三定子压电驱动式多自由度电机的设计与分析

Design and analysis of three-stator type piezoelectric driven multi-degree-of-freedom motor

提出一种三定子压电驱动式多自由度电机,介绍了电机的结构和基本工作原理,并基于有限元多物理场耦合软件,建立了三维固体力学-电学耦合仿真计算模型。首先,对电机定、转子在自由状态下进行模态分析,通过参数化与模态分析相关性大的结构参数,确定最优结构。其次进行了瞬态分析,确定随时间变化零载荷的动力学响应,分析定子不同倾斜的位置,对电机轨迹的影响,为转子的设计提供参考,验证了电机进行多自由度运转的可行性和合理性。并建立定、转子间的摩擦接触模型,分析电机的驱动原理。最后,研制样机并对样机进行机械输出特性试验,得出在不同激励频率下的X轴、Y轴、Z轴的输出转速,其中在频率匹配的情况下转速可分别达到29、17、16 r/min。

A three-stator piezoelectric-driven multi-degree-of-freedom motor is proposed.The basic composition and the principle were introduced in detail.By using the finite element software of multi-physical field coupling,the three-dimensional electromechanical coupling simulation model was established.Firstly,the modal analysis of stator and rotor was simulated and analyzed in free statue,and the structure parameters highly correlated with modal analysis were optimized using parametric analysis method.Secondly,the transient analysis was carried out to determine the dynamic response of zero load with time variation.The influence of different tilt positions of stators on the motor trajectory was analyzed,which provided reference for the design of the rotor and verified the feasibility and rationality of the multi-degree-of-freedom operation of the motor.The friction contact model between stator and rotor was established,and the driving principle of the motor was analyzed.In the end,the optimized motor prototype was fabricated and the mechanical output characteristic of the motor was tested.The experimental results show that the output rotational speeds of X-axis,Y-axis and Z-axis under different excitation frequencies reach 29 r/min,17 r/min,and 16 r/min when the frequency was matched.