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Method and system for calculating torque and rotating speed characteristics of annular traveling wave type ultrasonic motor

An ultrasonic motor, torque speed technology, applied in the direction of generators/motors, piezoelectric effect/electrostrictive or magnetostrictive motors, electrical components, etc., can solve problems such as difficult calculation of ultrasonic motor torque speed characteristics, Achieve the effect of improving torque speed performance, simple calculation process and strong adaptability

Pending Publication Date: 2022-04-19
NANJING INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the complex nonlinear problems involved in contact and friction, it is difficult to calculate the torque and speed characteristics of ultrasonic motors

Method used

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  • Method and system for calculating torque and rotating speed characteristics of annular traveling wave type ultrasonic motor
  • Method and system for calculating torque and rotating speed characteristics of annular traveling wave type ultrasonic motor
  • Method and system for calculating torque and rotating speed characteristics of annular traveling wave type ultrasonic motor

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0044] Such as figure 1 As shown, the calculation method of the torque and speed characteristics of the annular traveling wave ultrasonic motor includes the following steps:

[0045] Step 1: Obtain the basic parameters of the ring traveling wave ultrasonic motor.

[0046] The basic parameters of the ring traveling wave ultrasonic motor include: the elastic modulus E of the friction material, the friction coefficient μ, the stator amplitude A, the stator vibration frequency f, the peak number n of the stator working mode, and the pre-pressure F between the stator and the rotor n , The average contact radius of the stator and rotor r, the radial contact width of the stator and rotor b, the thickness of the friction material h, the distance a from the surface of the stator teeth to the neutral plane.

[0047] Step 2: Calculate contact start time t 1 , calculated by the following formula:

[0048]

[0049] The calculated contact start time t 1 falls within the following ran...

Embodiment 2

[0071] This embodiment is based on the specific application scenario of the calculation method for the torque and speed characteristics of an annular traveling wave type ultrasonic motor provided in Embodiment 1. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to explain Limit the protection scope of the present invention.

[0072] Taking a circular traveling wave ultrasonic motor with a diameter of 60mm as an example, combined with figure 1 Each step is described in detail.

[0073] Step 1: Obtain the basic parameters of the ring traveling wave ultrasonic motor.

[0074] The basic parameters of the annular traveling wave ultrasonic motor are: the elastic modulus E of the friction material = 6.67×10 8 N / m 2 , friction coefficient μ=0.14, stator amplitude A=2μm, stator vibration frequency f=41kHz, number of crests in stator working mode n=9, pre-pressure F between stator and rotor n =250N...

Embodiment 3

[0088] The embodiment of the present invention provides a calculation system for torque and speed characteristics of an annular traveling wave ultrasonic motor, including:

[0089] Obtaining module: used to obtain the basic parameters of the annular traveling wave ultrasonic motor;

[0090] Calculation module: used to calculate the motor output torque T corresponding to the rotor speed N based on the basic parameters of the annular traveling wave ultrasonic motor and the preset value of the rotor speed N L ;

[0091] Judgment module: used to judge the motor output torque T corresponding to the rotor speed N L size, if T L >0, reset the value of the rotor speed N and calculate the motor output torque T corresponding to the rotor speed N L ; if T L ≤0, end calculation;

[0092] Torque and speed characteristics confirmation module: used for all rotor speeds N and corresponding motor output torque T in the calculation process L , to determine the torque-speed characteristics...

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Abstract

The invention discloses a method and a system for calculating torque and rotating speed characteristics of an annular traveling wave type ultrasonic motor. The method comprises the following steps: acquiring basic parameters of the annular traveling wave type ultrasonic motor; calculating a motor output torque TL corresponding to the rotor rotating speed N based on the basic parameters of the annular traveling wave type ultrasonic motor and a preset value of the rotor rotating speed N; judging the size of a motor output torque TL corresponding to the rotor rotating speed N, and if TL is greater than 0, resetting the value of the rotor rotating speed N and calculating the motor output torque TL corresponding to the rotor rotating speed N; if TL is less than or equal to 0, ending calculation; and determining the torque and rotating speed characteristics of the annular traveling wave type ultrasonic motor according to all rotor rotating speeds N and the corresponding motor output torques TL in the calculation process. According to the method, simple and effective torque and rotating speed characteristic calculation of the annular traveling wave type ultrasonic motor can be realized, and the torque and rotating speed characteristic of the annular traveling wave type ultrasonic motor can be calculated in a design analysis stage of the motor.

Description

technical field [0001] The invention relates to a calculation method and system for torque and speed characteristics of an annular traveling wave ultrasonic motor, and belongs to the technical field of ultrasonic motors. Background technique [0002] The ring traveling wave ultrasonic motor uses the inverse piezoelectric effect of piezoelectric ceramics to convert high-frequency alternating current into ultrasonic vibration of the metal elastic body, and then converts the ultrasonic vibration of the metal elastic body into the rotational motion of the rotor through contact friction. Ultrasonic motors have many advantages, such as low-speed high-torque, power-off self-locking, fast dynamic response, etc., and have broad application prospects in the fields of discontinuous motion, precision control, and intelligent robots. [0003] Torque and speed characteristics are one of the important properties of ultrasonic motors. Due to the complex nonlinear problems involved in conta...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02N2/14H02N2/16H02N2/12H02N2/00
CPCH02N2/14H02N2/163H02N2/12H02N2/0065H02N2/007
Inventor 张津杨蒋春容陆旦宏
Owner NANJING INST OF TECH