METHOD FOR GENERATING MICROMETRIC ANGULAR DISPLACEMENTS OF A PIEZOELECTRIC MOTOR AND A PIEZOELECTRIC MOTOR FOR THE REALIZATION OF THE METHOD

摘要

The present invention relates to a method for generating micrometric angular displacements of a piezoelectric motor and a piezoelectric motor for the realization of the method and can be used in automatic equipment, control systems, industrial robots, manipulators, and other devices. The proposed method provides the improved resolution of the piezoelectric motor that is achieved by improving dynamic performance of the motor and selecting optimal parameters in forming the micrometer angular displacements. According to the proposed method, the micrometer angular displacement is related to the parameters of the piezoelectric motor according to the following equations: where aP is the micrometer angular displacement in the motor acceleration mode, aT is the micrometer angular displacement in the motor deceleration mode, wi = w1 is the angular velocity of the motor without a load on the motor shaft, wi = wH is the angular velocity of the motor with a load on the motor shaft, tU is the length of the piezoelectric element excitation pulse, J is the total moment of inertia reduced to the motor shaft, k1 is the velocity gain of the motor in the acceleration mode, k2 is the velocity gain of the motor in the deceleration mode, w2 is the angular velocity of the motor at the end of the excitation pulse. The proposed piezoelectric motor for the realization of the method contains a stator with a ring-shaped piezoelectric element, a rotor, and pushers arranged between the piezoelectric element and the rotor.