模态不对称双振子夹持型两自由度超声波电机及其伺服控制的研究

项目名称： 模态不对称双振子夹持型两自由度超声波电机及其伺服控制的研究

项目编号： No.51207021

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 电气科学与工程学科

项目作者： 徐志科

作者单位： 东南大学

项目金额： 25万元

中文摘要： 多自由度超声波电机只需要一个电机就可以实现多自由度的运动，本申请提出一种模态不对称双振子夹持型两自由度超声波电机，进行大力矩两自由度超声波电机及其伺服控制的研究。该电机由两个兰杰文形式的振子和一个球构成，电机可以由球转子输出力矩，也可以固定球由振子外框输出力矩。电机由弯曲振子和弯纵振子构成驱动体，振子结构相同、工作模态不同，能够使在空间内进行两个自由度运动。本项目以提高两自由度超声波电机输出功率为目标，研究其多振子协同工作时电机结构动力学模型；分别对电机两个振子进行结构优化，研究支撑结构及加压装置，提高电机性能；进一步研究电机定、转子间的摩擦接触，研究考虑圆柱振子剪切应变时的摩擦模型，提高电机的寿命和稳定性；在动力学模型和摩擦模型的基础上建立一个多输入多输出的电机控制模型，进行电机的伺服控制研究，为该电机在瞄准跟踪系统上应用奠定理论和技术基础。

中文关键词： 超声波电机；圆柱定子；两自由度；动力学模型；接触模型

英文摘要： A multi-DOF ultrasonic motor can use only one motor to achieved multi-DOF movement. In this application form, a novel 2-DOF ultrasonic motor with two asymmetric-mode cylinder vibrators clamped is proposed to study its structure and servo control. The motor is composed by two Langevin vibrators and one sphere. The output torque can be executed by motor sphere rotor or vibrators' frame. The vibration bodies are made up of a bending vibrator and a longitudinal bending vibrator. In the same structures with different vibration modes, this motor can operate in 2-DOF. This project is presented to improve the 2-DOF ultrasonic motor output power, and study the motor's structural dynamics model in multi-vibrator working method. The structural optimization, support structure design, and pre-press device study are to be processed to improve the motor performance. The contact friction model between the stator and rotor is to be considered in this project with cylindrical vibrators to improve lifetime and stability of the motor. A MIMO motor control based on the dynamic model and friction model will be established to carry out servo control, which will lay a theoretial and technical foundation on tracking system.

英文关键词： ultrasonic motor；cylinder stators；2-DOF；dynamic model；contact model