The development of a small size ultrasonic motor for precise and high-speed positioning control

开发用于精密高速定位控制的小型超声波电机

• 批准号: 05555023
• 负责人: UEHA Sadayuki
• 金额: $ 4.16万
• 依托单位: Tokyo Institute of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Developmental Scientific Research (B)
• 财政年份: 1993
• 资助国家: 日本
• 起止时间: 1993 至 1994
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-05555023/
• 关键词: ultrasonic motor; hybrid transducer-type; precise positioning control; high-speed positioning control; piezoelectric element; equivalent circuit model; elastohydrodynamic lubrication; load characteristics

The purpose of this research is to apply a Hybrid Transducer-Type Ultrasonic Motor (HTUSM) which we have proposed to presice positioning control. In this work, the improvement of the characteristics of HTUSMs and the development of the control system for a HTUSM have been done. We have obtained the following results.1.Trial-made HTUSMs The HTUSMs were made and the characteristics of these motors were measured. The minimum diameter of the motor was 5mm and the maximum diameter was 80mm. The driving frequency is between 20kHz and 30kHz. In the 5mm HTUSM,the maximum torque, no-load speed and the maximum efficiency are 50gf・cm, 800rpm and 20%, respectively.In the 80mm HTUSM,these characteristics are 160kgf・cm, 3rpm and 2%, respectively. The maximum torque of these HTUSMs was more than one hundred times as large as that of the same size of electro-magnetic motors.2.Improvement of the efficiency We proved theoretically that the efficiency of HTUSMs could be improved by adding odd harmonic co … More mponents to the fundamental harmonic driving signal. In order to realize this driving system, we devised the shape of a stator transducer. The resonance frequency of 3rd torsional mode could be adjusted to three times that of the fundamental mode in this transducer. Using this method, the efficieny of HTUSMs increased about 20%3.Investigation of the frictional characteristics and the frictional material We proposed a new evaluation method for frictional material using conventional wear test to determine the most suitable frictional material for HTUSMs. This method can be used for life prediction of HTUSMs.4.Development of control system 1)Positioning control : The small angular displacement of the rotor in proportion to the applied DC voltage to torsional vibrator can be obtained. Making use of this motion and the rotary operation, we developed the new precise angular positioning control system. The resolution of the proposed system was 4.85*10^<-2>rad, the same as that of rotary encoder. 2)Speed control : We pointed out that the revolution speed was propotional to the current in the torsional vibration element. We proposed the speed control system of HTUSMs by means of this feature. Additionaly, we indicated that series connection was suitable for synchronous operation of HTUSMs. Less

本研究的目的是将我们提出的混合换能器型超声波电机（HTUSM）应用于精密定位控制。在这项工作中，HTUSM 的特性得到了改善，HTUSM 的控制系统也得到了开发。我们得到了以下结果：1.试制HTUSM 制作了HTUSM并测量了这些电机的特性，电机的最小直径为5mm，最大直径为。 80mm的驱动频率在20kHz～30kHz之间，5mm HTUSM的最大扭矩、空载转速、最大效率分别为50gf·cm、800rpm、20%。80mm HTUSM的这些特性为160kgf·。这些 HTUSM 的最大扭矩分别是 100 倍以上。 2.效率的提高我们从理论上证明，通过在基波驱动信号中添加奇次谐波成分可以提高HTUSM的效率。为了实现这个驱动系统，我们设计了这种驱动系统。定子换能器的形状可以将第三扭转模式的谐振频率调整为该换能器中基模的三倍，从而提高了换能器的效率。 HTUSM 提高了约 20%。 3.摩擦特性和摩擦材料的研究 我们提出了一种新的摩擦材料评估方法，利用常规磨损测试来确定最适合 HTUSM 的摩擦材料。该方法可用于 HTUSM 的寿命预测。 4.控制系统的开发 1）定位控制：利用该运动和扭振器上施加的直流电压，可以获得转子的小角位移。旋转操作，我们开发了新的精确角度定位控制系统，该系统的分辨率为4.85*10^<-2>rad，与旋转编码器的分辨率相同2）速度控制：我们指出，利用这一特性，我们提出了HTUSM 的转速控制系统，该系统适合于HTUSM 的同步运行。

项目成果

Kentaro Nakamura, Jacques Margairaz, Takaaki Ishii and Sadayuki Ueha: "A Stepping Ultrasonic Motor" (to be submitted).

Kentaro Nakamura、Jacques Margairaz、Takaaki Ishii 和 Sadayuki Ueha：“步进超声波电机”（待提交）。

Sadayuki Ueha: "Ultrasonic Motor" Oxford University Press, 297 (1993)

Sadayuki Ueha：《超声波电机》牛津大学出版社，297（1993）

中村 健太朗: "複合振動子型超音波モータによる精密位置決め制御" 電気学会論文誌C. 111. 462-469 (1991)

Kentaro Nakamura：“使用复杂换能器型超声波电机的精密定位控制” 日本电气工程师学会会刊 C. 111. 462-469 (1991)

Kentaro Nakamura: "Characteristics of a Hybrid Transducer Type Ultrasonic Motor" IEEE Transaction Ferroelectric Frequency Control. 38. 188-193 (1991)

Kentaro Nakamura：“混合换能器型超声波电机的特性”IEEE Transaction 铁电频率控制。

中村 健太郎: "複合振動子型超音波モータの回転速度制御" 電気学会論文誌D. 114. 871-876 (1994)

Kentaro Nakamura：“复杂振荡器型超声波电机的转速控制” 日本电气工程师学会会刊 D. 114. 871-876 (1994)