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首页> 外文会议>Proceedings of 4th International Workshop on Piezoelectric Materials and Applications in Actuators >Simulation of Output Properties for a Cylinder Type 3-DOF Ultrasonic Motor
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Simulation of Output Properties for a Cylinder Type 3-DOF Ultrasonic Motor

机译：圆柱型三自由度超声波电动机输出特性的仿真

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摘要

We have developed a 3-DOF ultrasonic motor with a cylinder type stator and a spherical rotor.The motor provides 3-DOF rotations around x,y,and z-axes,which is implemented by two second order ending modes with orthogonality and a first order longitudinal mode of the stator.In the present study,a simulated mathematical model of output properties for the motor is established according to its driving principle.The method of the established model is as following.Firstly,the amplitude and frequency of the driving points on the stator of the motor have been known,which can be obtained by structural dynamic analysis (FEM) for the stator.Then the displacement and velocity of the driving points could be calculated.It is supposed that the stator contacts with the rotor of the motor in elasticity,that is,there is a series of spring on the contact points between the stator and otor.According to relative motion between the stator and rotor of the motor the deformation and elastic force of every spring could be obtained.Futhermore,the friction force between the stator and rotor of the motor could be deduced.Finally the output torque,power loss and driving efficiency of the motor could be calculated.Based on the mathematical model above,a simulated program is developed in MATLAB environment,and the output properties of the motor are simulated by the rogram.The simulated results of the output properties are compared with the experimental results.
机译：我们开发了一种具有圆柱定子和球形转子的3-DOF超声波电动机。该电动机提供绕x，y和z轴的3-DOF旋转，这是通过两个具有正交性的二阶结束模式和一个第一本研究根据电动机的驱动原理，建立了电动机输出特性的仿真数学模型。该模型的建立方法如下：首先，驱动点的幅值和频率已知电动机定子上的磁通，可以通过对定子进行结构动力学分析（FEM）获得，然后可以计算出驱动点的位移和速度。假设定子与电动机的转子接触电动机具有弹性，即在定子和转子之间的接触点上有一系列的弹簧。根据电动机的定子和转子之间的相对运动，每个弹簧的变形和弹力进而可以推导出电动机的定子与转子之间的摩擦力。最后可以计算出电动机的输出转矩，功率损耗和驱动效率。在上述数学模型的基础上，建立了仿真程序。在MATLAB环境下开发了该软件，并通过Rogram对电机的输出特性进行了仿真。将输出特性的仿真结果与实验结果进行了比较。

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