Modeling and Analysis on Dynamic Contact and Friction Characteristics of Ring Type Traveling Wave Ultrasonic Motors
Jiang Chunrong1, Zhao Zilong1, Lu Danhong1, Jin Long2
1. School of Electric Power Engineering Nanjing Institute of Technology Nanjing 211167 China; 2. School of Electrical Engineering Southeast University Nanjing 210096 China
Abstract：The contact and friction model plays an important role in structure design and performance optimization of ultrasonic motors. Studies on the contact and friction problem of ring type traveling wave ultrasonic motors have been widely reported, and different contact models have been proposed. However, due to the complicated contact and friction mechanism on the contact surface, the stator teeth have been ignored by assuming teeth surface to be continuous in previous models, which is inconsistent with the actual contact situation. On the other hand, the majority of existing contact models of traveling wave ultrasonic motors are derived by using Coulomb friction law. The Coulomb friction, which is a typical static friction model, usually describes the steady-state behavior of friction force. However, the relative velocity of the stator and rotor in traveling wave ultrasonic motors changes all the time even when the motor runs to steady state. In this case, dynamic friction models such as Dahl friction are more accurate than Coulomb friction during dynamic analysis. To address these issues, a dynamic contact and friction model of ring type traveling wave ultrasonic motors is proposed by taking stator teeth into account and meanwhile adopting Dahl friction law to describe the dynamic friction drive mechanism on the contact surface. Firstly, the transient response of the stator vibration when the motor is energized is simulated with finite element software ANSYS. The numerical result of stator vibration amplitude is extracted and fitted with a polynomial in order to obtain the stator vibration model in analytical form. Secondly, normal contact between the stator teeth and rotor under preload force is modeled with analytical method. The dynamic contact pressures at both transient and steady state operation of the stator are analyzed. Thirdly, tangential friction mechanism on the contact surface is modeled by using Dahl friction law. The dynamic tangential friction stress is investigated. Finally, the stator vibration model, the normal contact model and the tangential friction model are integrated to yield the whole dynamic contact and friction model. Simulation results show that the vibration amplitude of the stator increases at start-up stage and reaches a steady-state value of 2.0 μm. With a preload force of 250 N, continuous contact between the stator teeth point and the rotor is observed when the amplitude of the stator is less than 0.7 μm, and contact-separation state is observed after the amplitude exceeds 0.7 μm. The contact time decreases whereas the maximum contact pressure increases as the stator amplitude increases. The tangential stress is closely related to relative velocity of the stator and rotor. It is shown that each change of the sign of the relative velocity is associated with gradual change rather than abrupt change of the tangential stress. Comparisons of speed responses of the motor under different load torques show that it takes longer time for the motor to reach a smaller steady state speed under a larger load torque. It is shown that as the preload force increases, the stall torque increases significantly while the no-load speed reduces slightly. Comparison between the calculated results and the experimental results verifies the proposed model. Furthermore, the calculated results of a previous model that ignores stator teeth and adopts Coulomb friction law are also compared. It is shown that the calculated results of the proposed model fits the experimental values better, which illustrates the proposed model describes the contact and friction characteristics more precisely. The following conclusions can be drawn from the simulation and experiment results: (1) It is necessary to take stator teeth into account in order to obtain accurate contact pressure distribution when modeling the contact problem of traveling wave ultrasonic motors. (2) Differing from previous models that adopt Coulomb friction law, the proposed model adopts Dahl friction law to describe the dynamic behavior of tangential friction on the contact surface, which improves the accuracy of calculation results. In this sense, the proposed model is helpful for performance optimization and precise control of traveling wave ultrasonic motors.
蒋春容, 赵子龙, 陆旦宏, 金龙. 环形行波超声波电机动态接触摩擦特性建模与分析[J]. 电工技术学报, 2023, 38(8): 2036-2047.
Jiang Chunrong, Zhao Zilong, Lu Danhong, Jin Long. Modeling and Analysis on Dynamic Contact and Friction Characteristics of Ring Type Traveling Wave Ultrasonic Motors. Transactions of China Electrotechnical Society, 2023, 38(8): 2036-2047.
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