技大学 | Column and disc hybrid drive multi-degree-of-freedom ultrasonic motor |
| CN113422538B (en) * | 2021-05-31 | 2022-08-05 | 南京航空航天大学 | Piezoelectric steering engine system with four independently driven channels and working method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2008124457A1 (en) * | 2007-04-03 | 2008-10-16 | Shuxiang Dong | Miniature piezoelectric motor and method of driving elements using same |
| CN101795088B (en) * | 2010-03-23 | 2012-12-26 | 清华大学 | Multi-leg linear piezoelectric driver and workbench |
| CN204013280U (en) * | 2014-07-25 | 2014-12-10 | 北京派和科技股份有限公司 | The bionical linear piezoelectric actuator of many contact-actuatings and precise jiggle platform |
| CN104506079B (en) * | 2014-12-12 | 2017-02-01 | 上海大学 | cross multi-degree-of-freedom ultrasonic motor |
| CN205490234U (en) * | 2016-01-08 | 2016-08-17 | 南京航空航天大学 | Motor stator , novel multichannel steering engine control's microminiature supersound motor |
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