【作者】 宋起超；

【导师】 周真；

【作者基本信息】 哈尔滨理工大学 ， 精密仪器及机械， 2014， 博士

【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。更多还原

【Abstract】 Comparing with traditional electromagnetic motor,traveling wave rotaryultrasonic motor has the advantages of simple structure,low speed,high torque,flexible,power failure self-locking,no electromagnetic interference and so on.Ithas wide application prospect in the fields of space attitude adjustmentmechanism,precision positioning,robot joint,and precision instrument in nomagnetic environment.At present,the ring axial bending vibration modalityadopted in most of traveling wave rotary ultrasonic motor is used to the excitation,on which the excitation way mainly depends on driving feet. Circular motion isproportional to the thickness of stator,which affects operating speed,responseprecision and output torque of actuator.As bigger as the thickness of stator,andsmaller of the amplitude of bending vibration,the overall size of motor will bebigger.The applications above-mentioned are not ideal. Compound excitation ismore suitable for the above application, because it can better resolve theproblems on the stability of amplitude and the miniaturization ofactuator.Currently,the research and application on ultrasonic motor withcompound excitation are exploratory research at home and abroad.There aremany key problems on science and technology needed being discussed moredeeply,such as the theory,structural design,friction principle,control algorithm,miniaturization and so on.The study in the thesis is based on the above problemswhich will provide new thinking and theoretical principles for the research onminiaturization of traveling wave rotary ultrasonic motor and which will be ofrealistic significance to be covered.Herein,the effect of compound coupling relationship between longitudinalvibration and bending vibration on driving performance based on the motionprinciple of traveling wave ultrasonic motor is researched.The overall optimizat- ion of miniature disc ultrasonic motor with longitudinal bending mode isdesigned by the use of finite element modeling analytic methods.Friction materialand conversion principle suitable for the motor are provided,the controller isdesigned by using optimization algorithm,test and experiment device are basedon the prototype, and the key problems are discussed.The main research contentsare as follows:1.The structure of patch disc compound excitation traveling wave ultrasonicmotor with longitudinal bending modality conversion is proposed based on themodality conversion principle.The structural parameters of ultrasonic motor aredesigned by the use of finite element analysis method,the finite element model ofmotor is established,and characteristic frequencies of two vibration modes of themotor are degenerated.The spectrum of vibration trajectory of driving gear isestablished and the electrical characteristics are analyzed.2.Prototype of miniature compound excitation disc ultrasonic motor with24teeth is designed and made, of which the diameter of the prototype is30mm.Theprototype proposed in the thesis resolves the problem of continuous contactbetween stator and rotator by the use of gear structure.The vibrationcharacteristics and impedance characteristics are tested,by which the experiment-tal study is completed.The validity of the theory analysis is tested, and the studyon finite element is verified.3.The method of friction materials and the conversion principle of nanomaterial is discussed,by researching on the characteristics of micro morphologyof materials,load response, friction coefficient and so on.The problem of theengagement between microscale deformation of friction materials and micronmotion of ultrasonic motor is resolved in order to increase the output torque.4.An adaptive particle swarm optimization algorithm with random inertiaweight (APSO-RIW) is proposed, which is adopted to the controller of theprototype to optimize the PID control parameter. Comparing with otheralgorithms this optimization algorithm has advantages of improving theconvergence speed and precision positioning of controller. Actuator of ultrasonicprototype is designed based on DSP and DDS.Frequency range of the actuator isbroadened, and the precision of phase conversion error is improved.5.A test device for ultrasonic motor based on LabVIEW is designed. Compa- ring with the measuring method based on traditional discrete instrument,theresults show that the data derived from the two methods are basically the same.更多还原