Accuracy Analysis And Experimental Study Of Traveling Wave Rotary Ultrasonic Motor

The dissertation is supported by preparatory subject “The micro-nano satellite is used to study the precise driving system of small piezoelectric ceramic” of Beijing satellite factory of China space technology research institute for travelling wave type rotary ultrasonic motor technology research.In this paper,the influence factors of ultrasonic motor output are analyzed,the theme focuses on the design of travelling wave type rotary ultrasonic motor,design of core components,piezoelectric ceramic inverse piezoelectric effect,stator electromechanical coupling model,dynamics transfer mechanism of fixed rotor contact surface and so on are conducted research in depth.The design method and technical index are proposed of ultrasonic motor output are improved.The test prototype is developed and experiments are carried out.The main content and research results are summarized as follows:(1)The main factors influencing the mechanical characteristics and positioning accuracy of the rotary ultrasonic motor are summarized.The important factors affecting the output characteristics of ultrasonic motor that is the amplitude of the stator of the ultrasonic motor is measured and homogeneity of stator ring in wave are obtained.It provides useful guidance for the design of ultrasonic motor.(2)The key parts stator,flexible rotor,piezoelectric ceramic chip of travelling wave type rotary ultrasonic motor critical component design are completed based on the design objective function.The principle of preparation and selection of piezoelectric ceramics and friction pieces have been perfected,the assembly flow of ultrasonic motor is improved,the control and drive system are matched,the test prototype is successfully developed.(3)The essence of the vibration of piezoelectric ceramic inverse piezoelectric effect is analyzed.Based on Hamilton principle stator electromechanical coupling model is established,stator and rotor contact model is constructed based on the friction driving mechanism of the rotor and stator,the dynamic transfer mechanism of rotor and stator contact surface is analyzed.Therefore the motor dynamics model is established,lay the foundation for further analysis.(4)The harmonic response analysis of the stator elastomers is completed based on the theory of vibration and forced vibration of circular thin plate,The selection principle of stator B09 mode is improved.The influence of the stator tooth on the surface particle amplitude is quantitatively analyzed under the same excitation conditions.In the same excitation frequency of the stator and rotor,the conformance matching is completed considering the radial sliding of the stator and rotor.The parameters of stator and rotor are obtained for their own sensitivity,thetechnical support of ultrasonic electro-mode aliasing and two-phase frequency conformance modulation is provided.(5)The mechanical properties of the rotary ultrasonic motor are tested,the mechanical properties of ultrasonic motor are obtained by air load and load.The various indicators of the prototype meet the engineering requirements.The modal harmonic response test is carried out for the key part stator of ultrasonic motor,the principle of ultrasonic mode design is improved,the correctness of theoretical calculation is verified,the experiment and theoretical analysis are of great significance to the development of ultrasonic motor.