基于振动特性和电学特性的行波超声电机非线性带载骤停现象研究
发布时间：2019-01-20 08:17
【摘要】：当前航空航天领域内对超声电机,特别是行波型超声电机(下文简称超声电机)的需求越来越大。而超声电机在使用过程中的非线性现象导致的问题越来越突出。目前亟待解决的超声电机非线性问题是超声电机工作在一定的扭矩负载(小于堵转扭矩)状况下会出现突然停机的现象。该文分别从振动特性和电学特性分析了电机的骤停现象,提出行波型超声电机负载扭矩增加会导致电机定子阻尼和刚度同时增加,从而导致振动阻尼比减小。电机定子振动阻尼比减小会导致电机实际的共振频率升高。同时,负载增大会导致电机系统在同一频率下的阻抗模减小,使得电机实际的共振频率进一步升高。电机驱动频率不变,当电机实际的共振频率升高并从低到高穿越电机驱动频率时,超声电机会出现骤停现象。实验证明,负载扭矩增加导致电机系统阻尼比减小和电机系统阻抗模减小是影响到电机带载骤停的根本原因。
[Abstract]:At present, the demand of ultrasonic motor, especially traveling wave ultrasonic motor (hereinafter referred to as ultrasonic motor) is increasing in the field of aeronautics and astronautics. The problem caused by the nonlinear phenomenon of ultrasonic motor is more and more prominent. At present, the nonlinear problem of ultrasonic motor is that the ultrasonic motor will stop suddenly under the condition of certain torque load (less than stop torque). In this paper, the phenomenon of sudden stop of motor is analyzed from the characteristics of vibration and electricity respectively. It is proposed that the increase of load torque of traveling wave ultrasonic motor will result in the increase of stator damping and stiffness, which will result in the decrease of vibration damping ratio. The reduction of stator vibration damping ratio will increase the actual resonance frequency of the motor. At the same time, the increase of the load will reduce the impedance mode of the motor system at the same frequency, and further increase the actual resonance frequency of the motor. The driving frequency of the motor is invariable. When the actual resonance frequency of the motor increases and passes through the drive frequency of the motor from low to high, the ultrasonic motor will appear sudden stop phenomenon. The experimental results show that the decrease of damping ratio of motor system and the decrease of impedance mode of motor system due to the increase of load torque are the fundamental reasons that affect the sudden stop of motor with load.
【作者单位】： 西北农林科技大学机械与电子工程学院;机械结构力学及控制国家重点实验室(南京航空航天大学);
【基金】：国家重点基础研究发展计划(2015CB057501) 中央高校基本科研业务费专项资金资助项目(2452017134) 中国博士后科学基金(2017M613217) 博士科研启动费资助项目(2452016158)~~
【分类号】：TM359.9
[Abstract]:At present, the demand of ultrasonic motor, especially traveling wave ultrasonic motor (hereinafter referred to as ultrasonic motor) is increasing in the field of aeronautics and astronautics. The problem caused by the nonlinear phenomenon of ultrasonic motor is more and more prominent. At present, the nonlinear problem of ultrasonic motor is that the ultrasonic motor will stop suddenly under the condition of certain torque load (less than stop torque). In this paper, the phenomenon of sudden stop of motor is analyzed from the characteristics of vibration and electricity respectively. It is proposed that the increase of load torque of traveling wave ultrasonic motor will result in the increase of stator damping and stiffness, which will result in the decrease of vibration damping ratio. The reduction of stator vibration damping ratio will increase the actual resonance frequency of the motor. At the same time, the increase of the load will reduce the impedance mode of the motor system at the same frequency, and further increase the actual resonance frequency of the motor. The driving frequency of the motor is invariable. When the actual resonance frequency of the motor increases and passes through the drive frequency of the motor from low to high, the ultrasonic motor will appear sudden stop phenomenon. The experimental results show that the decrease of damping ratio of motor system and the decrease of impedance mode of motor system due to the increase of load torque are the fundamental reasons that affect the sudden stop of motor with load.
【作者单位】： 西北农林科技大学机械与电子工程学院;机械结构力学及控制国家重点实验室(南京航空航天大学);
【基金】：国家重点基础研究发展计划(2015CB057501) 中央高校基本科研业务费专项资金资助项目(2452017134) 中国博士后科学基金(2017M613217) 博士科研启动费资助项目(2452016158)~~
【分类号】：TM359.9
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