CN112464458B - Calculation method for torque and rotation speed characteristics of radial standing wave ultrasonic motor by considering friction coefficient correction - Google Patents
Calculation method for torque and rotation speed characteristics of radial standing wave ultrasonic motor by considering friction coefficient correction Download PDFInfo
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Abstract
The invention discloses a calculation method of torque and rotation speed characteristics of a radial standing wave ultrasonic motor taking friction coefficient correction into consideration, which comprises the following steps: based on basic parameters of radial standing wave type ultrasonic motor and preset rotor rotation speedNCalculating a value of (2) and a rotor rotational speedNCorresponding motor output torqueT load The method comprises the steps of carrying out a first treatment on the surface of the JudgingT load If the size of (a)T load > 0, reset rotor speedNAnd calculate the motor output torqueT load If (if)T load Less than or equal to 0, ending calculation; according to all rotor speeds in the calculation processNAnd its corresponding motor output torqueT load Determining the torque and rotation speed characteristics of a radial standing wave type ultrasonic motor; basic parameters of the radial standing wave type ultrasonic motor include friction coefficient between the elastic blade and the rotorμ d Coefficient of friction correctionε. The invention corrects the friction coefficient under different relative speeds by the friction correction coefficient, and can more accurately calculate the torque rotation speed characteristic of the radial standing wave type ultrasonic motor.
Description
Technical Field
The invention relates to a calculation method for torque and rotation speed characteristics of a radial standing wave type ultrasonic motor taking friction coefficient correction into consideration, and belongs to the technical field of ultrasonic motors.
Background
The ultrasonic motor has flexible and changeable structural design, and various motor structures can be constructed by utilizing different vibration modes. Heretofore, various types of ultrasonic motors have been proposed, such as a traveling wave type, a standing wave type, a mode conversion type, and the like.
The traveling wave type and the standing wave type are two of the most dominant types of ultrasonic motors. The contact mechanism of the travelling wave ultrasonic motor and the standing wave ultrasonic motor is different. In the traveling wave ultrasonic motor, stator and rotor are in a continuous contact state, and the contact area between the stator and the rotor changes along with the change of the stator wave crest. In contrast, in the standing wave ultrasonic motor, the stator and the rotor are in an intermittent contact state, the contact area thereof is small, and the contact area is relatively fixed on the stator. In the research of the standing wave type ultrasonic motor, the standing wave type ultrasonic motor adopting plate bending vibration is more common, the motion mode is mainly linear motion, and the research of the standing wave type ultrasonic motor adopting radial stretching vibration is less.
At present, the calculation of the torque and rotation speed characteristics of the radial standing wave ultrasonic motor is often based on the coulomb friction law, and the friction coefficient is considered to be a constant. In practice, the friction between the stator and the rotor is affected by factors such as the roughness of the contact surface, the magnitude of the pre-pressure, and the relative speed variation between the stator and the rotor, which means that the friction coefficient is not constant. The use of a constant coefficient of friction tends to result in large calculation errors.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a calculation method for torque and rotation speed characteristics of a radial standing wave type ultrasonic motor by considering friction coefficient correction. In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the present invention provides a method for calculating torque rotation speed characteristics of a radial standing wave ultrasonic motor, including:
determining basic parameters of the radial standing wave type ultrasonic motor, and based on the basic parameters of the radial standing wave type ultrasonic motor and a preset value of the rotor rotating speed N,calculating a motor output torque T corresponding to the rotor speed N load ；
Judging the motor output torque T corresponding to the rotor rotation speed N load If the motor output torque T corresponds to the rotor speed N load Resetting the value of rotor speed N and calculating motor output torque T corresponding to rotor speed N > 0 load If the motor output torque T corresponding to the rotor rotation speed N load Less than or equal to 0, ending calculation;
according to all rotor rotational speeds N in the calculation process and motor output torque T corresponding to the rotor rotational speed N load Determining the torque and rotation speed characteristics of a radial standing wave type ultrasonic motor;
the basic parameters of the radial standing wave type ultrasonic motor comprise the friction coefficient mu between the elastic blade and the rotor d A friction correction coefficient epsilon.
With reference to the first aspect, further, the method for calculating the torque and rotation speed characteristics of the radial standing wave ultrasonic motor is a method for calculating the torque and rotation speed characteristics of the radial standing wave ultrasonic motor, which takes the correction of the friction coefficient into consideration.
With the first aspect, further, the motor output torque T corresponding to the rotor rotation speed N load Calculated by the following formula:
in the formula (1), sgn is a sign function expressed as:
in the formula (1), n is the number of elastic blades, r is the inner radius of the rotor, T is the period of a driving power supply, mu d Is the friction coefficient between the elastic blade and the rotor, epsilon is the friction correction coefficient, F p In order to generate deformation pressure for the elastic blade, alpha is an included angle between the elastic blade and the radial direction of the stator after deformation;
in the formula (1) and the formula (2), V m Is the tangential velocity amplitude of the elastic blade, omega is the angular frequency of stator vibration, V r Is the tangential linear velocity of the rotor, t is time.
With reference to the first aspect, further, a tangential linear velocity V of the rotor m Calculated by the following formula:
in the formula (3), A is the amplitude of first-order radial vibration of the stator, beta is the installation inclination angle of the elastic blade, omega is the angular frequency of the stator vibration, and the amplitude is calculated by the following formula:
in the formula (4), T is the period of the driving power supply;
in the formula (3), the amino acid sequence of the compound,the bending angle for the elastic blade to deform is calculated by the following formula:
in the formula (5), beta is the installation inclination angle of the elastic blade, r is the inner radius of the rotor, l is the length of the elastic blade, r 1 Is the outer radius of the stator;
in the formula (3), alpha is an included angle between the deformed elastic blade and the radial direction of the stator, and is calculated by the following formula:
in the formula (6), r is the inner radius of the rotor, l is the length of the elastic blade, r 1 Is the outer radius of the stator.
With reference to the first aspect, further, the pressure F for deforming the elastic blade p Calculated by the following formula:
in the formula (7), E is the elastic modulus of the elastic blade, l is the length of the elastic blade,the bending angle for deformation of the elastic blade is b the width of the elastic blade, and h is the thickness of the elastic blade.
With reference to the first aspect, further, a tangential linear velocity V of the rotor r Calculated by the following formula:
in the formula (8), r is the inner radius of the rotor, and N is the value of the rotor rotation speed.
With reference to the first aspect, further, the value of the rotor rotational speed N is reset and the motor output torque T corresponding to the rotor rotational speed N is calculated load Comprising the following steps:
adding a stepping constant Q to the value of the rotor rotating speed N to obtain a reset value of the rotor rotating speed N;
calculating a motor output torque T corresponding to the reset rotor speed N according to the basic parameters of the radial standing wave ultrasonic motor and the value of the reset rotor speed N load 。
In combination with the first aspect, preferably, the value of the step constant Q ranges from 0 < q.ltoreq.1.
With reference to the first aspect, further, the period T of the driving power supply, the amplitude A of the first-order radial vibration of the stator, the length l of the elastic blades, the installation inclination angle beta of the elastic blades, the number n of the elastic blades, the elastic modulus E of the elastic blades, the width b of the elastic blades, the thickness h of the elastic blades, and the outer radius r of the stator 1 And the inner radius r of the rotor is the basic parameter of the radial standing wave type ultrasonic motor.
With the first aspect, further, according to all rotor speeds N in the calculation process and the motor output torque T corresponding to the rotor speed N load A characteristic curve reflecting the torque rotation speed characteristic of the radial standing wave type ultrasonic motor is obtained.
In a second aspect, the present invention provides a device for calculating torque and rotational speed characteristics of a radial standing wave ultrasonic motor, which considers friction coefficient correction, comprising:
the calculation module: for calculating a motor output torque T corresponding to the rotor speed N based on the basic parameters of the radial standing wave ultrasonic motor and the preset value of the rotor speed N load ；
And a judging module: for determining the motor output torque T corresponding to the rotor speed N load If the motor output torque T corresponds to the rotor speed N load Resetting the value of rotor speed N and recalculating the motor output torque T corresponding to rotor speed N > 0 load If the motor output torque T corresponding to the rotor rotation speed N load Less than or equal to 0, ending calculation;
torque rotation speed characteristic confirmation module: according to all rotor rotational speeds N in the calculation process and motor output torque T corresponding to the rotor rotational speed N load And determining the torque rotation speed characteristic of the radial standing wave type ultrasonic motor.
In a third aspect, the present invention provides a computing device for torque and rotational speed characteristics of a radial standing wave ultrasonic motor, taking into account coefficient of friction correction, the device comprising a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is configured to operate in accordance with the instructions to perform the steps of the method of any of the first aspects.
In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of any of the first aspects.
Compared with the prior art, the calculation method for the torque and rotation speed characteristics of the radial standing wave ultrasonic motor taking the friction coefficient correction into consideration has the following beneficial effects:
the invention calculates the motor output torque T corresponding to the rotor rotating speed N according to the basic parameters of the radial standing wave ultrasonic motor and the preset value of the rotor rotating speed N load The basic parameters of the radial standing wave type ultrasonic motor comprise the friction coefficient and the friction correction coefficient between the elastic blade and the rotor, the output torque of the radial standing wave type ultrasonic motor is calculated by considering the friction coefficient and the friction correction coefficient between the elastic blade and the rotor, the calculation efficiency is high, the calculation accuracy is high, the defect in the friction force calculation aspect in the existing calculation method is overcome, and the torque rotation speed characteristic of the radial standing wave type ultrasonic motor is calculated more accurately in the design analysis stage of the motor;
the method for calculating the torque rotation speed characteristics of the radial standing wave type ultrasonic motor can calculate the torque rotation speed characteristics of the radial standing wave type ultrasonic motors with different sizes, can be used for structural design and optimization analysis of the radial standing wave type ultrasonic motor, improves the torque rotation speed performance of the motor, and can also be used for analysis of the contact mechanism of the radial standing wave type ultrasonic motor.
Drawings
FIG. 1 is a flow chart of a method of calculating torque and rotational speed characteristics of a radial standing wave ultrasonic motor with friction coefficient correction taken into account in the present invention;
fig. 2 is a schematic diagram of a torque and rotation speed characteristic curve of a radial standing wave ultrasonic motor according to a second embodiment of the present invention, in which the correction of the friction coefficient is considered.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
Embodiment one:
as shown in fig. 1, the method for calculating the torque and rotation speed characteristics of the radial standing wave ultrasonic motor taking the friction coefficient correction into consideration comprises the following steps:
step 1: and obtaining basic parameters of the radial standing wave type ultrasonic motor.
Basic parameters of the radial standing wave ultrasonic motor include: the period T of the driving power supply, the amplitude A of the first-order radial vibration of the stator, the length l of the elastic blades, the installation inclination angle beta of the elastic blades, the number n of the elastic blades, the elastic modulus E of the elastic blades, the width b of the elastic blades, the thickness h of the elastic blades, and the friction coefficient mu between the elastic blades and the rotor d Friction correction coefficient epsilon and outer radius r of stator 1 The inner radius r of the rotor.
Step 2: calculating the angular frequency omega of stator vibration, the included angle alpha between the deformed elastic blade and the radial direction of the stator and the bending angle of the deformed elastic bladePressure F for deforming the elastic blade p And the tangential velocity amplitude V of the elastic blade m 。
The angular frequency omega of the stator vibration is calculated by the following formula:
in the formula (1), T is the period of a driving power supply;
the included angle alpha between the deformed elastic blade and the radial direction of the stator is calculated by the following formula:
in the formula (2), r is the inner radius of the rotor, l is the length of the elastic blade, r 1 Is the outer radius of the stator;
bending angle at which elastic blade deformsCalculated by the following formula:
in the formula (3), beta is the installation inclination angle of the elastic blade, r is the inner radius of the rotor, l is the length of the elastic blade, r 1 Is the outer radius of the stator;
pressure F for deforming the elastic blade p Calculated by the following formula:
in the formula (4), E is the elastic modulus of the elastic blade, l is the length of the elastic blade,the bending angle for deformation of the elastic blade is b, the width of the elastic blade is b, and the thickness of the elastic blade is h;
tangential velocity amplitude V of elastic blade m Calculated by the following formula:
in the formula (5), A is the amplitude of first-order radial vibration of the stator, beta is the installation inclination angle of the elastic blade, alpha is the included angle between the elastic blade and the radial direction of the stator after deformation,bending angles for the elastic blades are deformed.
Step 3: let the value of the rotor rotational speed N be 0.
Step 4: calculating tangential linear velocity V of rotor r Calculated by the following formula:
in the formula (6), r is the inner radius of the rotor, and N is the value of the rotor rotation speed.
Step 5: calculating a motor output torque T corresponding to the rotor speed N load Calculated by the following formula:
in equation (7), sgn is a sign function expressed as:
in the formula (7), n is the number of elastic blades, r is the inner radius of the rotor, T is the period of the driving power supply, mu d Is the coulomb friction coefficient between the elastic blade and the rotor, epsilon is the friction correction coefficient, F p In order to generate deformation pressure for the elastic blade, alpha is an included angle between the elastic blade and the radial direction of the stator after deformation;
in the formula (7) and the formula (8), V m Is the tangential velocity amplitude of the elastic blade, omega is the angular frequency of stator vibration, V r Is the tangential linear velocity of the rotor, t is time.
Step 6: judging the motor output torque T corresponding to the rotor rotation speed N load If the motor output torque T corresponds to the rotor speed N load Resetting the value of rotor speed N and calculating motor output torque T corresponding to rotor speed N > 0 load If the motor output torque T corresponding to the rotor rotation speed N load And (5) ending the calculation when the value is less than or equal to 0.
Resetting the value of the rotor rotational speed N and calculating a motor output torque T corresponding to the rotor rotational speed N load Comprising the following steps:
adding a stepping constant Q to the value of the rotor rotating speed N to obtain a reset value of the rotor rotating speed N;
according to the basic parameters of the radial standing wave ultrasonic motor and the value of the rotor rotation N after reset, calculating the rotation speed N corresponding to the rotor after resetMotor output torque T of (2) load 。
Specifically, the value range of the stepping constant Q is more than 0 and less than or equal to 1.
Step 7: according to all rotor rotational speeds N in the calculation process and motor output torque T corresponding to the rotor rotational speed N load And determining the torque rotation speed characteristic of the radial standing wave type ultrasonic motor.
Embodiment two:
the present embodiment is a specific application scenario of the method for calculating torque and rotation speed characteristics of a radial standing wave ultrasonic motor according to the first embodiment, which considers friction coefficient correction, and the following embodiment is only used for more clearly explaining the technical scheme of the present invention, and the protection scope of the present invention cannot be limited by this.
Taking a radial standing wave ultrasonic motor with an outer diameter of 32mm as an example, each step will be described in detail with reference to fig. 1.
Step 1: and obtaining basic parameters of the radial standing wave type ultrasonic motor.
The basic parameters of the radial standing wave type ultrasonic motor are as follows: period t= 1.3514 ×10 of the driving power supply -5 s, amplitude a=0.6 μm of stator first-order radial vibration, length l=5 mm of elastic blade, installation inclination angle β=27° of elastic blade, number n=16 of elastic blade, elastic modulus e=2.11×10 of elastic blade 11 N/m 2 Width b=5 mm of the elastic blade, thickness h=0.1 mm of the elastic blade, coefficient of friction μ between the elastic blade and the rotor d =0.32, friction correction coefficient ε=0.07, outer radius r of stator 1 11mm, inner radius r of the rotor=15 mm.
Step 2: calculating the angular frequency ω= 4.6496 ×10 of the stator vibration 5 rad/s, included angle alpha= 30.6834 degrees between elastic blade after deformation and radial direction of stator, bending angle of deformation of elastic bladePressure F for deforming the elastic blade p 3.2447N tangential velocity amplitude V of elastic blade m ＝0.1022m/s。
Step 3: the value of the rotor rotational speed N is set to 0r/min.
Step 4: calculating to obtain tangential linear velocity V of rotor r ＝0.0016×Nm/s。
Step 5: calculating and recording motor output torque T corresponding to rotor speed N load : when the rotor rotational speed n=0r/min, the motor output torque T corresponding to the rotor rotational speed N load ＝0.3866Nm。
Step 6: judging the motor output torque T corresponding to the rotor rotation speed N load In the present embodiment, the motor outputs torque T load Resetting the value of rotor speed N and calculating motor output torque T corresponding to rotor speed N > 0 load Up to a motor output torque T corresponding to the rotor speed N load And (5) ending the calculation when the value is less than or equal to 0.
Resetting the value of rotor speed N includes:
adding a stepping constant Q to the value of the rotor rotational speed N, wherein in the embodiment, q=1.0 r/min, to obtain a reset value of the rotor rotational speed N of 1.0r/min;
calculating a motor output torque T corresponding to the reset rotor speed N according to the basic parameters of the radial standing wave ultrasonic motor and the value of the reset rotor speed N load ＝0.3794Nm。
After resetting the value of the rotor rotational speed N, as shown in the following table, if T load If the value is more than 0, continuously resetting the value of the rotor rotating speed N, and sequentially taking 1.0, 2.0, 3.0 and 4.0 … … until T load And (5) stopping calculation when the value is less than or equal to 0.
Table 1 rotor speed N and corresponding motor output torque T load
Step 7: according to all rotor rotational speeds N in the calculation process and motor output torque T corresponding to the rotor rotational speed N load And determining the torque rotation speed characteristic of the radial standing wave type ultrasonic motor.
As shown in fig. 2, by manually inputting basic parameters of the radial standing wave type ultrasonic motor in a program of a calculation method of the radial standing wave type ultrasonic motor torque rotation speed characteristics taking the correction of the friction coefficient into consideration, which is written by MATLAB, a radial standing wave type ultrasonic motor torque rotation speed characteristic curve taking the correction of the friction coefficient into consideration, which is obtained through cyclic calculation, can be drawn.
Embodiment III:
the embodiment of the invention provides a calculation device for torque and rotation speed characteristics of a radial standing wave ultrasonic motor taking friction coefficient correction into consideration, which comprises the following modules:
the calculation module: for calculating a motor output torque T corresponding to the rotor speed N based on the basic parameters of the radial standing wave ultrasonic motor and the preset value of the rotor speed N load ；
And a judging module: for determining the motor output torque T corresponding to the rotor speed N load If the motor output torque T corresponds to the rotor speed N load Resetting the value of rotor speed N and recalculating the motor output torque T corresponding to rotor speed N > 0 load If the motor output torque T corresponding to the rotor rotation speed N load Less than or equal to 0, ending calculation;
torque rotation speed characteristic confirmation module: for determining the rotational speed N of all rotors in the calculation process and the output torque T of the motor corresponding to the rotational speed N of the rotors load And determining the torque rotation speed characteristic of the radial standing wave type ultrasonic motor.
Embodiment four:
the embodiment of the invention also provides a calculation device for the torque and rotation speed characteristics of the radial standing wave ultrasonic motor taking the friction coefficient correction into consideration, which comprises a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is configured to operate in accordance with the instructions to perform the steps of the method of embodiment one.
Fifth embodiment:
the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the steps of the method according to the embodiment.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (9)
1. The method for calculating the torque and rotation speed characteristics of the radial standing wave ultrasonic motor is characterized by comprising the following steps of:
determining basic parameters of a radial standing wave type ultrasonic motor, and calculating motor output torque T corresponding to the rotor rotation speed N based on the basic parameters of the radial standing wave type ultrasonic motor and a preset value of the rotor rotation speed N load The method comprises the steps of carrying out a first treatment on the surface of the Wherein the motor output torque T corresponds to the rotor speed N load Calculated by the following formula:
in the formula (1), sgn is a sign function expressed as:
in the formula (1), n is the number of elastic blades, r is the inner radius of the rotor, T is the period of a driving power supply, mu d Is the friction coefficient between the elastic blade and the rotor, epsilon is the friction correction coefficient, F p For deforming the elastic blade, alpha is elasticThe included angle between the deformed blade and the radial direction of the stator;
in the formula (1) and the formula (2), V m Is the tangential velocity amplitude of the elastic blade, omega is the angular frequency of stator vibration, V r The tangential linear speed of the rotor is given, and t is time;
judging the motor output torque T corresponding to the rotor rotation speed N load If the motor output torque T corresponds to the rotor speed N load Resetting the value of rotor speed N and calculating motor output torque T corresponding to rotor speed N > 0 load If the motor output torque T corresponding to the rotor rotation speed N load Less than or equal to 0, ending calculation;
according to all rotor speeds N and corresponding motor output torque T in the calculation process load Determining the torque and rotation speed characteristics of a radial standing wave type ultrasonic motor;
the basic parameters of the radial standing wave type ultrasonic motor comprise the friction coefficient mu between the elastic blade and the rotor d A friction correction coefficient epsilon.
2. The method for calculating torque and rotational speed characteristics of a radial standing wave ultrasonic motor according to claim 1, wherein the tangential linear velocity V of the rotor m Calculated by the following formula:
in the formula (3), A is the amplitude of first-order radial vibration of the stator, beta is the installation inclination angle of the elastic blade, omega is the angular frequency of the stator vibration, and the amplitude is calculated by the following formula:
in the formula (4), T is the period of the driving power supply;
in the formula (3), the amino acid sequence of the compound,the bending angle for the elastic blade to deform is calculated by the following formula:
in the formula (5), beta is the installation inclination angle of the elastic blade, r is the inner radius of the rotor, l is the length of the elastic blade, r 1 Is the outer radius of the stator;
in the formula (3), alpha is an included angle between the deformed elastic blade and the radial direction of the stator, and is calculated by the following formula:
in the formula (6), r is the inner radius of the rotor, l is the length of the elastic blade, r 1 Is the outer radius of the stator.
3. The method for calculating torque and rotational speed characteristics of a radial standing wave ultrasonic motor according to claim 2, wherein the pressure F for deforming the elastic blade p Calculated by the following formula:
in the formula (7), E is the elastic modulus of the elastic blade, l is the length of the elastic blade,the bending angle for deformation of the elastic blade is b the width of the elastic blade, and h is the thickness of the elastic blade.
4. The method for calculating torque and rotational speed characteristics of a radial standing wave ultrasonic motor according to claim 1, wherein a tangential line of the rotorVelocity V r Calculated by the following formula:
in the formula (8), r is the inner radius of the rotor, and N is the value of the rotor rotation speed.
5. The method for calculating torque and rotational speed characteristics of a radial standing wave ultrasonic motor according to claim 1, wherein the value of the rotor rotational speed N is reset and the motor output torque T corresponding to the rotor rotational speed N is calculated load Comprising the following steps:
adding a stepping constant Q to the value of the rotor rotating speed N to obtain a reset value of the rotor rotating speed N;
calculating a motor output torque T corresponding to the reset rotor speed N according to the basic parameters of the radial standing wave ultrasonic motor and the value of the reset rotor speed N load 。
6. The method for calculating torque and rotation speed characteristics of a radial standing wave ultrasonic motor according to claim 1, wherein the period T of the driving power supply, the amplitude A of the first-order radial vibration of the stator, the length l of the elastic blades, the installation inclination angle beta of the elastic blades, the number n of the elastic blades, the elastic modulus E of the elastic blades, the width b of the elastic blades, the thickness h of the elastic blades, the outer radius r of the stator 1 And the inner radius r of the rotor is the basic parameter of the radial standing wave type ultrasonic motor.
7. The calculation device of radial standing wave type ultrasonic motor torque rotation speed characteristic is characterized by comprising:
the calculation module: for calculating a motor output torque T corresponding to the rotor rotational speed N based on the values of the rotor rotational speed N and the basic parameters of the radial standing wave ultrasonic motor load The method comprises the steps of carrying out a first treatment on the surface of the Wherein the motor output torque T corresponds to the rotor speed N load Calculated by the following formula:
in the formula (1), sgn is a sign function expressed as:
in the formula (1), n is the number of elastic blades, r is the inner radius of the rotor, T is the period of a driving power supply, mu d Is the friction coefficient between the elastic blade and the rotor, epsilon is the friction correction coefficient, F p In order to generate deformation pressure for the elastic blade, alpha is an included angle between the elastic blade and the radial direction of the stator after deformation;
in the formula (1) and the formula (2), V m Is the tangential velocity amplitude of the elastic blade, omega is the angular frequency of stator vibration, V r The tangential linear speed of the rotor is given, and t is time;
and a judging module: for determining the motor output torque T corresponding to the rotor speed N load If the motor output torque T corresponds to the rotor speed N load Resetting the value of rotor speed N and recalculating the motor output torque T corresponding to rotor speed N > 0 load If the motor output torque T corresponding to the rotor rotation speed N load Less than or equal to 0, ending calculation;
torque rotation speed characteristic confirmation module: for determining the rotational speed N of all rotors in the calculation process and the output torque T of the motor corresponding to the rotational speed N of the rotors load And determining the torque rotation speed characteristic of the radial standing wave type ultrasonic motor.
8. The calculation device of the torque and rotation speed characteristics of the radial standing wave ultrasonic motor is characterized by comprising a processor and a storage medium;
the storage medium is used for storing instructions;
the processor being operative according to the instructions to perform the steps of the method according to any one of claims 1 to 6.
9. Computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the method according to any one of claims 1 to 6.
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