双轴指向机构用超声电机的性能研究

发布时间：2018-05-24 22:02

本文选题：超声电机 + 双轴指向机构　；参考：《哈尔滨工业大学》2016年硕士论文

【摘要】：卫星技术的日益成熟不仅带动了微纳卫星的发展,而且促进了轻小型精密驱动技术的发展。而现有的卫星用双轴指向机构的驱动器主要是由传统伺服电机、减速器组成,结构复杂,体积庞大,不能完全适应微纳卫星技术发展的需求,尤其是在轻小精密驱动技术方面。因此,研制一种结构尺寸小、低速大力矩、驱动精度高的精密驱动器成为驱动技术领域主要的发展趋势。超声电机(ultrasonic motor,简称USM)是一种新型直驱电机,体积小,重量轻,不需要齿轮箱就可以实现低速大力矩,并且位置控制精度高。本文的主要研究内容是如何实现超声电机的低速大力矩以及高精度运行,并将其应用到双轴指向装置中,实现双轴指向机构轻量化、低速以及高精度的目标。本文主要从结构和控制两方面对超声电机能够实现低速大力矩以及高精度运行进行理论分析。理论研究表明超声电机的最大理论转速与定子的主要参数有着密切的联系;而且要实现超声电机低速运行,还需要采用一定的控制方法。通过摩擦材料对超声电机性能影响的分析表明摩擦材料与超声电机的输出力矩有着密切的联系;超声电机能够实现高精度不仅与超声电机的结构有着密切的联系,而且主要还取决于超声电机响应速度。基于超声电机低速大力矩和高精度的理论分析,对超声电机定子进行振动分析。通过对超声电机定子的模态分析和谐响应分析确定定子主要参数对超声电机转速和旋转精度的影响规律,进而最后确定最优结构的参数。基于特殊工况对摩擦材料的要求,选取3种摩擦材料,进行不同材料下超声电机性能的比较,获得性能最优的摩擦材料,完成超声电机的改进设计。将改进前后的超声电机进行机械特性以及旋转精度的测试实验;完成双轴指向机构的结构设计,将超声电机应用于双轴指向装置,进行双轴指向机构运行速度以及指向精度的测试实验。实验结果表明,改进后的超声电机性能更好,能够满足要求。将改进后的超声电机进行高低温及力学试验,结果表明改进后的机构能满足要求。此外,针对超声电机重量不达标的问题进行结构的减重设计。
[Abstract]:The increasing maturity of satellite technology not only promotes the development of micro-and nano-satellites, but also promotes the development of light and small precision drive technology. The existing dual-axis pointing mechanism for satellite is mainly composed of traditional servo motor and reducer. The structure is complex and the volume is huge, which can not fully meet the needs of the development of micro-nano satellite technology, especially in the light and small precision drive technology. Therefore, it is the main development trend in the field of driving technology to develop a kind of precision driver with small structure, large torque at low speed and high driving precision. Ultrasonic motor (USM) is a new type of direct drive motor, which is small in volume and light in weight. It can realize low speed and large torque without gearbox and high precision of position control. The main research content of this paper is how to realize the low speed high torque and high precision operation of ultrasonic motor, and apply it to the biaxial pointing device to realize the target of lightweight, low speed and high precision of double axis pointing mechanism. In this paper, the structure and control of ultrasonic motor can achieve low speed large torque and high precision operation are analyzed theoretically. The theoretical study shows that the maximum theoretical rotational speed of ultrasonic motor is closely related to the main parameters of the stator, and a certain control method is needed to realize the low speed operation of the ultrasonic motor. The influence of friction materials on the performance of ultrasonic motor shows that the friction material is closely related to the output torque of ultrasonic motor, and the high accuracy of ultrasonic motor is not only closely related to the structure of ultrasonic motor, but also to the structure of ultrasonic motor. And also mainly depends on the ultrasonic motor response speed. Based on the theoretical analysis of high torque and low speed of ultrasonic motor, the vibration analysis of ultrasonic motor stator is carried out. Through modal analysis and harmonic response analysis of ultrasonic motor stator, the influence of main stator parameters on speed and rotation accuracy of ultrasonic motor is determined, and the optimal structure parameters are finally determined. Based on the requirement of friction material under special working conditions, three kinds of friction materials are selected to compare the performance of ultrasonic motor under different materials, and the friction material with the best performance is obtained, and the improved design of ultrasonic motor is completed. The mechanical characteristics and rotation accuracy of the improved ultrasonic motor are tested, and the structure design of the two-axis pointing mechanism is completed, and the ultrasonic motor is applied to the two-axis pointing device. The running speed and pointing accuracy of the two-axis pointing mechanism are tested. The experimental results show that the improved ultrasonic motor has better performance and can meet the requirements. The improved ultrasonic motor is tested in high and low temperature and mechanics. The results show that the improved mechanism can meet the requirements. In addition, the weight loss design of ultrasonic motor is carried out for the problem that the weight of ultrasonic motor is not up to standard.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V442

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