کتاب Ultrasonic Motors Technologies

Ultrasonic Motors, Technologies and Applications

With 564 figures, 14 of them in color

525 Pages

Author:

Chunsheng  Zhao
Precision  Driving  La bora tory
Nanjing  University  of  Aeronautics  and  Astronautics
Nanjing  210016,  China
Email:  cszhao@nuaa.edu.cn

Publication: Springer, 2011

Introduction

History of Ultrasonic Motors

Characteristics of Ultrasonic Motors and Their Classification'”

Characteristics of Ultrasonic Motors

Classification of Ultrasonic Motors'”

Comparison with Electromagnetic Motors

Load Characteristics

Energy Transform of Motors and Their Micromation

Transient Response Characteristics

Applications and Development Trends of Ultrasonic Motors

Applications

Development Trends

Fundamentals of Piezoelectricity and Piezoelectric Materials for

Ultrasonic Motors

Development and Classification of Piezoelectric Materials

Historical Development of Piezoelectric Materials

Classification of Piezoelectric Materials'”

Electrical Properties of Piezoelectric Materials

Dielectric Properties and Dielectric Loss

Ferroelectric Properties and Polarization

Properties and Constitutive Equations of Piezoelectric Materials

Elastic Properties and Their Codficients

Piezoelectric Properties and Piezoelectric Equations

Vibration Types of Piezoelectric Vibrators

Piezoelectric Vibrators and Their Equivalent Circuits

Characteristic Frequencies of Piezoelectric Vibrators

Coupling Coefficient and Quality Factor

Applications of Piezoelectric Materials to Ultrasonic Motors

Piezoelectric Ceramics Used for Ultrasonic Motors

Applications of Piezoelectric Materials to Other Actuators

Advances in Novel Piezoelectric Materials

Ultrasonic Motors Technologies and Applications

Fundamentals of Tribology and Tribomaterials for Ultrasonic

Motors

Basic Tribology

Surface of Tribomatcrials

Friction and Its Classification

Friction Mechanism

Wear Mechanism

Wear Surface for Stator and Rotor of Ultrasonic Motors

Tribomaterials Used for Ultrasonic Motors

Basic Requirement, Classification and Selection Principle

Influence of Composition on Tribological Properties

Preparation of Tribomaterial

Influence of Tribomaterials on Performance of USM

Influence of Elastic Modulus and Hardness

Influence of Friction Coefficient

Influence of Anisotropy

Friction Testing for Tribomaterials

Quasi-static Friction Testing

Dynamic Friction Testing

Fundamentals of Vibration for Ultrasonic Motors

Natural Vibration of Elastic Body···

Longitudinal Vibration of Bars

Characteristics of Natural Modes

Torsional Vibration of Shafts

Bending Vibration of Beam

Iatural Vibration of Plates

Iatural Vibration of Cylindrical Shells

Forced Vibration of Elastic Body···

Response of PZT Bar to Distributed Electric Field

Metallic Bar Excited by Single or Multiple PZT Pieces

Response of Beam to Constant Electric Field Intensity

Excitation of Simply Supported Beam by PZT Pieces

Response of Thin Plate to PZT Piece Excitation

Wave Propagation in Elastic Body···

Basic Concept of Wave

Waves in Elastic Body···

Superposition of Waves

Formation of Traveling Waves

Formation of Elliptical Trajectory

Operating Mechanism and Modeling of Traveling Wave Rotary

Ultrasonic Motor

Operating Mechanism of TRUM

Structure and Operation Mechanism of TRUM

Formation of Traveling Wave in Stator

Elliptical Motion Trajectory of Surface Points on Stator

EHect of Amplitude and Phase on Elliptical Motion···

Polarization Pattern of Piezoelectric Ceramic Components

Three-dimensional Motion Analysis of Points on Stator

Semi-Analytical Electromechanical Coupling Model of Stator

Substructure Division of Stator

Characteristic Matrix of Substructures a and b

Characteristic Matrix of Substructure c···

Electromechanical Coupling Model of Stator

Computation Example of Dynamic Characteristics of Stator

Contact Model Between Stator and Rotor

Interface Assumptions

Interface Force and Power Transmission

Interface Energy Loss and Power Transmission Efficiency···

Contact Model Between Stator and Rotor

Contact InterLace Simulation

Electromechanical Coupling Model of TRUM and Its Simulation

Electromechanical Coupling Model of TRUM

Performance Simulation of Ultrasonic Motor

Design and Manufacture of Traveling Wave Rotary Ultrasonic Motors

General Design Process of TRUMs

Structure Sizes of the Stator

Design of Rotor Size

Choice of Materials

Operating Modes of Stator and Polarization of PZT Ring

Design of Modal Frequency

Polarization of Piezoelectric Ceramics

Structure Form of Stator and Its Modal Analysis

Structure Form of Stator

XV Ultrasonic Motors Technologies and Ap plicalions

Modal Analysis of Stator

Sensitivity Analysis and Avoiding of Mode Mixture of Stator

Principle of Sensitivity Analysis

Sensitivity Analysis of Stator for TRUM-

Mode Separation of Stator for TRUM-

Optimal Design of Stator

Optimal Model of Stator

Example of Optimal Design of Stator

Adjustment of Two Phase Modal Frequencies of Stator

Method of Adjusting of Two Phase Modal Frequencies

Example of Adjusting of Two Phase Modal Frequencies

Analysis of Flexible Rotor

Importance of Rotor’s Flexibility for Performance of Motor

Comparison of Contact Area of Rigid and Flexible Rotor

EHect of Rigid and Flexible Rotors on Mechanical Characteristics

Design and Manufacture of Flexible Stator

Manufacturing Techniques of TRUM

Bar-type Traveling Wave Rotary Ultrasonic Motors

Review of Bar-type Ultrasonic Motor

Construction and Motion Mechanism of SDOF Motor

Construction

Motion Mechanism

Optimal Design for SDOF Motor

Design Principle

Dynamic Model

Sensitivity Analysis

Objective Function

Optimal Algorithm and Results

Modal Frequency Modification of Stator

Design of Flexible Rotor

Performance Simulation for SDOF Motor

Dynamic Model

Contact Analysis

Performance Simulation

otion Mechanism of -DOF Motor

Construction and Operating Modes

Motion Mechanism

Optimal Design of Stator of -DOF Motor

Construction and Objective Function

Optimal Algorithm and Results

Performance Measurement of DOF Motor

Testing Equipment and Results

Effect of Pre-pressure on Mechanical Performance

Driving and Control Techniques of DOF Motor

Configuration of the Control System

Control for Trajectory Tracking

Ultrasonic Motor Using Longitudinal-Torsional Hybrid Vibration

Current Research of LTUM

Multi-mode Type LTUM

Motion Mechanism

Structure Design of Multi-mode Type LTUM

Contact Model between Stator and Rotor

Modeling of Contact Interface···

Friction Loss on Interface and Efficiency of LTUM

Simulation of Performance of LTUM

Mode Conversion Type Ultrasonic Motor

Structure and Operation Modes

Principle of Mode Conversion

Design of Mode Conversion Type LTUM with Holes

Testing

Linear Ultrasonic Motors

State of the Art of Linear Ultrasonic Motors

Linear Ultrasonic Motors Based on d’l Effect

Linear Ultrasonic Motor with Double Driving Feet

Linear Ultrasonic Motor with Single Driving Foot

Linear Ultrasonic Motors Based on d” Effect

Linear Ultrasonic Motor with Butterfly Shaped Stator

Linear Ultrasonic Motor with Wheel Shaped Stator

Contact Model of Standing Wave Type LUSMs

Steady State Characteristics

Transient Responses

Simulation Examples

Synergetic Operation Technique of LUSMs

Ultrasonic Motors Technologies and Ap plicalions

Step Ultrasonic Motors

Step Control of USM

Startup and Shutdown Characteristics of USM

Step Control for USM

Factors Impacting on Single-step Positioning Accuracy

Step USM with Fixed Step length

Standing Wave USM Used for Constructing Step USM

Modal Rotary Type Step USM

Self-correction Peak Type Step USM

Other Ultrasonic Motors

Jon-Contact Type Ultrasonic Motors

Classification and Development

Operating Principle

Design of Non-contact USM

Performance Measurement of Non-contact USM

Design of Non-contact Type USM with Disk Stator

Testing of Non-contact USM with Disk Stator

Linear Surface Acoustic Wave Motor

State of the Art

Surface Acoustic Wave and Its Generation

Operation Mechanism

Arriving Techniques for Ultrasonic Motors

Design Requirements for Drivers

Signal Generator

RC Multivibrator

Multivibrator

Voltage Controlled Oscillator

Frequency Divider and Phase Splitter

FDPS Composed by Shift Register

FDPS Composed by CPLD

Power Amplifier Techniques

Electrical Characteristics of Ultrasonic Motors

Experimental Results and System Description

Analysis of Vibration States and Driving Method

Experimental Results

Influence of Matching Circuit on Performance of Driver

Influence of Matching Capacitor

Influence of Matching Inductors

Influence of USM on Driver

Jon-transformer Driver with Resonance Voltage Step-up

Control Techniques for Ultrasonic Motors

Classification of Control for Ultrasonic Motors

Speed Adjusting Mechanism and Control Methods of USM

Voltage Amplitude Adjusting

Frequency Adjusting

Phase Difference Adjusting

Stability Control Techniques for Ultrasonic Motor

Principle of Frequency Automatic Tracking

Detection of Amplitude

Implementation of FAT System

Ultrasonic Motors Used as Servo Motors

Ideal Servo Actuator- USM

Requirements of Servo Control Using USM

Servo Control System Using USM

PID Controller Using USM

Adaptive Controller Using USM

Fuzzy Controller Using USM

Testing Techniques for Ultrasonic Motors

Modal Testing for Parts and Assemblies

Measurements of Pre-pressure

Measurement of Transient Characteristics

Testing Principle···

Transient Characteristics of USMs

Measurement of Load Characteristics

Measurement System for Load Characteristics···

Measured Results for TRUM- Load Characteristics

Environmental Testing for Ultrasonic Motors

High/Low Temperature Environmental Testing

Vacuum Environment Testing

Load Characteristics of USMs in Vibration Environment······

Load Characteristics of USMs under Strong Shock

Test and Analysis of Noise from Ultrasonic Motors

Testing of USMs in Hydrothermal Environment

Life Testing for USMs

Ultrasonic Motors Technologies and ApplicationsDesign Life Testing System

Life Testing Results and Analysis for TRUM

Applications of Ultrasonic Motors in Engineering

Applications in Domestic Engineering

pplication in Camera

Application in Cell Phone

Application in Watch

pplications in Industrial Engineering

Application in Gasoline Generator

Applications in Automobile

Applications in Robot

Application in Surveillance Camera PlatIorm

Applications in Precision Positioning Stage

Applications in Biological and Medical Engineering

Applications in Medical Facility

Applications in Biomedical Engineering

Applications in Aerospace Engineering

Applications in Aircraft

Applications in Aerospace

Index

Appendix A Natural Vibration Frequencies and Mode Shape Functions of Bars Shafts, Beams, and Plates

Appendix B Natural Vibration Mode Shapes of Bars, Shafts, and Beams

Appendix C Natural Vibration Displacement and Strain Mode Shapes of Plates, and Their Nephogram