能量回馈型超声波电机的实验研究

摘要

为满足极限环境中工作微机器人的驱动和自供电要求,研制了一种能量回馈型超声波电机,介绍了电机的设计思路及设计技术指标,提出了一种改进的电机压电陶瓷环极化分区模式.研制了电机原理样机,搭建了样机实验测试系统,对电机阻抗特性、机械输出特性和能量采集输出特性等开展了详细的实验研究.研究结果表明:空载转速和堵转力矩分别达到118 r/min和0.67 N·m,起动和关断响应时间分别为6 ms和1.2 ms,振动能量采集最大输出功率达到320 mW,电机输出性能达到了设计技术指标要求.研究成果对进一步优化设计能量回馈型超声波电机具有实践指导意义.%An energy harvesting type ultrasonic motor was proposed to meet the new requirements of actuation and selfpower for the micro-robot operating in an extreme environment.The structure principle and design indexes of the new motor were introduced.A modified polarization patter of the piezoelectric ceramic ring was presented.The theoretical model of the energy harvesting of the new motor was established based on the second piezoelectric equation.The prototype was manufactured and the experimental test system was also established.Comprehensive experimental studies covered the impedance characteristics,mechanical output characteristics and energy harvesting characteristics of the motor were carried out.Research results show that the no-load speed and torque of the developed ultrasonic motor reach 118 r/min and 0.67 N · m respectively.The startup and shutdown response time were 6 ms and 1.2 ms,and the maximum harvesting output power of the motor was 320 mW.All experimental results indicate that the developed motor meet the design technical requirements.The research results are helpful to optimize the design theory of energy harvesting type ultrasonic motor.