CN108282107B - A kind of calculation method of radial direction standing wave type ultrasonic motor torque rotary speed characteristic - Google Patents
A kind of calculation method of radial direction standing wave type ultrasonic motor torque rotary speed characteristic Download PDFInfo
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- CN108282107B CN108282107B CN201810129074.3A CN201810129074A CN108282107B CN 108282107 B CN108282107 B CN 108282107B CN 201810129074 A CN201810129074 A CN 201810129074A CN 108282107 B CN108282107 B CN 108282107B
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- 238000005452 bending Methods 0.000 claims description 12
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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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Abstract
The invention discloses a kind of calculation method of radial standing wave type ultrasonic motor torque rotary speed characteristic, the basic parameter for including the following steps: step 1, determining radial standing wave type ultrasonic motor；Step 2, the deformation parameter for calculating spring leaf；Step 3 calculates spring leaf to the tangential driving force F of rotortdriveWith obstruction power Ftblock；Step 4, the initial value for taking the revolving speed N of rotor are 0；Step 5, the value for updating N calculate the constant speed crash time point t of spring leaf and rotor1；The value of step 6, the output torque T for calculating and recording motor corresponding with revolving speed N；The value of N is added Q if T > 0 by step 7, the size for judging T, wherein 0 Q≤1 <, and execute step 5；Otherwise, terminate to calculate.The torque-speed characteristic of radial standing wave type ultrasonic motor can be accurately calculated in the design analysis phase of motor.
Description
Technical field
The present invention relates to a kind of calculation methods of radial standing wave type ultrasonic motor torque rotary speed characteristic.
Background technique
Supersonic motor excites the ultrasonic vibration of metal elastomer using the inverse piezoelectric effect of piezoelectric ceramics, and passes through friction
Output driving power is coupled, to realize rotation or linear motion.Supersonic motor has that dynamic response is fast, low speed compared to electromagnetic machine
Big torque cuts off self-lock, many advantages, such as Electro Magnetic Compatibility is good, in non-continuous movement field, accurate control field, intelligence machine
The fields such as people have broad application prospects.
There are many different types for supersonic motor, wherein most important have travelling-wave type and standing wave type two types.Traveling wave
The structure of type supersonic motor is generally annular, and forms of motion is rotary motion, torque-speed characteristic calculation method more at
It is ripe.And standing wave type ultrasonic motor structure is more flexible, can both be made into linear motion, may be alternatively configured rotary motion, but different knots
The standing wave type ultrasonic motor of structure, different motion form, there is also relatively big differences for the calculation method of output performance.Currently, needle
Calculating to the torque-speed characteristic of the radial standing wave type ultrasonic motor of rotary motion, there is no effective ways, leads to not
The design analysis phase of motor accurately calculates the performance of motor.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of calculating side of radial standing wave type ultrasonic motor torque rotary speed characteristic
Method, can be in the design of motor, it can be achieved that simple, accurately radial standing wave type ultrasonic motor torque-speed characteristic calculates
Analysis phase accurately calculates the torque-speed characteristic of radial standing wave type ultrasonic motor.
To realize above-mentioned technical purpose and the technique effect, the invention is realized by the following technical scheme:
A kind of calculation method of radial direction standing wave type ultrasonic motor torque rotary speed characteristic, includes the following steps:
Step 1, the basic parameter for determining radial standing wave type ultrasonic motor；
Step 2, the deformation parameter for calculating spring leaf；
Step 3 calculates spring leaf to the tangential driving force F of rotortdriveWith obstruction power Ftblock；
Step 4, the initial value for taking the revolving speed N of rotor are 0；
Step 5, the value for updating N calculate the constant speed crash time point t of spring leaf and rotor1；
The value of step 6, the output torque T for calculating and recording motor corresponding with revolving speed N；
The value of N is added Q if T > 0 by step 7, the size for judging T, wherein 0 Q≤1 <, and execute step 5；Otherwise, it ties
Beam calculates.
It is preferred that the basic parameter of radial standing wave type ultrasonic motor includes: frequency f, the stator of driving power in step 1
Ring single order radial direction amplitude A, rotor inside radius r, track ring outer radius r1, spring leaf length l, spring leaf width b, elastic leaf
Piece thickness h, spring leaf mounting inclination angle β, spring leaf quantity n, the elastic modulus E of spring leaf, spring leaf and rotor
Between friction coefficient μ.
It is preferred that the deformation parameter of spring leaf includes: spring leaf bending angle in step 2Spring leaf bending deformation
Afterwards with the bending deformation power F of the angle α of stator radial direction and spring leaf.
It is preferred thatIt is as follows with the calculation formula of α:
Wherein, if being calculatedValue < 0, then take
It is preferred that the calculation formula of F is as follows:
It is preferred that FtdriveAnd FtblockCalculation formula it is as follows:
It is preferred that t1Calculation formula it is as follows:
It is preferred that the calculation formula of T is as follows:
The beneficial effects of the present invention are: the calculating side of radial standing wave type ultrasonic motor torque rotary speed characteristic of the invention
Method, calculating process is simple, and computational efficiency is high, can accurately calculate radial standing wave type ultrasonic electricity in the design analysis phase of motor
The torque-speed characteristic of machine；The present invention is adaptable, can calculate various sizes of radial standing wave type ultrasonic motor torque rotary speed
Characteristic；The present invention can be used in the structure design and optimization analysis of radial standing wave type ultrasonic motor simultaneously, to improve motor
Torque rotary speed performance.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the calculation method of radial standing wave type ultrasonic motor torque rotary speed characteristic of the present invention；
Fig. 2 is the radial standing wave type ultrasonic motor torque-speed characteristic calculated curve schematic diagram of the embodiment of the present invention.
Specific embodiment
Technical solution of the present invention is described in further detail with specific embodiment with reference to the accompanying drawing, so that ability
The technical staff in domain can better understand the present invention and can be practiced, but illustrated embodiment is not as to limit of the invention
It is fixed.
As shown in Figure 1, a kind of calculation method of radial direction standing wave type ultrasonic motor torque rotary speed characteristic, including walk as follows
It is rapid:
Step 1, the basic parameter for determining radial standing wave type ultrasonic motor；
Step 2, the deformation parameter for calculating spring leaf；
Step 3 calculates spring leaf to the tangential driving force F of rotortdriveWith obstruction power Ftblock；
Step 4, the initial value for taking the revolving speed N of rotor are 0；
Step 5, the value for updating N calculate the constant speed crash time point t of spring leaf and rotor1；
The value of step 6, the output torque T for calculating and recording motor corresponding with revolving speed N；
The value of N is added Q if T > 0 by step 7, the size for judging T, wherein 0 Q≤1 <, and execute step 5；Otherwise, it ties
Beam calculates.The value of Q is being less than or equal between 1 all be possible greater than 0, and value is smaller, and the points of calculating are more, and precision is got over
It is high.It is preferred that the value of Q is 0.1.
It introduces in detail below:
It is preferred that the basic parameter of radial standing wave type ultrasonic motor includes: frequency f, the stator of driving power in step 1
Ring single order radial direction amplitude A, rotor inside radius r, track ring outer radius r1, spring leaf length l, spring leaf width b, elastic leaf
Piece thickness h, spring leaf mounting inclination angle β, spring leaf quantity n, the elastic modulus E of spring leaf, spring leaf and rotor
Between friction coefficient μ.
It is preferred that the deformation parameter of spring leaf includes: spring leaf bending angle in step 2Spring leaf bending deformation
Afterwards with the bending deformation power F of the angle α of stator radial direction and spring leaf.
It is preferred thatIt is as follows with the calculation formula of α:
Wherein, if being calculatedValue < 0, then take
It is preferred that the calculation formula of F is as follows:
It is preferred that FtdriveAnd FtblockCalculation formula it is as follows:
It is preferred that t1Calculation formula it is as follows:
It is preferred that the calculation formula of T is as follows:
By taking an outer diameter is the radial standing wave type ultrasonic motor of 32mm as an example, following steps are carried out in conjunction with Fig. 1 detailed
Thin description:
In step 1, the parameter of radial standing wave type ultrasonic motor, frequency f=74kHz, the stator of driving power are determined
Ring single order radial direction amplitude A=0.6 μm, rotor inside radius r=15mm, track ring outer radius r1=11mm, spring leaf length l=
5mm, spring leaf width b=5mm, spring leaf thickness h=0.1mm, spring leaf mounting inclination angle β=27 °, spring leaf
Elastic modulus E=2.11 × 10 of quantity n=16, spring leaf11N/m2, friction coefficient μ between spring leaf and rotor=
0.32。
In step 2, spring leaf bending angle is calculatedAfter spring leaf bending deformation with the angle α of stator radial direction, with
And the bending deformation power F of spring leaf, it calculates separately to obtainα=30.68 °, F=3.2447N.
In step 3, spring leaf is calculated to the tangential driving force F of rotortdriveWith obstruction power Ftblock, calculate separately
To Ftdrive=4.4165N, Ftblock=1.3218N.
In step 4, the initial value for taking the revolving speed N of rotor is 0r/min.
In steps of 5, the value of N is recorded, the constant speed crash time point t of spring leaf and rotor is calculated1, work as N=0r/min
When, corresponding constant speed crash time point t1=3.3784 × 10-6s。
In step 6, the value for calculating and recording the output torque T of motor corresponding with revolving speed N, as revolving speed N=0r/
When min, corresponding output torque T=0.3714Nm.
In step 7, judge the size of T, if T > 0, N is assigned a value of N+0.1, return step 5；Conversely, if T≤0,
Terminate to calculate.
Fig. 2 shows that the torque-speed point by the radial standing wave type ultrasonic motor that cycle calculations obtain is connected to form
Torque-speed characteristic.The embodiment of the present invention writes calculation procedure using MATLAB, and radial standing wave type ultrasound is manually entered
The basic parameter of wave motor can quickly provide corresponding torque-speed characteristic.
The calculation method of radial standing wave type ultrasonic motor torque rotary speed characteristic of the invention, calculating process is simple, calculates
It is high-efficient, the torque-speed characteristic of radial standing wave type ultrasonic motor can be accurately calculated in the design analysis phase of motor；This
It invents adaptable, various sizes of radial standing wave type ultrasonic motor torque rotary speed characteristic can be calculated；The present invention simultaneously can
For the structure design and optimization analysis of radial standing wave type ultrasonic motor, to improve the torque rotary speed performance of motor.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure made by bright specification and accompanying drawing content perhaps equivalent process transformation or be directly or indirectly used in other correlation
Technical field, be included within the scope of the present invention.
Claims (8)
1. a kind of calculation method of radial direction standing wave type ultrasonic motor torque rotary speed characteristic, which comprises the steps of:
Step 1, the basic parameter for determining radial standing wave type ultrasonic motor；
Step 2, the deformation parameter for calculating spring leaf；
Step 3 calculates spring leaf to the tangential driving force F of rotortdriveWith obstruction power Ftblock；
Step 4, the initial value for taking the revolving speed N of rotor are 0；
Step 5, the value for updating N calculate the constant speed crash time point t of spring leaf and rotor1；
The value of step 6, the output torque T for calculating and recording motor corresponding with revolving speed N；
The value of N is added Q if T > 0 by step 7, the size for judging T, wherein 0 Q≤1 <, and execute step 5；Otherwise, terminate meter
It calculates.
2. a kind of calculation method of radial standing wave type ultrasonic motor torque rotary speed characteristic according to claim 1, special
Sign is, in step 1, the basic parameter of radial standing wave type ultrasonic motor includes: the frequency f of driving power, track ring single order
Radial amplitude A, rotor inside radius r, track ring outer radius r1, spring leaf length l, spring leaf width b, spring leaf thickness
H, rubbing between spring leaf mounting inclination angle β, spring leaf quantity n, the elastic modulus E of spring leaf, spring leaf and rotor
Wipe coefficient μ.
3. a kind of calculation method of radial standing wave type ultrasonic motor torque rotary speed characteristic according to claim 2, special
Sign is, in step 2, the deformation parameter of spring leaf includes: spring leaf bending angleIt is after spring leaf bending deformation and fixed
The bending deformation power F of sub radial angle α and spring leaf.
4. a kind of calculation method of radial standing wave type ultrasonic motor torque rotary speed characteristic according to claim 3, special
Sign is,It is as follows with the calculation formula of α:
Wherein, if being calculatedValue < 0, then take
5. a kind of calculation method of radial standing wave type ultrasonic motor torque rotary speed characteristic according to claim 4, special
Sign is that the calculation formula of F is as follows:
6. a kind of calculation method of radial standing wave type ultrasonic motor torque rotary speed characteristic according to claim 5, special
Sign is, FtdriveAnd FtblockCalculation formula it is as follows:
7. a kind of calculation method of radial standing wave type ultrasonic motor torque rotary speed characteristic according to claim 6, special
Sign is, t1Calculation formula it is as follows:
8. a kind of calculation method of radial standing wave type ultrasonic motor torque rotary speed characteristic according to claim 7, special
Sign is that the calculation formula of T is as follows:
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104734561A (en) * | 2015-04-03 | 2015-06-24 | 东南大学 | Elastic blade type parallel ultrasonic motor |
| CN105205295A (en) * | 2015-11-05 | 2015-12-30 | 河北工业大学 | Modeling method for traveling wave rotating ultrasonic motor |
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2018
- 2018-02-08 CN CN201810129074.3A patent/CN108282107B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104734561A (en) * | 2015-04-03 | 2015-06-24 | 东南大学 | Elastic blade type parallel ultrasonic motor |
| CN105205295A (en) * | 2015-11-05 | 2015-12-30 | 河北工业大学 | Modeling method for traveling wave rotating ultrasonic motor |
Non-Patent Citations (1)
| Title |
|---|
| 径向换能型超声波电机定子振动模型;蒋春容 等;《电工技术学报》;20170531;第32卷(第9期);48-55页 * |
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