CN106533255B - The space phase modulation annular Traveling Ultrasonic Motor and its control method of symmetrical ceramics subregion - Google Patents
The space phase modulation annular Traveling Ultrasonic Motor and its control method of symmetrical ceramics subregion Download PDFInfo
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- CN106533255B CN106533255B CN201610971751.7A CN201610971751A CN106533255B CN 106533255 B CN106533255 B CN 106533255B CN 201610971751 A CN201610971751 A CN 201610971751A CN 106533255 B CN106533255 B CN 106533255B
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- 239000000919 ceramic Substances 0.000 title claims abstract description 133
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000010287 polarization Effects 0.000 claims abstract description 28
- 230000008859 change Effects 0.000 claims description 13
- 229910052573 porcelain Inorganic materials 0.000 claims description 5
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 2
- 230000015572 biosynthetic process Effects 0.000 description 4
- 238000003786 synthesis reaction Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000010356 wave oscillation Effects 0.000 description 1
Classifications
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- 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
- H02N2/14—Drive circuits; Control arrangements or methods
- H02N2/142—Small signal circuits; Means for controlling position or derived quantities, e.g. speed, torque, starting, stopping, reversing
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- 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
- H02N2/163—Motors with ring stator
Abstract
The present invention provides a kind of the space phase modulation annular Traveling Ultrasonic Motor and its control method of symmetrical ceramic subregion, piezoelectric ceramics includes A1 areas piezoelectric ceramics, A2 areas piezoelectric ceramics, B3 areas piezoelectric ceramics and B4 areas piezoelectric ceramics, each ceramics subregion spatially circumferentially presses A1 areas successively, A2 areas, B4 areas and the arrangement of B3 areas piezoelectric ceramics, and it is spaced the wavelength of a quarter, each area's ceramics spatially respectively occupy two wavelength, the width of each polarization subregion of piezoelectric ceramics is half wavelength, the piezoelectric ceramics polarization area polarizing direction in arbitrary three areas is arranged in order by "+-+- " counterclockwise, the piezoelectric ceramics polarization area polarizing direction in another area is by " -+-+" arrangement.The present invention have the advantages that tradition segment ceramic structure space phase modulation annular Traveling Ultrasonic Motor repertoire and, and each polarization subregion of piezoelectric ceramics is wider, each all polarization subregions of area's piezoelectric ceramics spatially keep continuous, process and make and is more convenient and accurate.
Description
Technical field
The present invention relates to a kind of the space phase modulation annular Traveling Ultrasonic Motors and its control method of symmetrical ceramic subregion.
Background technology
Space phase modulation annular Traveling Ultrasonic Motor is a kind of annular row for being adjusted by voltage and realizing space phase control
Wave supersonic motor, this new controlled quentity controlled variable of space phase provide more choices for the control of annular traveling wave motor.
The piezoelectric ceramics of space phase modulation annular Traveling Ultrasonic Motor traditional at present is using subdivision ceramic structure, each of which
Ceramic subregion is the half of traditional endless Traveling Ultrasonic Motor, and number of partitions then doubles, this can generate problems with：
1. the gross area of each by stages insulation increases, cause to cover silver-colored area reduction, power of motor declines；2. each phase subregion apart from one another by,
Cause the wiring of motor complicated and difficult；3. ceramic Division area reduces, lead to the difficulty of Ceramic manufacturing, and be helpless to ceramics and add
The raising of work precision.
Invention content
Space phase modulation annular Traveling Ultrasonic Motor and its control the object of the present invention is to provide a kind of symmetrical ceramic subregion
Method processed has completely new ceramic partitioned organization, simplifies the making of space phase modulation annular travelling wave motor, improves the processing essence of motor
Degree, and coordinate corresponding power source design, solve the above-mentioned problems in the prior art.
The present invention technical solution be：
A kind of space phase modulation annular Traveling Ultrasonic Motor of symmetrical ceramic subregion, including piezoelectric ceramics, piezoelectric ceramics packet
A1 areas piezoelectric ceramics, A2 areas piezoelectric ceramics, B3 areas piezoelectric ceramics and B4 areas piezoelectric ceramics are included, each ceramics subregion is spatially along circle
Zhou Yici is spaced four by A1 areas piezoelectric ceramics, A2 areas piezoelectric ceramics, B4 areas piezoelectric ceramics and the arrangement of B3 areas piezoelectric ceramics
/ mono- wavelength, each area's ceramics spatially respectively occupy two wavelength, and the width of each polarization subregion of piezoelectric ceramics is two
/ mono- wavelength, counterclockwise, the piezoelectric ceramics in arbitrary three areas polarization area polarizing direction are arranged successively by "+-+- "
Row, the piezoelectric ceramics polarization area polarizing direction in another area represent positive polarization by " -+-+" arrangement, "+", and "-" represents
Reverse polarization can freely define polarized positive direction, require nothing more than it perpendicular to ceramic flat surface.
A kind of control method for the space phase modulation annular Traveling Ultrasonic Motor for realizing above-mentioned symmetrical ceramic subregion, A1, A2
Apply same time phase, power supply one, the power supply two of different amplitudes on area's piezoelectric ceramics；Apply phase on B3, B4 area piezoelectric ceramics
Same time phase, power supply three, the power supply four of different amplitudes；Power supply and B3, B4 area piezoelectricity pottery applied on A1, A2 area piezoelectric ceramics
It is constant that the power supply applied on porcelain differs pi/2 on time phase；The power supply applied on A1, B4 area piezoelectric ceramics has identical width
Value；The power supply applied on A2, B3 area piezoelectric ceramics has identical amplitude.
Further, a is set as power supply one and the voltage magnitude of power supply four, b is the voltage magnitude of power supply two and power supply three,
θ reacts angle of the standing wave in space " movement " of two different time phases, related with power supply amplitude a, b, meets：
Change the magnitude relationship of power supply amplitude a, b, realize the standing wave for changing two different time phases in space " movement "
Angle, θ, and then change motor stator in the ratio relation of traveling-wave component and standing wave, realize space phase modulation control.
The beneficial effects of the invention are as follows：This kind of symmetrically space phase modulation annular Traveling Ultrasonic Motor of ceramic subregion and its control
Method processed, has the following advantages that,
First, in the present invention, A1 areas piezoelectric ceramics, A2 areas piezoelectric ceramics, B3 areas piezoelectric ceramics and B4 areas piezoelectric ceramics are in machine
Tool is spatially independent mutually, and all potsherds of single subregion keep spatially continuous, compared with traditional subdivision ceramic structure
Space phase modulation annular Traveling Ultrasonic Motor wiring it is more simplified；
2nd, space phase modulation annular Traveling Ultrasonic electricity of the polarization zoned width of piezoelectric ceramics for tradition subdivision ceramic structure
Twice of machine piezoelectric ceramics polarization width, with the equivalent width of tradition annular traveling wave supersonic motor, makes pottery compared with traditional subdivision
The space phase modulation annular Traveling Ultrasonic Motor of porcelain structure, will not there is power loss, and Ceramic manufacturing precision also can be with traditional ring
Shape Traveling Ultrasonic Motor is consistent.
Description of the drawings
Fig. 1 is the structural representation of the symmetrical space phase modulation annular Traveling Ultrasonic Motor of ceramic subregion of the embodiment of the present invention
Figure.
Fig. 2 is the piezoelectric ceramics polarization partition scheme one of the present invention and power supply connection scheme schematic diagram.
Wherein：1- end caps, 2- bearings one, 3- bearings two, 4- shafts, 5- rotors, 6- stators, 7- pedestals, 8-A1 areas piezoelectricity
Ceramics, 9-A2 areas piezoelectric ceramics, 10-B3 areas piezoelectric ceramics, 11-B4 areas piezoelectric ceramics, 12- power supplys one, 13- power supplys two, 14- electricity
Source three, 15- power supplys four.
Specific embodiment
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings.
Embodiment
As shown in Figure 1, a kind of space phase modulation annular Traveling Ultrasonic Motor of symmetrical ceramic subregion, including end cap 1, bearing
One 2, bearing 23, shaft 4, rotor 5, stator 6, pedestal 7 and piezoelectric ceramics.Except the subregion of piezoelectric ceramics and polarization partitioned mode
Outside, the other structures of motor, material and assembling scheme and traditional endless Traveling Ultrasonic Motor are completely the same.
The piezoelectric ceramics of the space phase modulation annular Traveling Ultrasonic Motor of this kind of symmetrical ceramic subregion is divided into A1 areas piezoelectricity pottery
Porcelain 8, A2 areas piezoelectric ceramics 9, B3 areas piezoelectric ceramics 10 and B4 areas piezoelectric ceramics 11.As shown in Fig. 2, when motor works, in stator
The space traveling wave of nine wavelength is distributed on circumference, such as each traveling wave wavelength is calculated as 2 π of space phase, and whole circumference can be calculated as sky
Between 18 π of phase.The initial position for defining A1 areas piezoelectric ceramics 8 counterclockwise is initial position, then 4 π Chu Wei A1 areas piezoelectricity
The end position of ceramics 8, the initial position of 4.5 π Chu Wei A2 areas piezoelectric ceramics 9 is initial position, and 8.5 π Chu Wei A2 areas piezoelectricity are made pottery
The end position of porcelain 9, the initial positions of 9 π Chu Wei B4 areas piezoelectric ceramics 11 are initial position, 13 π Chu Wei B4 areas piezoelectric ceramics 11
End position, the initial positions of 13.5 π Chu Wei B3 areas piezoelectric ceramics 10 is initial position, 17.5 π Chu Wei B3 areas piezoelectric ceramics
10 end position.Respectively contain in A1 areas piezoelectric ceramics 8, A2 areas piezoelectric ceramics 9, B3 areas piezoelectric ceramics 10 and B4 areas piezoelectric ceramics 11
It polarizing subregion there are four piezoelectric ceramics, the width of the subregion that polarizes is space phase length π namely half fundamental wavelength, with
Traditional endless Traveling Ultrasonic Motor is the same, is the two of the space phase modulation annular Traveling Ultrasonic Motor of tradition subdivision ceramic structure
Times.In A1 areas piezoelectric ceramics 8, A2 areas piezoelectric ceramics 9, B3 areas piezoelectric ceramics 10 and B4 areas piezoelectric ceramics 11, in arbitrary three areas
The polarization subregion in portion is polarized by "+-+- " direction in the counterclockwise direction, the polarization subregion edge inside another area
It is then counterclockwise to polarize by " -+-+" direction, therefore ceramic structure is altogether there are four types of scheme, as shown in Figure 2."+" table
Show positive polarization, "-" represents reverse polarization, and polarized positive direction can be defined freely, requires nothing more than it perpendicular to ceramic flat surface i.e.
It can.
The space phase modulation annular Traveling Ultrasonic Motor of the symmetrical ceramic subregion of embodiment has tradition subdivision ceramic structure
Space phase modulation annular Traveling Ultrasonic Motor repertoire and advantage, and each polarization subregion of piezoelectric ceramics is wider, respectively
All polarization subregions of area's piezoelectric ceramics spatially keep continuous, process and make and is more convenient and accurate.
Space phase modulation annular Traveling Ultrasonic Motor must coordinate new power source design that could realize spatial Phase-shifting Method control.Newly
Power source design employ four power supplys：Power supply 1, power supply 2 13, power supply 3 14, power supply 4 15.Power supply 1 is pressed with A1 areas
All polarization piecewise connections of electroceramics 8, power supply 2 13 and all polarization piecewise connections of A2 areas piezoelectric ceramics 9, power supply 3 14
All polarization piecewise connections with B3 areas piezoelectric ceramics 10, power supply 4 15 connect with all polarization subregions of B4 areas piezoelectric ceramics 11
It connects.Power supply 1 has identical time phase with power supply 2 13.Power supply 3 14 has identical time phase with power supply 4 15,
And pi/2 is differed in time phase with power supply 1 and power supply 3 14.Power supply 1 has identical voltage magnitude with power supply 4 15,
Power supply 2 13 and power supply 3 14 have identical voltage magnitude.
Power supply expression formula is described as that power supply 1 is acos ω t, power supply 2 13 is bcos ω t, power supply 3 14 is bsin ω
T, power supply 4 15 is asin ω t；A is the voltage magnitude of power supply 1 and power supply 4 15, and b is the electricity of power supply 2 13 and power supply 3 14
Pressure amplitude value, voltage magnitude a and b are per unit value.
For different ceramic structures, the principle of space phase modulation annular Traveling Ultrasonic Motor space phase modulation is：
The first, ceramic structure scheme one, as shown in Fig. 2, four power supplys excite four standing waves, expression formula on stator
For：
Time phase identical two standing waves synthesize new standing wave two-by-two, and expression formula is：
The complex wave synthesized on the above-mentioned two synthesis final stator of standing wave includes traveling-wave component and standing wave.Wherein θ is anti-
Having answered the standing wave of two different time phases, with power supply amplitude a, b is related in the angle of space " movement ", meets：
Change the magnitude relationship of power supply amplitude a, b, thus it is possible to vary θ, and then change traveling-wave component and standing wave in motor stator
The ratio relation of component realizes space phase modulation control.
In above-mentioned formula, ar, br are standing wave oscillation crosswise amplitude,R is standing wave amplitude relative to voltage amplitude
The coefficient of value, x are spatial position angle, and it is wave number along stator circumference that ω, which be vibration angular frequency n=l/ λ, and l is stator perimeter, λ
For elastic wavelength, t is the time.The same symbol represents identical meaning in specification.
Second, ceramic structure scheme two, four power supplys excite four standing waves on stator, and expression formula is：
Time phase identical two standing waves synthesize new standing wave two-by-two, and expression formula is：
The complex wave synthesized on the above-mentioned two synthesis final stator of standing wave includes traveling-wave component and standing wave.Change power supply
The magnitude relationship of amplitude a, b, thus it is possible to vary θ, and then change the ratio relation of traveling-wave component and standing wave in motor stator, it is real
Existing space phase modulation control.
The third, ceramic structure scheme three, four power supplys excite four standing waves on stator, and expression formula is：
Time phase identical two standing waves synthesize new standing wave two-by-two, and expression formula is：
The complex wave synthesized on the above-mentioned two synthesis final stator of standing wave includes traveling-wave component and standing wave.Change power supply
The magnitude relationship of amplitude a, b, thus it is possible to vary θ, and then change the ratio relation of traveling-wave component and standing wave in motor stator, it is real
Existing space phase modulation control.
4th kind, ceramic structure scheme four, four power supplys excite four standing waves on stator, and expression formula is：
Time phase identical two standing waves synthesize new standing wave two-by-two, and expression formula is：
The complex wave synthesized on the above-mentioned two synthesis final stator of standing wave includes traveling-wave component and standing wave.Change power supply
The magnitude relationship of amplitude a, b, thus it is possible to vary θ, and then change the ratio relation of traveling-wave component and standing wave in motor stator, it is real
Existing space phase modulation control.
Claims (2)
1. a kind of space phase modulation annular Traveling Ultrasonic Motor of symmetrical ceramic subregion, it is characterised in that：Including piezoelectric ceramics, pressure
Electroceramics includes A1 areas piezoelectric ceramics, A2 areas piezoelectric ceramics, B3 areas piezoelectric ceramics and B4 areas piezoelectric ceramics, and each ceramics subregion is in sky
Between on circumferentially successively by A1 areas piezoelectric ceramics, A2 areas piezoelectric ceramics, B4 areas piezoelectric ceramics and B3 areas piezoelectric ceramics arrangement, and that
The wavelength of this interval a quarter, each area's ceramics spatially respectively occupy two wavelength, each polarization subregion of piezoelectric ceramics
Width is half wavelength, counterclockwise, the piezoelectric ceramics in arbitrary three areas polarization area polarizing direction by "+-
+-", is arranged in order, and the piezoelectric ceramics in another area polarization area polarizing direction represents positive pole by " -+-+" arrangement, "+"
Change, "-" represents reverse polarization, and polarized positive direction can be defined freely, require nothing more than it perpendicular to ceramic flat surface；
The control method of the space phase modulation annular Traveling Ultrasonic Motor of the symmetrical ceramic subregion is applied on A1, A2 area piezoelectric ceramics
Add same time phase, power supply one, the power supply two of different amplitudes；Apply same time phase on B3, B4 area piezoelectric ceramics, it is different
Power supply three, the power supply four of amplitude；The power supply applied on A1, A2 area piezoelectric ceramics and the power supply applied on B3, B4 area piezoelectric ceramics
It is constant that pi/2 is differed on time phase；The power supply applied on A1, B4 area piezoelectric ceramics has identical amplitude；A2, B3 area piezoelectricity pottery
The power supply applied on porcelain has identical amplitude；
A is set as power supply one and the voltage magnitude of power supply four, b is the voltage magnitude of power supply two and power supply three, and θ reacts two differences
The standing wave of time phase is in the angle of space " movement ", satisfaction related with power supply amplitude a, b：
Change the magnitude relationship of power supply amplitude a, b, realize the standing wave for changing two different time phases at the angle of space " movement "
θ is spent, and then changes the ratio relation of traveling-wave component and standing wave in motor stator, realizes space phase modulation control.
2. a kind of controlling party for realizing the space phase modulation annular Traveling Ultrasonic Motor of symmetrical ceramics subregion described in claim 1
Method, it is characterised in that：Apply same time phase, power supply one, the power supply two of different amplitudes on A1, A2 area piezoelectric ceramics；B3、B4
Apply same time phase, power supply three, the power supply four of different amplitudes on area's piezoelectric ceramics；Apply on A1, A2 area piezoelectric ceramics
It is constant that power supply with the power supply applied on B3, B4 area piezoelectric ceramics differs pi/2 on time phase；It is applied on A1, B4 area piezoelectric ceramics
The power supply added has identical amplitude；The power supply applied on A2, B3 area piezoelectric ceramics has identical amplitude；
A is set as power supply one and the voltage magnitude of power supply four, b is the voltage magnitude of power supply two and power supply three, and θ reacts two differences
The standing wave of time phase is in the angle of space " movement ", satisfaction related with power supply amplitude a, b：
Change the magnitude relationship of power supply amplitude a, b, realize the standing wave for changing two different time phases at the angle of space " movement "
θ is spent, and then changes the ratio relation of traveling-wave component and standing wave in motor stator, realizes space phase modulation control.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101710802A (en) * | 2009-12-14 | 2010-05-19 | 南通大学 | Traveling wave type ultrasonic motor of minitype column |
| CN103107735A (en) * | 2013-01-30 | 2013-05-15 | 东南大学 | Amplitude-and-phase control method of space phase-adjusting traveling-wave ultrasonic motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101710802A (en) * | 2009-12-14 | 2010-05-19 | 南通大学 | Traveling wave type ultrasonic motor of minitype column |
| CN103107735A (en) * | 2013-01-30 | 2013-05-15 | 东南大学 | Amplitude-and-phase control method of space phase-adjusting traveling-wave ultrasonic motor |
Non-Patent Citations (1)
| Title |
|---|
| 多孤极型空间调相环形行波超声波电机的研究;陈旦宏;《中国博士学位论文全文数据库》;20160501;正文第13-14，24-25,35-36页 * |
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Effective date of registration: 20240116 Address after: 224100 North side of Binhe Road and east side of Kangping Road in Dazhong Industrial Park, Dafeng District, Yancheng City, Jiangsu Province Patentee after: Jiangsu Yifeng Intelligent Power Co.,Ltd. Address before: 1 No. 211167 Jiangsu city of Nanjing province Jiangning Science Park Hongjing Road Patentee before: NANJING INSTITUTE OF TECHNOLOGY |