【作者】 邢继春；

【导师】 许立忠；

【作者基本信息】 燕山大学 ， 机械设计及理论， 2012， 博士

【摘要】 旋转惯性压电电机是一种利用非对称信号驱动的新型微特电机，具有抗磁干扰、响应速度快和定位精度高等特点。该电机在生物、电子、医疗器械、精密加工及精密操作等领域具有广阔的应用前景。然而现有惯性压电电机不能够整周连续旋转，为此本文提出一种新型旋转惯性压电电机，不仅可以实现整周连续旋转，而且具有结构简单、便于小型化等优点。本文分析了旋转惯性压电电机的驱动原理。根据连续体振动原理，将振子简化为带有集中质量的连续梁，建立了简化振子的动力学模型；考虑外圆环刚度影响，利用梁和圆环耦合的方法建立了振子动力学模型。采用上述两种方法求解振子面内弯曲振动的固有频率和模态函数，分析了结构参数对振子梁面内弯曲振动固有频率和模态函数的影响规律。通过比较找出两种算法的相似模态，计算了简化振子方法和梁环耦合方法所求固有频率的相对偏差。研究结果表明：在圆环厚度比较薄以及圆环模态刚度对梁影响较小情况下，可采用简化方法。根据电容充放电原理，推导了压电陶瓷片两端电压的响应方程。讨论了压电陶瓷片充放电时间对驱动信号周期的影响规律。利用压电方程和拉格朗日方程推导了振子受迫振动的广义位移方程，并根据弹性体振动叠加原理，求得了振子梁上各点位移、速度、加速度响应方程，分析了系统参数对振子梁端部位移、速度、加速度响应的影响规律。利用傅里叶变换将激励信号从时域转化到频域，推导出旋转惯性压电电机振子惯性冲击力矩方程。在频域内分析了系统参数对突变时刻惯性冲击力矩及其差值的影响规律。结果表明：突变时刻的惯性冲击力矩最大差值相应于激励信号频率为振子固有频率1/2到固有频率之间区域。设计并研制出旋转惯性压电电机样机，利用测试系统测得在激励信号频率为6.310kHz，电压峰值为100V时，样机最大转速为59.6r/min，转矩为0.35Nmm，并且转速(转矩)随激励信号电压峰值增大而增大，试验结果验证了理论分析的正确性。更多还原

【Abstract】 An inertial piezoelectric rotary motor is a new type of micro & special motor, drivenby asymmetric waveform voltage. It is different from traditional motor, and has theadvantages of simple mechanism, magnetic interference, fast response speed, positioningaccuracy et al. it has wide application prospects in the biological, electronics, medicalequipment, precision processing and precision operation fields and so on. However, theexisting inertial piezoelectric motor can not achieve the whole week continuous rotation,so this paper puts forward a new type of rotary inertia piezoelectric motor. It not only canachieve the whole week of continuous rotation, and has the advantages of simplestructure, easy miniaturization.This paper analyzes the rotary inertial piezoelectric motor driving principle.According to the principle of continuous body vibration, the dynamic model of simplifiedvibration structure has been built, and using the method of coupling beam and ring, thedynamic model has been built. Utilizing the two dynamic models, the natural frequenciesand modal functions of the vibrator bending in-plane vibration have been solved. Theinfluence laws of the two algorithms with changing the vibration structure parametershave been analyzed. Through compared and found the similar mode of two algorithms,the error of similar mode solved by two algorithms have been caculated. The results showthat: simplify the method can be used in the ring thickness is relatively thin and ringmodal stiffness of the beam smaller.According to the capacitance charge and discharge principle, the voltage responseequation of the ends of piezoelectric element has been deduced. The influence law ofcharge and discharge time of piezoelectric element on driving cycle is discussed.Utilizing piezoelectric equation and Lagrange equation, the generalized displacementequation of force vibration of the vibrator have been deduced. And according to elasticvibration superposition principle, the response equation of displacement, velocity andacceleration have been gained. The influence law of changing system parameters andstructure parameters of the vibrator on displacement, velocity and acceleration response of vibrator-beam has been analyzed. Utilizing Fourier transform, the excitation signal hasbeen changed from the time domain into frequency domain. The equation of inertialimpact moment of vibrator has been deduced. In the frequency domain, the influence lawof changing system parameters and structure parameters of the vibrator on inertial impactmoment of mutations moment and inertial impact moment difference of two mutationsmoments have been analyzed. The results show: When frequencies value of excitationsignal is betweenωj/2 toωj, the inertial impact moment maximum difference of twomutations moments appears.The rotary inertial piezoelectric motor prototype has been designed and developed.Utilizing the test system, when the excitation signal frequency is 6.310kHz and drivingvoltage peak 100V, the maximum speed of prototype is 59.6r/min, maximum torque is0.35Nmm. And the speed (torque) is increased along with the excitation signal peakvoltage increases. The control methods of prototype, adjusting voltage and frequencieshave been put forward. The test results verify the accuracy of the theoretical analysis.更多还原