Dynamic preload control of traveling wave rotary ultrasonic motors for energy efficient operation

Mustafa, Abdullah; Morita, Takeshi

doi:10.7567/1347-4065/ab0ba9

Cited by 23 publications

(14 citation statements)

References 32 publications

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“…Zhang et.al [ 20 ] developed the Dahl model to avoid discontinuities of contact forces in both left and right directions of motion for V-shape linear ultrasonic motors. In addition, the dead zone [ 21 ], wear of the friction interface [ 22 ], and change of pre-pressure [ 23 ] are also frequently related to contact friction [ 24 ]. The friction exacerbates the nonlinearity of the vibration of the stator in an ultrasonic motor, which has led to more complex nonlinear dynamics and has further complicated the nonlinear problems of TRUM as a whole.…”

Section: Introductionmentioning

confidence: 99%

A Design Method of Traveling Wave Rotary Ultrasonic Motors Driving Circuit under High Voltage Using Single-Sided Hertzian Contact Forced Oscillator Model

Huang

Zhao

et al. 2022

Micromachines

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Traveling wave rotary ultrasonic motors (TRUMs) are widely used in various industrial processes due to their attractive features, such as compact structure, high accuracy, and fast response. However, the major limiting factors of the operational performance of TRUMs under high-voltage excitation are the nonlinear behavior caused by the nonlinearities of the piezoelectric materials and the friction between the stator and rotor of the motor. In this study, a nonlinear dynamics model and an identification method are presented to directly design the driver circuit for suppressing the nonlinear behavior under high voltage excitation. Firstly, by studying the time–frequency characteristics of the isolated electrode voltage, a single-sided Hertzian contact forced oscillator model of TRUMs is established, involving the nonlinearities of the piezoelectric material and friction. Secondly, a harmonic balance nonlinear identification is proposed in the time domain for TRUMs. The influence of the voltage and preload on the nonlinear phenomena is discussed. Lastly, a novel driver circuit is proposed to suppress the nonlinearities using feedback from the isolated electrode. Experiments showed that the total harmonic distortion decreased by 89.4% under 500 Vpp. The proposed drive circuit design method is used to find a high excitation voltage and preload to achieve greater motor output power.

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Section: Introductionmentioning

confidence: 99%

A Design Method of Traveling Wave Rotary Ultrasonic Motors Driving Circuit under High Voltage Using Single-Sided Hertzian Contact Forced Oscillator Model

Huang

Zhao

et al. 2022

Micromachines

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show abstract

“…In order to track and control the optimal efficiency of the TRUM (Traveling-wave Rotary Ultrasonic Motor), Mustafa [16] used the preload dynamic loading mechanism to achieve efficient and stable tracking. Another of Mustafa's papers [17] analyzed the influence of preload on the driving characteristics and showed that the preload would affect the driving efficiency, resonant frequency, and output power range. Based on the frequency control of the ultrasonic motor, he used the dynamic preloading mechanism as the auxiliary controller, which improved the driving efficiency and expanded the range of output power.…”

Section: Introductionmentioning

confidence: 99%

Preload Optimization Method for Traveling-Wave Rotary Ultrasonic Motor

et al. 2021

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Preload optimization is very important for ultrasonic motors’ design and application. In this paper, a novel method for a traveling-wave rotary ultrasonic motor is proposed. Firstly, based on linear regression and the analytic hierarchy process (AHP), the mapping between the drive characteristics, mechanical characteristics, speed stability, and preload of the traveling-wave-type rotary ultrasonic motor was established. Then, the characteristic curves of stalling torque, no-load speed, maximum efficiency, and speed stability with the change of preload method were measured with a new test platform. Finally, three traveling-wave rotary ultrasonic motors with optimized preload were used in a cooperative manipulator for validation. The experimental results showed that when the preload was optimized from 200 N to 310 N, the stalling torque of the motor increased by 20.7%, the maximum efficiency increased by 15.3%, the standard deviation of the speed decreased by 53.8%, and the no-load speed decreased by 5.5%. Therefore, it can be seen that the new preload optimization approach can significantly improve the performance indexes of ultrasonic motors and meet the practical requirements of direct-drive cooperative manipulators in engineering applications. The new preload optimization method offers advantages in motor output performance compared to conventional methods.

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“…Thus, the generation of the elliptical motion is significant for piezoelectric transducers. However, for producing the elliptical motion, two vibration modes are generally required to be stimulated and coupled in the piezoelectric transducers, increasing the difficulties of design, manufacturing, and assembling of transducer [5,6]. Additionally, how to achieve the resonant frequency consistency of the two selected vibration modes is also a difficult issue.…”

Section: Introductionmentioning

confidence: 99%

A Novel Traveling Wave Sandwich Piezoelectric Transducer With Single Phase Drive: Theoretical Modeling , Experimental Validation and Application Investigation

Wang

Bai

Hofmann

et al. 2020

Preprint

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Most of traditional traveling wave piezoelectric transducers are driven by two phase different excitation signals, leading to a complex control system and seriously limiting their applications in industry. To overcome these issues, a novel traveling wave sandwich piezoelectric transducer with a single-phase drive is proposed in this study. Traveling waves are produced in two driving rings of the transducer while the longitudinal vibration is excited in its sandwich composite beam, due to the coupling property of the combined structure. This results in the production of elliptical motions in the two driving rings to achieve the drive function. An analytical model is firstly developed using the transfer matrix method to analyze the dynamic behavior of the proposed transducer. Its vibration characteristics are measured and compared with computational results to validate the effectiveness of the proposed transfer matrix model. Besides, the driving concept of the transducer is investigated by computing the motion trajectory of surface points of the driving ring and the quality of traveling wave of the driving ring. Additionally, application example investigations on the driving effect of the proposed transducer are carried out by constructing and assembling a tracked mobile system. Experimental results indicated that 1) the assembled tracked mobile system moved in the driving frequency of 19410 Hz corresponding to its maximum mean velocity through frequency sensitivity experiments; 2) motion characteristic and traction performance measurements of the system prototype presented its maximum mean velocity with 59 mm/s and its maximum stalling traction force with 1.65 N, at the excitation voltage of 500 V RMS . These experimental results demonstrate the feasibility of the proposed traveling wave sandwich piezoelectric transducer.

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Dynamic preload control of traveling wave rotary ultrasonic motors for energy efficient operation

Cited by 23 publications

References 32 publications

A Design Method of Traveling Wave Rotary Ultrasonic Motors Driving Circuit under High Voltage Using Single-Sided Hertzian Contact Forced Oscillator Model

A Design Method of Traveling Wave Rotary Ultrasonic Motors Driving Circuit under High Voltage Using Single-Sided Hertzian Contact Forced Oscillator Model

Preload Optimization Method for Traveling-Wave Rotary Ultrasonic Motor

A Novel Traveling Wave Sandwich Piezoelectric Transducer With Single Phase Drive: Theoretical Modeling , Experimental Validation and Application Investigation

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