环形行波超声波电机动态接触摩擦特性建模与分析

doi:10.19595/j.cnki.1000-6753.tces.211398

Abstract
Figure/Table
References
Related Citation (15)

Download: PDF (2895 KB) HTML (1 KB)
Export: BibTeX | EndNote (RIS)

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.

Key words： Ultrasonic motor traveling wave contact friction stator teeth output performances

Received: 03 September 2021

PACS:

TM35

	Service

	E-mail this article
	Add to my bookshelf
	Add to citation manager
	E-mail Alert
	RSS
	Articles by authors
	Jiang Chunrong
	Zhao Zilong
	Lu Danhong
	Jin Long

Cite this article:

Jiang Chunrong,Zhao Zilong,Lu Danhong等. Modeling and Analysis on Dynamic Contact and Friction Characteristics of Ring Type Traveling Wave Ultrasonic Motors[J]. Transactions of China Electrotechnical Society, 2023, 38(8): 2036-2047.

URL:

https://dgjsxb.ces-transaction.com/EN/10.19595/j.cnki.1000-6753.tces.211398 OR https://dgjsxb.ces-transaction.com/EN/Y2023/V38/I8/2036

[1] 赵能桐, 杨鑫, 陈钰凯, 等. 考虑超磁致伸缩材料非均匀性的大功率电声换能器阻抗特性[J]. 电工技术学报, 2021, 36(10): 1999-2006.
Zhao Nengtong, Yang Xin, Chen Yukai, et al.The impedance characteristics of high power electro- acoustic transducer considering the inhomogeneity of giant magnetostrictive material[J]. Transactions of China Electrotechnical Society, 2021, 36(10): 1999-2006.
[2] 蒋春容, 董晓霄, 张津杨, 等. 径向换能型超声波电机定子振动模型[J]. 电工技术学报, 2017, 32(9): 48-55.
Jiang Chunrong, Dong Xiaoxiao, Zhang Jinyang, et al.Stator vibration model of a radial energy conversion ultrasonic motor[J]. Transactions of China Electro- technical Society, 2017, 32(9): 48-55.
[3] 姚睿丰, 王妍, 高景晖, 等. 压电材料与器件在电气工程领域的应用[J]. 电工技术学报, 2021, 36(7): 1324-1337.
Yao Ruifeng, Wang Yan, Gao Jinghui, et al.Appli- cations of piezoelectric materials and devices in electric engineering[J]. Transactions of China Elec- trotechnical Society, 2021, 36(7): 1324-1337.
[4] 孔佳莹, 曹泽宾, 潘佳萍, 等. 从接地端取信号的便携式压电压力波法空间电荷测量系统设计与实现[J]. 电工技术学报, 2021, 36(19): 3987-3992.
Kong Jiaying, Cao Zebin, Pan Jiaping, et al.Design and implementation of a portable space charge measurement system taking signals from the ground side based on PIPWP method[J]. Transactions of China Electrotechnical Society, 2021, 36(19): 3987-3992.
[5] 王光庆, 徐文潭, 杨斌强. T型直线超声波电动机的运行机理及其特性分析[J]. 电工技术学报, 2017, 32(15): 111-119.
Wang Guangqing, Xu Wentan, Yang Binqiang.Operating mechanism and characteristics analysis of a T-shaped linear ultrasonic motor[J]. Transactions of China Electrotechnical Society, 2017, 32(15): 111-119.
[6] Zhang Qiang, Piao Shengchun, Chen Hongjuan.A theoretical model of the intermittent contact of piezoe- lectric actuator based on Greenwood-Williamson theory[J]. Ultrasonics, 2021, 114: 106428.
[7] Lee J S, Choi G.Modeling and hardware-in-the-loop system realization of electric machine drives-a review[J]. CES Transactions on Electrical Machines and Systems, 2021, 5(3): 194-201.
[8] Le Moal P, Cusin P.Optimization of travelling wave ultrasonic motors using a three-dimensional analysis of the contact mechanism at the stator-rotor inter- face[J]. European Journal of Mechanics-A/Solids, 1999, 18(6): 1061-1084.
[9] 刘锦波, 陈永校. 超声波电机定转子接触的摩擦传动模型及其实验研究[J]. 中国电机工程学报, 2000, 20(4): 59-63.
Liu Jinbo, Chen Yongxiao.Investigation on contact model of ultrasonic motor and its experiments[J]. Proceedings of the CSEE, 2000, 20(4): 59-63.
[10] Lim J P, Rho J S, Yi K P, et al.Characteristic analysis of a traveling wave ultrasonic motor using an ellipsoidal static contact model[J]. Smart Materials and Structures, 2009, 18(11): 115024.
[11] Ro J S, Yi K P, Chung T K, et al.Characteristic analysis of an traveling wave ultrasonic motor using a cylindrical dynamic contact model[J]. Journal of Electrical Engineering and Technology, 2013, 8(6): 1415-1423.
[12] Ro J S, Jung S Y, Lee C G, et al.Survey of a contact model and characteristic analysis method for a travelling wave ultrasonic motor[J]. International Journal of Applied Electromagnetics and Mechanics, 2014, 46(3): 437-453.
[13] Mashimo T, Terashima K.Dynamic analysis of an ultrasonic motor using point contact model[J]. Sensors and Actuators A: Physical, 2015, 233: 15-21.
[14] Lu F, Lee H P, Lim S P.Contact modeling of viscoelastic friction layer of traveling wave ultrasonic motors[J]. Smart Materials and Structures, 2001, 10(2): 314-320.
[15] Sun Dong, Liu Jinbo, Ai Xing.Modeling and performance evaluation of traveling-wave piezoelectric ultrasonic motors with analytical method[J]. Sensors and Actuators A: Physical, 2002, 100(1): 84-93.
[16] Storck H, Wallaschek J.The effect of tangential elasticity of the contact layer between stator and rotor in travelling wave ultrasonic motors[J]. International Journal of Non-Linear Mechanics, 2003, 38(2): 143-159.
[17] Qu Jianjun, Sun Fengyan, Zhao Chunsheng.Perfor- mance evaluation of traveling wave ultrasonic motor based on a model with visco-elastic friction layer on stator[J]. Ultrasonics, 2006, 45(1/2/3/4): 22-31.
[18] Li Jinbang, Liu Shuo, Qu Jianjun, et al.A contact model of traveling-wave ultrasonic motors con- sidering preload and load torque effects[J]. Inter- national Journal of Applied Electromagnetics and Mechanics, 2018, 56(2): 151-164.
[19] 柳江, 滕杨磊, 王政皓, 等. 超声电机变摩擦三向接触模型的输出特性分析[J]. 电机与控制学报, 2019, 23(9): 115-122.
Liu Jiang, Teng Yanglei, Wang Zhenghao, et al.Output characteristic analysis for ultrasonic motors with variable friction spatial contact model[J]. Electric Machines and Control, 2019, 23(9): 115-122.
[20] Maeno T, Tsukimoto T, Miyake A.Finite-element analysis of the rotor/stator contact in a ring-type ultrasonic motor[J]. IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, 1992, 39(6): 668-674.
[21] Maeno T, Bogy D B.FE analysis and LDA mea- surement of the dynamic rotor/stator contact in a ring-type ultrasonic motor[J]. Journal of Tribology, 1993, 115(4): 625-631.
[22] 蒋春容, 胡敏强, 金龙, 等. 中空环形行波超声波电机有限元接触模型[J]. 东南大学学报(自然科学版), 2014, 44(1): 99-103.
Jiang Chunrong, Hu Minqiang, Jin Long, et al.Finite element contact model of a hollow ring type traveling wave ultrasonic motor[J]. Journal of Southeast University (Natural Science Edition), 2014, 44(1): 99-103.
[23] Shen Shengnan, Lee H P, Lim S P, et al.Contact mechanics of traveling wave ultrasonic motors[J]. IEEE Transactions on Magnetics, 2013, 49(6): 2634-2637.
[24] 韦艳飞, 杨鑫, 陈钰凯, 等. 计及损耗的超磁致伸缩材料参数提取及有限元仿真应用[J]. 电工技术学报, 2022, 37(7): 1726-1734.
Wei Yanfei, Yang Xin, Chen Yukai, et al.Parameter extraction and FEM simulation of giant magneto- strictive transducer considering losses[J]. Transa- ctions of China Electrotechnical Society, 2022, 37(7): 1726-1734.
[25] 蔡智超, 李毅博. 基于Halbach阵列电磁超声纵波换能器优化设计[J]. 电工技术学报, 2021, 36(21): 4408-4417.
Cai Zhichao, Li Yibo.Optimum design of electro- magnetic acoustic longitudinal wave transducer based on Halbach array[J]. Transactions of China Electro- technical Society, 2021, 36(21): 4408-4417.
[26] 刘丽兰, 刘宏昭, 吴子英, 等. 机械系统中摩擦模型的研究进展[J]. 力学进展, 2008, 38(2): 201-213.
Liu Lilan, Liu Hongzhao, Wu Ziying, et al.An overview of friction models in mechanical systems[J]. Advances in Mechanics, 2008, 38(2): 201-213.
[27] Marques F, Flores P, Pimenta Claro J C, et al. A survey and comparison of several friction force models for dynamic analysis of multibody mechanical systems[J].Nonlinear Dynamics, 2016, 86(3): 1407-1443.
[28] Li Xiang, Chen Zhiwei, Yao Zhiyuan.Contact analysis and performance evaluation of standing-wave linear ultrasonic motors via a physics-based contact model[J]. Smart Materials and Structures, 2019, 28(1): 015032.