【作者】 赵丹；

【导师】 陶征；

【作者基本信息】 郑州大学 ， 工程硕士（专业学位）， 2021， 硕士

【摘要】 超声电机作为一种新型电机,以低速大扭矩、重量轻、结构紧凑、起停灵敏度高、响应快,不受外界磁场干扰等独特的性能使其在如太空探索、精密仪器等一些特殊领域有着广阔的应用前景。然而,超声电机的结构特点及其工作形式决定了超声电机相比于一般的机械振动系统具有强机电耦合非线性特性,使其在工作过程中往往会产生频率漂移、跳跃、滞后等非线性现象,这些非线性特性严重影响着超声电机运行的平稳性、可靠性,为提高电机工作性能需要对电机的非线性动力学特性进行一定的研究。为此,本文在考虑了定子压电材料的非线性本构关系和定、转子摩擦接触非线性因素的TRUSM-60型电机定子驻波振动和行波振动以及超声电机整机系统的非线性动力学模型的基础上,基于四阶Runge-Kutta法同时结合最大Lyapunov指数、Poincaré截面图等对旋转行波型超声电机的动力学行为进行了分析研究,具体研究内容如下:(1)在考虑定子压电材料的非线性本构关系的基础上,通过旋转行波型超声电机定子的驻波振动非线性方程,基于四阶Runge-Kutta法分析了定子驻波振动响应在激励参数变化下的Hopf分岔以及由Hopf分岔通向周期解的变化过程,结果表明定子振动响应存在多解、振幅饱和等非线性现象,该结果对进一步改善行波型超声电机输出特性的研究具有一定的参考意义;(2)通过旋转行波型超声电机定子在两相激励下的行波振动非线性方程,基于四阶Runge-Kutta法分析了定子行波振动响应在激励参数变化下的非线性动力学行为,结果表明了定子行波振动响应存在跳跃、振幅饱和等非线性现象;(3)考虑定转子摩擦接触界面力的影响,为进一步研究超声电机整机的非线性动力学行为和电机输出特性奠定了基础;(4)基于数值积分法对整机模型进行分析,研究不同输入参数下转子转速的变化曲线,给出电机在不同输入参数下的输出特性曲线及负载特性曲线,揭示了旋转行波型超声电机的非线性现象。更多还原

【Abstract】 As a new type of motor,ultrasonic motor has a broad application prospect in some special fields,such as space exploration,precision instruments and so on,because of its unique performance,such as low speed,high torque,light weight,compact structure,high start-stop sensitivity,fast response,and no interference from external magnetic field.However,the structural characteristics of the ultrasonic motor and its working form determine that the ultrasonic motor has a strong electromechanical coupling non-linear system compared with the general mechanical vibration system,so that it tends to produce non-linear phenomena such as frequency drift,jump,and hysteresis during the working process.These characteristics seriously affect the smoothness and reliability of the operation of the ultrasonic motor.In order to improve the performance of the motor,it is necessary to conduct a certain study on the nonlinear dynamic characteristics of the motor.For this reason,this paper considers the nonlinear constitutive relationship of the stator piezoelectric material and the nonlinear factors of the stator and rotor friction contact.On the basis of dynamics model,based on the fourth-order Runge-Kutta method,the dynamic behavior of the rotating traveling-wave ultrasonic motor was analyzed and studied with the help of the Lyapunov exponent and the Poincarécross-sectional diagram.The specific research content is as follows:(1)On the basis of considering the nonlinear constitutive relationship of the piezoelectric material of the stator,the stator is analyzed based on the fourth-order Runge-Kutta method based on the nonlinear equation of the standing wave vibration of the rotating traveling wave ultrasonic motor stator under single-phase excitation.The Hopf bifurcation of the standing wave vibration response under the change of excitation parameters and the change process from the Hopf bifurcation to the periodic solution.This result has certain reference significance for the research on further improving the output characteristics of the traveling wave ultrasonic motor;(2)Based on the fourth-order Runge-Kutta method,the nonlinear dynamic behavior of the stator traveling wave vibration response under the change of excitation parameters is analyzed based on the nonlinear equation of traveling wave vibration of the stator of the rotating traveling wave ultrasonic motor under two-phase excitation.The results show that there are nonlinear phenomena such as multiple solutions and amplitude saturation in the stator vibration;(3)Considering the influence of the friction contact interface force between the stator and the rotor,the nonlinear dynamic behavior of the entire ultrasonic motor and the output characteristics of the motor were further studied to lay the foundation;(4)Analyze the whole machine model based on the numerical integration method,study the change curve of the rotor speed under different input parameters,give the output characteristic curve and load characteristic curve of the motor under different input parameters,and reveal the rotating traveling wave ultrasonic motor The nonlinear phenomenon.更多还原