Study on Large Capacity Ultrasonic Motor Using Principle of Strain Wave Gearing

利用谐波齿轮传动原理的大容量超声波电机研究

• 批准号: 07650486
• 负责人: ISHIDA Muneaki
• 金额: $ 1.34万
• 依托单位: Mie University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1995
• 资助国家: 日本
• 起止时间: 1995 至 1996
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-07650486/
• 关键词: ring-type piezoelectric device; multi-layr piezoelectric device; strain wave gearing; traveling wave; piezoelectric motor; ultrasonic motor; 圧電素子

In this study, aiming at development of compact, light-weight large power electrical actuators, two types of ultrasonic motors, whose operational principle differed from that of the conventional ultrasonic motors, were developed, one using multi-layr type piezoelectric devices and the other using a ring type piezoelectric device. In the proposed motors, the traveling waves were generated by the principle of the strain wave gearing and the bending wave and the rotors were driven mechanically by the friction force.The results of this study are as follows ; (1) A resonant type piezoelectric motor (ultrasonic motor) was designed and made on a trial basis using a ring type piezoelectric device with high stiffness and large output power. Moreover, the multi-layr type piezoelectric motor developed earlier was also improved for higher mechanical stiffness and better characteristics, and basic data for clarifying the problems of the motor were obtained. (2) The main circuits and its control cir … More cuits of the FET inverters with rectangular current waveforms and filtered rectangular voltage waveforms were improved for better waveform and control flexibility. (3) The measurement equipment of the motor torque versus rotational speed was improved making allowance for possible increase of the rotational speed by improvement of the motor. (4) In regard to the motor using the ring type piezoelectric device, two types of motors were made on a trial basis and compared. One was a motor using the device not divided and the other was that using the device equally divided into 6 parts. As a result, the characteristics of the motor torque versus rotational speed were not so influenced by the division of the device but by the mechanical properties of the motor stator. (5) It was clarified that the characteristics of the motor was influenced by condition of contact between the ring type piezoelectric device and the electric terminals. Especially, in the case of the divided ring type device, the characteristics were considerably influenced by the thickness of the contact layrs and, therefore, it is necessary to make the contact layr as thin as possible. (6) It was found that the higher applied voltage resulted in the considerable increase of device temperature due to the power loss in the device in the case of using the ring type device. It is necessary to reform the structure of the motor stator so as to increase the tangential speed on the surface of the stator by using the large stress of the device without the large displacement of the device. (7) In regard to the motor using the multi-layr type piezoelectric device, a new type structure which was symmetrical with respect to the motor base was employed in a trial basis in order to increase the mechanical stiffness of the motor and transmit the displacement of the device to the motor stator effectively. Less

本研究以开发紧凑、轻量大功率电动执行器为目标，开发了两种工作原理与传统超声波电机不同的超声波电机，一种使用多层型压电器件，另一种使用环形压电器件。在所提出的电机中，行波是通过应变波齿轮和弯曲波的原理产生的，并且转子通过摩擦力进行机械驱动。这项研究的结果如下； (1)采用高刚度、大输出功率的环型压电器件，设计并试制了谐振型压电电机(超声波电机)。此外，对早期开发的多层式压电电机也进行了改进，以获得更高的机械刚度和更好的特性，并获得了澄清电机问题的基础数据。 (2)对矩形电流波形和滤波矩形电压波形的场效应管逆变器的主电路及其控制电路进行了改进，波形和控制灵活性更好。 (3)改进了电机扭矩与转速的测量设备，以考虑到通过电机改进可能增加的转速。 (4)对于使用环型压电器件的电机，试制了两种类型的电机并进行了比较。一种是使用不分割装置的电机，另一种是使用均分6部分的装置。因此，电机扭矩与转速的特性不受装置划分的影响，而是受电机定子机械特性的影响。 (5) 明确了电机的特性受到环型压电器件和电气端子之间的接触条件的影响。特别是，在分割环型器件的情况下，接触层的厚度对特性的影响很大，因此需要使接触层尽可能薄。 (6)发现在使用环型器件的情况下，由于器件中的功率损耗，较高的施加电压导致器件温度显着升高。需要对电机定子的结构进行改造，在不产生装置大位移的情况下，利用装置的大应力来提高定子表面的切向速度。 (7)对于采用多层式压电器件的电机，试制了一种相对于电机底座对称的新型结构，以增加电机的机械刚度，并将器件的位移有效地传递到电机定子上。较少的

项目成果

Satoshi Komatsu, Ukyo Nagayama Muneaki Ishida, and Takamasa Hori: ""Vibration Distribution of Resonant Type Piezoelectric Motor"" 1996 National Convention Record of IEE Japan. No.1069. 105-106 (1996)

Satoshi Komatsu、Ukyo Nagayama Muneaki Ishida 和 Takamasa Hori：““谐振型压电电机的振动分布””1996 年 IEE 日本全国大会记录。

小松聡、長山有郷、石田宗秋、堀孝正: "共振型圧電モータの振動分布" 平成8年電気学会全国大会講演論文集 No.1069. 5. 105-106 (1996)

Satoshi Komatsu、Arisato Nagayama、Muneaki Ishida、Takamasa Hori：“谐振压电电机的振动分布”日本电气工程师协会 1996 年全国会议论文集第 1069. 5. 105-106 (1996)

長山有郷、石田宗秋、堀孝正: "円環状圧電素子を利用した共振型圧電モータの3相駆動時の特性" 平成8年電気学会産業応用部門全国大会講演論文集. III. 361-364 (1996)

Arisato Nagayama、Muneaki Ishida、Takamasa Hori：“三相驱动时使用环形压电元件的谐振压电电机的特性”日本电气工程师学会工业应用分部 1996 年全国会议论文集 361。 -364 (1996)

小松聡、石田宗秋、堀孝正: "共振型圧電モータの4相電流駆動時のトルク特性" 平成7年電気学会産業応用部門全国大会講演論文集 No.204. III. 17-20 (1995)

Satoshi Komatsu、Muneaki Ishida、Takamasa Hori：“四相电流驱动时谐振压电电机的扭矩特性”日本电气工程师学会工业应用分部 1995 年全国会议论文集第 204 期。 -20 (1995)

小松聡、石田宗秋、堀孝正: "共振型圧電モータの4相電流駆動時のトルク特性" 平成7年電気学会産業応用部門全国大会講演論文集. III. 17-20 (1995)

Satoshi Komatsu、Muneaki Ishida、Takamasa Hori：“四相电流驱动时谐振压电电机的扭矩特性”日本电气工程师学会工业应用分会 1995 年全国会议论文集 III. 1995)