小型复合激励盘式行波超声电机关键技术研究

发布时间：2018-06-05 19:35

本文选题：超声电机 + 模态变换　；参考：《哈尔滨理工大学》2014年博士论文

【摘要】：行波旋转型超声电机同传统电磁电机相比，具有结构简单、低速灵活、大转矩、断电自锁和不受磁场干扰等特点，在空间姿态调整机构、精密定位、机器人关节和精密仪器等方面具有广阔应用前景。目前行波旋转超声电机多采用圆环轴向弯曲振动模态进行激励，这种激励方式主要依靠驱动足激励，圆周运动部分与定子厚度成正比，影响驱动器运行速度、响应精度和输出力矩，而且定子厚度增加会导致弯振振幅下降，使其整体体积偏大，在上述应用方面还不够理想。由于复合激励可以很好的解决振幅稳定和驱动器小型化问题，使其比较适合上述应用方面的驱动实现。目前国内外对于复合激励下超声电机的研究和应用还属于探索性阶段，还需要更进一步深入地研究理论、结构设计、摩擦机理、控制算法及小型化等方面的关键科学技术问题。本文基于上述科学技术问题开展了研究探索，可以为行波旋转型超声电机小型化研究提供新思路和理论基础，对于拓展应用领域，具有很好的现实意义。本文从行波超声电机的运行机理出发，研究了纵振和弯振复合耦合关系对电机复合激励时其驱动性能的影响，采用有限元建模分析方法对纵弯模态圆盘式小型超声电机进行总体优化设计，研究探讨了适宜于该类型电机结构的摩擦材料及其转换机理，利用优化算法对其控制器进行了设计，围绕样机设计了测试和实验研究装置，对其关键科学技术问题展开了理论和实验研究探索，主要的研究内容包括： 1.通过对模态变换研究和分析，提出了利于电机小型化的基于纵弯模态转换的复合激励贴片式圆盘行波超声电机结构。利用有限元分析方法对超声电机的结构参数进行了设计，，分析了模态转换机理，建立了电机有限元模型，对两个振动模态特征频率进行了简并，构建了驱动齿振动轨迹图谱，并对电学特性进行了分析。 2.研制了直径为30mm的小型24齿复合激励盘型超声电机样机。在理论分析的基础上，制作了超声电机样机，利用齿形结构解决了定转子连续接触问题，利用振动特性和阻抗特性测试完成了实验研究工作，验证了理论分析和有限元方法设计的正确性。 3.根据定转子接触面的微观运动特点，研究了构建纳米复合摩擦材料的方法，通过对材料微观形貌、负载响应、摩擦系数等特性研究，探讨了纳米材料摩擦转换机理。该方法较好地解决了摩擦材料微尺度的形变与超声电机微米级运动状态啮合度和提高输出力矩问题。 4.提出了对样机控制器采用自适应—随机惯性权重粒子群算法（简称APSO-RIW）优化PID参数的方法，通过与其他算法比较，该优化算法对于提高控制器的收敛速度和定位精度具有优势。设计了基于DSP和双DDS技术的超声样机驱动器，拓宽了驱动器频率调整区间，提高了相位转换误差精度。 5.设计了基于LabVIEW虚拟仪器平台的超声电机测试装置，并同传统分立仪器测量方法进行了实验比对，测试表明设计的测试装置和传统分立仪器测量方法测出的结果基本一致。
[Abstract]:Traveling wave rotating ultrasonic motor has the advantages of simple structure, low speed, low speed, high torque, self locking and undisturbed magnetic field. It has wide application foreground in space attitude adjustment mechanism, precision positioning, robot joint and precision instrument. The vibration mode is driven by the vibration mode, which mainly depends on the driving force. The circle motion part is proportional to the thickness of the stator, which affects the speed of the drive, the response accuracy and the output torque, and the increase of the stator thickness will lead to the decrease of the amplitude of the bending vibration, which makes the whole volume larger, and is not ideal in the application aspect. The excitation can solve the problem of amplitude stability and drive miniaturization very well, and make it more suitable for the actuation of the above application. At present, the research and application of ultrasonic motor under compound excitation still belong to the exploratory stage. It also needs to further study theory, structure design, friction mechanism, control algorithm and small control algorithm. This paper, based on the above science and technology problems, provides a new idea and theoretical basis for the study of the miniaturization of traveling wave rotating ultrasonic motors. It is of great practical significance to expand the application field.
Based on the operating mechanism of a traveling wave ultrasonic motor, the influence of the coupling relationship between the longitudinal vibration and the bending vibration on the driving performance of the motor is studied. The finite element modeling analysis method is used to optimize the longitudinal mode disc type small ultrasonic motor, and the friction material suitable for this type of motor structure is studied and discussed. The material and its conversion mechanism are designed with the optimization algorithm. The test and experimental research devices are designed around the prototype, and the theoretical and Experimental Research on its key scientific and technical problems are explored. The main contents include:
1. through the study and analysis of the modal transformation, the structure of a composite exciting patch type disk traveling wave ultrasonic motor based on the longitudinal bending mode conversion is proposed. The structure parameters of the ultrasonic motor are designed by the finite element method, the mechanism of the modal transformation is analyzed, and the finite element model of the motor is established, and the two vibration of the motor is established. The modal characteristic frequency is degenerated, and the vibration track map of driving teeth is constructed, and the electrical characteristics are analyzed.
2. the prototype of a small 24 tooth disc type ultrasonic motor with a diameter of 30mm is developed. On the basis of the theoretical analysis, the prototype of the ultrasonic motor is made. The continuous contact problem of the fixed rotor is solved by the tooth shape structure. The experimental work is completed by the test of the vibration characteristic and the impedance characteristic, and the theoretical analysis and the design of the finite element method are verified. The correctness of it.
3. according to the micro motion characteristics of the fixed rotor contact surface, the method of constructing nanocomposite friction material is studied. Through the study of the microstructure, load response and friction coefficient of the material, the mechanism of friction conversion of nanomaterials is discussed. This method is a good solution to the microscale deformation of the friction material and the microscale motion state of the ultrasonic motor. The problem of the meshing degree and the increase of the output torque.
4. an adaptive random inertia weight particle swarm optimization (APSO-RIW) method is proposed to optimize the PID parameters of the prototype controller. By comparing with the other algorithms, the optimization algorithm has the advantage of improving the convergence speed and positioning accuracy of the controller. An ultrasonic prototype driver based on DSP and double DDS is designed to broaden the drive. The accuracy of phase conversion error is improved by adjusting the frequency range of the actuator.
5. the ultrasonic motor testing device based on LabVIEW virtual instrument platform is designed and compared with the traditional discrete instrument measurement method. The test shows that the results of the designed test device and the traditional discrete instrument measurement method are basically the same.
【学位授予单位】：哈尔滨理工大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TM359.9

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