CN115952625A - Traveling wave rotary ultrasonic motor dynamics simulation method - Google Patents
Traveling wave rotary ultrasonic motor dynamics simulation method Download PDFInfo
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Abstract
The invention relates to a traveling wave rotary ultrasonic motor dynamics simulation method, firstly establishing a three-dimensional geometric model of a traveling wave rotary ultrasonic motor; selecting a discrete unit to perform discrete processing on the three-dimensional geometric model to obtain a grid model; setting materials and damping parameters for the grid model according to actual working conditions, designating a contact surface and an adhesive surface, and applying loads and constraint conditions to the contact surface and the adhesive surface; setting a time function and a time step required by simulation according to the working frequency of the traveling wave rotary ultrasonic motor, and performing incremental simulation calculation; obtaining a calculation result, and carrying out stress strain and contact dynamics simulation analysis on the traveling wave rotary ultrasonic motor to obtain the output rotating speed and torque at each moment in the starting and stopping response processes of the traveling wave rotary ultrasonic motor; the invention solves the technical problems of long design period and high development cost of the traveling wave rotary ultrasonic motor, and provides a powerful auxiliary tool for the structure optimization design and the mechanical property prediction of the traveling wave rotary ultrasonic motor.
Description
Technical Field
The invention relates to a traveling wave rotary ultrasonic motor dynamics simulation method, and belongs to the technical field of computer simulation.
Background
As is well known, the traveling wave rotary ultrasonic motor utilizes the inverse piezoelectric effect of piezoelectric ceramics to excite the micro-amplitude vibration of the elastomer stator in the ultrasonic frequency domain, and converts the micro-amplitude vibration into the macroscopic rotary motion of the rotor through the friction between the stator and the rotor, outputting power and driving a load. Therefore, the research on the dynamic characteristics of the traveling wave rotary ultrasonic motor becomes an important basis for the structural design and application expansion of the traveling wave rotary ultrasonic motor.
The dynamic characteristic research of the traveling wave rotary ultrasonic motor is usually realized through simulation, a traveling wave rotary ultrasonic motor simulation model in the prior art is incomplete, usually only comprises a stator, a rotor and piezoelectric ceramics, and only can perform modal analysis, harmonic response analysis, static analysis and limited dynamic analysis, and the transient dynamic simulation analysis of the whole power-on starting process and the power-off stopping process of the traveling wave rotary ultrasonic motor cannot be completed. The complexity of the assembly of the traveling wave rotary ultrasonic motor and the nonlinearity of the contact mechanism result in that no method capable of carrying out omnibearing dynamics simulation analysis on the traveling wave rotary ultrasonic motor exists at present.
In addition, the structural design and optimization of the traveling wave rotary type ultrasonic motor have the problem of long iteration period, the output performance of the motor cannot be effectively predicted and analyzed in the design stage before the manufacturing and processing of a prototype, and the consumed time and the economic cost are high. In order to facilitate structural design and optimization of the traveling wave rotary ultrasonic motor and accurately predict the output performance of the traveling wave rotary ultrasonic motor before a prototype test, a dynamic simulation method for the traveling wave rotary ultrasonic motor is urgently needed to solve the problems.
Disclosure of Invention
The invention provides a traveling wave rotary ultrasonic motor dynamics simulation method, solves the technical problems of long design period and high development cost of a traveling wave rotary ultrasonic motor, and provides a powerful auxiliary tool for the structure optimization design and the mechanical property prediction of the traveling wave rotary ultrasonic motor.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a traveling wave rotary ultrasonic motor dynamics simulation method specifically comprises the following steps:
step S1: establishing a three-dimensional geometric model of the traveling wave rotary ultrasonic motor;
step S2: selecting a matched discrete unit to perform discrete processing on the three-dimensional geometric model in the step S1 to obtain a grid model of the traveling wave rotary type ultrasonic motor;
and step S3: setting material and damping parameters for the grid model in the step S2 according to actual working conditions, designating a contact surface and an adhesive surface of the traveling wave rotary ultrasonic motor in the grid model, and applying load and constraint conditions to the contact surface and the adhesive surface;
and step S4: setting a time function and a time step required by simulation according to the working frequency of the traveling wave rotary ultrasonic motor, and performing incremental simulation calculation;
step S5: obtaining the incremental simulation calculation result in the step S4, performing stress strain and contact dynamics simulation analysis on the traveling wave rotary ultrasonic motor, and calculating to obtain the output rotating speed and torque at each moment in the starting and stopping response processes of the traveling wave rotary ultrasonic motor;
as a further preferable aspect of the present invention, in step S3, a contact surface and an adhesive surface of the traveling wave rotary ultrasonic motor are designated, the contact surface includes a contact target surface and a contact active surface, a hard material contact surface in the traveling wave rotary ultrasonic motor is designated as the contact target surface, and a soft material contact surface is designated as the contact active surface;
the adhesive surface comprises an adhesive main surface and an adhesive slave surface, and in each group of adhesive surfaces of the traveling wave rotary ultrasonic motor, the adhesive surface with small area and sparse grid is the adhesive slave surface, and the adhesive surface with large area and dense grid is the adhesive main surface;
as a further preferred aspect of the present invention, in step S4, the total simulation process includes a plurality of time steps, the simulation result of each time step is calculated based on the simulation result of the previous time step, and the step size calculation formula of the time step is:
in the formula (1), the first and second groups of the compound,fis the excitation frequency of the traveling wave rotary type ultrasonic motor,f ∈[f 1 ,f 2 ]；
in a further preferred embodiment of the present invention, the incremental simulation calculation in step S4 uses a rayleigh damping model, and the rayleigh damping model includes two rayleigh damping coefficients, each of which is
And &>
The calculation method comprises the following steps:
in the formula (2), the first and second groups,
is a damping ratio, the damping ratio->
Has a reasonable value range of 0 to 2%>
For the lower limit of the excitation frequency range of a traveling wave rotary-type ultrasonic motor, in the vicinity of the rotor in the motor housing>
Is the upper limit of the excitation frequency range of the traveling wave rotary type ultrasonic motor.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. the traveling wave rotary ultrasonic motor dynamics simulation method provided by the invention carries out modeling simulation on the whole traveling wave rotary ultrasonic motor, so that the built simulation model of the traveling wave rotary ultrasonic motor is more complete, the steady-state dynamics analysis of the traveling wave rotary ultrasonic motor can be carried out, and the transient dynamics simulation analysis of the power-on starting process and the power-off stopping process of the traveling wave rotary ultrasonic motor can be completed;
2. the traveling wave rotary type ultrasonic motor dynamics simulation method provided by the invention mainly researches the nonlinear problem between the contact surfaces of the stator and the rotor, and simulates to obtain the output rotating speed and the torque at each moment in the running process of the traveling wave rotary type ultrasonic motor, thereby not only facilitating the structural design and optimization work of the traveling wave rotary type ultrasonic motor, but also accurately predicting the output performance of the traveling wave rotary type ultrasonic motor before a prototype test, greatly shortening the design iteration cycle and reducing the development cost;
3. the traveling wave rotary ultrasonic motor dynamics simulation method provided by the invention adopts incremental simulation calculation, takes calculation efficiency and calculation precision into consideration, and provides an efficient and reliable auxiliary tool for the structural optimization design and the mechanical performance prediction of the traveling wave rotary ultrasonic motor.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a flow chart of a dynamic simulation method of a traveling wave rotary type ultrasonic motor provided by the present invention;
FIG. 2 is a diagram of an example of a traveling wave rotary type ultrasonic motor based on which the present invention is provided in a preferred embodiment;
FIG. 3 is a schematic diagram of a traveling wave rotary ultrasonic motor grid model obtained in a preferred embodiment of the present invention;
4 a-4 b are schematic diagrams of traveling wave rotary type ultrasonic motor model setup obtained in the preferred embodiment provided by the present invention;
FIGS. 5 a-5 b are schematic diagrams of output performance simulation results of the preferred embodiment of the present invention;
FIGS. 6 a-6 d are stress clouds illustrating a preferred embodiment of the present invention;
fig. 7 a-7 b are schematic diagrams of contact simulation results of the preferred embodiment provided by the present invention.
Description of the preferred embodiment
The present invention will now be described in further detail with reference to the accompanying drawings. In the description of the present application, it is to be understood that the terms "left side", "right side", "upper part", "lower part", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and that "first", "second", etc., do not represent an important degree of the component parts, and thus are not to be construed as limiting the present invention. The specific dimensions used in the present example are only for illustrating the technical solution and do not limit the scope of protection of the present invention.
The ultrasonic motor excites ultrasonic vibration of the stator body by piezoelectric ceramic inverse piezoelectric effect, and then transmits tangential force to the rotor by means of friction force generated by mutual compression of the stator and the rotor to drive load operation, so that the operation mode is easy to cause unstable performance and damage, thereby causing the failure of completing long-time continuous work. Therefore, dynamic simulation of the ultrasonic motor is needed to understand the nonlinear phenomenon and to find out the mechanism, so as to effectively reduce the influence of the nonlinear factor, which will greatly help the design of the whole control system and the development of the ultrasonic motor. Based on the above, the present application provides a traveling wave rotary type ultrasonic motor dynamics simulation method, and it should be clarified that the simulation method provided by the present application is performed based on ADINA simulation software, because the ADINA is superior in the aspect of contact nonlinear numerical calculation as finite element software, the software is selected to perform simulation analysis on the ultrasonic motor; the ultrasonic motor used in the test of the present application also shows an embodiment, i.e., the configuration shown in fig. 2.
The simulation method specifically includes the following steps as shown in fig. 1:
step S1: establishing a three-dimensional geometric model of the traveling wave rotary ultrasonic motor;
step S2: selecting a hexahedral unit as a discrete unit to perform discrete processing on the three-dimensional geometric model in the step S1, obtaining a grid model of the traveling wave rotary type ultrasonic motor shown in FIG. 2, and importing the grid model into ADINA simulation software;
and step S3: setting materials and damping parameters for the grid model in the step S2 in ADINA simulation software according to actual working conditions, designating a contact surface and an adhesive surface of the traveling wave rotary ultrasonic motor in the grid model, and applying loads and constraint conditions to the contact surface and the adhesive surface; here, certain principles need to be followed with respect to the contact surface and the adhesive surface, for example, the contact surface includes a contact target surface and a contact active surface, when both contact surfaces of the traveling wave rotary ultrasonic motor are flexible, the software suggests that a harder surface is used as the target surface, that is, the hard material contact surface in the traveling wave rotary ultrasonic motor is designated as the contact target surface, and the soft material contact surface is designated as the contact active surface; and the gluing surfaces are similar to the contact surfaces in gluing arrangement due to the requirement of software, so that the gluing surfaces comprise a gluing main surface and a gluing auxiliary surface, and in each group of gluing surfaces of the traveling wave rotary ultrasonic motor, the gluing surface with small area and sparse grids is the gluing auxiliary surface, and the gluing surface with large area and dense grids is the gluing main surface.
In the specific implementation, the contact phenomenon of the traveling wave rotary type ultrasonic motor mainly occurs between the stator teeth and the friction material layer, the contact surface of the stator teeth is specified as a contact target surface, and the contact surface of the friction material layer is specified as a contact active surface; the adhesion phenomenon of the traveling wave rotary type ultrasonic motor mainly occurs between the rotor and the friction material layer, and generally, the lower surface of the rotor is defined as an adhesion main surface, and the upper surface of the friction material layer is defined as an adhesion auxiliary surface, as shown in fig. 4a and 4 b.
And step S4: setting a time function and a time step required by simulation according to the working frequency of the traveling wave rotary ultrasonic motor, and performing incremental simulation calculation; the simulation overall process comprises a plurality of time steps, the simulation result of each time step is calculated based on the simulation result of the previous time step, in the application, because the calculation mode carried out subsequently adopts an incremental simulation calculation method, the selection of the time step is crucial, generally 1/n of the working period of the simple harmonic excitation signal is adopted as the time step, if n is too small, the simulated simple harmonic excitation signal is distorted, and the calculation result is very unreliable; with the increase of n, the simulated simple harmonic excitation signal curve is smoother and smoother, the simulation calculation result is closer to the real result, but when n is too large, the calculation amount is increased greatly, and the calculation resource and time are wasted.
The specific calculation formula of the step length of the time step is as follows:
in the formula (1), the first and second groups of the compound,fis the excitation frequency of the traveling wave rotary type ultrasonic motor,f ∈[f 1 ,f 2 ]。
step S5: and (5) obtaining the incremental simulation calculation result in the step (S4), carrying out stress strain and contact dynamics simulation analysis on the traveling wave rotary ultrasonic motor, and calculating to obtain the output rotating speed and torque at each moment in the starting and stopping response processes of the traveling wave rotary ultrasonic motor.
The rayleigh damping model is adopted in the incremental simulation calculation in the step S4, and it is to be particularly explained here that the effect of the excitation frequency range is ignored while the damping ratio is generally considered in the conventional simulation calculation, so that the rayleigh damping model is adopted in the simulation method provided by the application, and the method is simple, convenient and more efficient.
The Rayleigh damping model comprises two Rayleigh damping coefficients
And &>
The calculation method comprises the following steps:
in the formula (2), the first and second groups of the compound,
is a damping ratio, the damping ratio->
Has a reasonable value range of 0 to 2%>
For the lower limit of the excitation frequency range of a traveling wave rotary-type ultrasonic motor, in the vicinity of the rotor in the motor housing>
Is the upper limit of the excitation frequency range of the traveling wave rotary type ultrasonic motor.
Finally, the application also provides an embodiment of the dynamic simulation method of the traveling wave rotary type ultrasonic motor, and the embodiment is comprehensively considered in order to take account of calculation efficiency and accuracy
Take 32, i.e., 1/32 of the excitation period as a time step. Fig. 5 a-5 b are schematic diagrams showing simulation results of output performance of the preferred embodiment of the present invention, which can accurately predict the output performance of the selected traveling wave rotary type ultrasonic motor. Fig. 6 a-6 d are stress clouds illustrating a preferred embodiment of the invention, which allows stress analysis of selected traveling wave rotary ultrasonic motors. Fig. 7 a-7 b are schematic views showing the contact simulation results of the preferred embodiment of the present invention, which can perform contact dynamics analysis on the selected traveling wave rotary-type ultrasonic motor. Therefore, the traveling wave rotary ultrasonic motor dynamics simulation method provided by the application is fully proved, and a powerful auxiliary tool is provided for the structural optimization design and the mechanical property prediction of the traveling wave rotary ultrasonic motor.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" as used herein is intended to include both the individual components or both.
The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components through other components.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (4)
1. A traveling wave rotary ultrasonic motor dynamics simulation method is characterized in that: the method specifically comprises the following steps:
step S1: establishing a three-dimensional geometric model of the traveling wave rotary ultrasonic motor;
step S2: selecting a matched discrete unit to perform discrete processing on the three-dimensional geometric model in the step S1 to obtain a grid model of the traveling wave rotary type ultrasonic motor;
and step S3: setting material and damping parameters for the grid model in the step S2 according to actual working conditions, designating a contact surface and an adhesive surface of the traveling wave rotary ultrasonic motor in the grid model, and applying load and constraint conditions to the contact surface and the adhesive surface;
and step S4: setting a time function and a time step required by simulation according to the working frequency of the traveling wave rotary ultrasonic motor, and performing incremental simulation calculation;
step S5: and (5) obtaining the incremental simulation calculation result in the step (S4), carrying out stress strain and contact dynamics simulation analysis on the traveling wave rotary ultrasonic motor, and calculating to obtain the output rotating speed and torque at each moment in the starting and stopping response processes of the traveling wave rotary ultrasonic motor.
2. The traveling wave rotary-type ultrasonic motor dynamics simulation method of claim 1, characterized in that: in the step S3, a contact surface and an adhesive surface of the traveling wave rotary ultrasonic motor are designated, the contact surface comprises a contact target surface and a contact active surface, the hard contact surface in the traveling wave rotary ultrasonic motor is designated as the contact target surface, and the soft contact surface is designated as the contact active surface;
the adhesive surface comprises an adhesive main surface and an adhesive slave surface, wherein in each group of adhesive surfaces of the traveling wave rotary ultrasonic motor, the adhesive surface with small area and sparse grid is the adhesive slave surface, and the adhesive surface with large area and dense grid is the adhesive main surface.
3. The traveling wave rotary-type ultrasonic motor dynamics simulation method of claim 2, characterized in that: in step S4, the total simulation process includes a plurality of time steps, the simulation result of each time step is calculated based on the simulation result of the previous time step, and the step size calculation formula of the time step is:
in the formula (1), the first and second groups of the compound,fis the excitation frequency of the traveling wave rotary type ultrasonic motor,f∈[f 1 ,f 2 ]。
4. the traveling wave rotary-type ultrasonic motor dynamics simulation method of claim 3, characterized in that: step S4, the incremental simulation calculation adopts a Rayleigh damping model, and the Rayleigh damping model comprises two Rayleigh damping coefficients
And &>
The calculation method comprises the following steps:
in the formula (2), the first and second groups,
is a damping ratio, the damping ratio->
In a reasonable value range of 0 to 2%>
Is the lower limit of the excitation frequency range of the traveling wave rotary type ultrasonic motor, is matched with the excitation frequency range of the ultrasonic motor>
Is the upper limit of the excitation frequency range of the traveling wave rotary type ultrasonic motor. />
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| CN114970275A (en) * | 2022-06-02 | 2022-08-30 | 北京卫星环境工程研究所 | Ultrasonic motor storage life prediction method based on locked rotor torque simulation |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107016154A (en) * | 2015-12-22 | 2017-08-04 | 达索系统西姆利亚公司 | Effectively solved with the Structural Dynamics in the case of modal damping in physical coordinates |
| CN107451331A (en) * | 2017-06-28 | 2017-12-08 | 中北大学 | A kind of supercharged diesel engine course of work three-dimensional emulation method |
| CN107515972A (en) * | 2017-08-10 | 2017-12-26 | 苏州上声电子有限公司 | A kind of Numerical Simulation Analysis method of loudspeaker falling process |
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Inventor after: Ren Weihao Inventor after: Yang Lin Inventor after: Yang Mojian Inventor after: Zhao Chunsheng Inventor before: Yang Lin Inventor before: Ren Weihao Inventor before: Yang Mojian Inventor before: Zhao Chunsheng |
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