CN107167734B - Ultrasonic motor starting characteristic testing method and device based on isolated pole feedback - Google Patents

Abstract

A method and device for testing the starting characteristics of an ultrasonic motor based on isolated pole feedback, which is composed of an ultrasonic motor, an isolated pole signal detection and processing module, a load disc and weights, a transmission shaft, an external fixed pulley, and a high-precision photoelectric encoder. The load is changed by changing the hanging weight of the external fixed pulley, and the starting characteristics of the ultrasonic motor under different loads are tested. The method and testing device of the present invention use the lone pole feedback signal as the starting point signal for testing the starting characteristics of the ultrasonic motor, that is, the moment of obtaining the signal is defined as the starting point of the starting characteristic test of the ultrasonic motor, and the output of the ultrasonic motor reaches 95% of the target speed Time is used as the termination point of the ultrasonic motor starting characteristic test. At present, the test of the start-up response time of the ultrasonic motor is mainly to start the motor to reach 5% of the average speed as the starting point. The present invention considers that the time from the ultrasonic motor to obtain the electrical signal to reach 5% of the target speed should also be included. The start-up response time of the ultrasonic motor is considered.

Description

A method and device for testing the starting characteristics of an ultrasonic motor based on isolated pole feedback

technical field

The invention relates to a testing technology for starting characteristics of a motor, in particular to a testing technology for starting response characteristics of an ultrasonic motor, in particular to a testing method and device for starting characteristics of an ultrasonic motor based on isolated pole feedback.

Background technique

Ultrasonic motor is a micro motor with a new concept. It uses the inverse piezoelectric effect of piezoelectric materials to excite vibrations at ultrasonic frequencies, and generates rotational (linear) motion through the friction between the stator and rotor, output power, drive load. Ultrasonic motors have the advantages of compact structure, low-speed high-torque, fast response, direct drive of loads, and no electromagnetic interference. have a broad vision of application.

According to the characteristics of the rotary traveling wave ultrasonic motor, it can be known that it is very suitable for various servo control occasions. However, the current research on the starting characteristics of the rotating traveling wave ultrasonic motor that affects the servo control is relatively lagging behind and is in its infancy. At present, the test of the start-up response time of the ultrasonic motor is mainly to start the motor to reach 5% of the average speed as the start point, and to reach 90% of the average speed as the end point. The period until the motor reaches 5% of the average speed is artificially ignored, and previous analysis studies lack research and testing on this period of time. Moreover, the previous studies on the starting characteristics of ultrasonic motors did not take into account the load conditions. Such a test model has a certain discrepancy with the actual application of ultrasonic motors.

In order to generate A and B two-phase standing waves and satisfy their spatial phase difference π/2, the piezoelectric annular ceramic element is usually polarized and configured as shown in Figure 3, that is, there is a λ in the middle of the A and B two-phase polarization regions. The regions of /4 and 3λ/4, in which the forwardly polarized λ/4 region is often used to provide feedback signals, are called lone poles.

Therefore, the inventor considered the importance of the start-up characteristics to the performance of the ultrasonic motor, and used the isolated pole of the ultrasonic motor to realize the feedback of the electrical signal acquisition. By changing the weight of the weight, the start-up characteristics of the ultrasonic motor under different loads were tested. test device.

Contents of the invention

The object of the present invention is to invent a method for testing the starting characteristics of an ultrasonic motor based on lone pole feedback and provide a corresponding detection device for the problem that the existing ultrasonic motor starting characteristic method cannot accurately reflect the motor characteristics.

One of technical solutions of the present invention is:

A method for testing the starting characteristics of an ultrasonic motor based on lone pole feedback is characterized in that it comprises the following steps:

Firstly, the moment when the testing instrument detects the lone pole feedback signal of the ultrasonic motor for the first time is used as the initial moment of measuring the start-up time of the ultrasonic motor;

Secondly, use the encoder to measure the real-time rotational speed of the ultrasonic motor, and take the moment when the motor reaches 90% of the stable speed as the motor start-up and end time;

Third, the time from the initial moment of the ultrasonic motor startup to the end of the ultrasonic motor startup is taken as the ultrasonic motor startup time;

Fourth, replace suspended weights of different weights and repeat steps 1 to 3 to measure the start-up time of the ultrasonic motor without load.

The piezoelectric ceramic sheet of the ultrasonic motor vibrates through the inverse piezoelectric effect, and the lone pole of the piezoelectric ceramic of the ultrasonic motor generates an electrical signal by the piezoelectric effect, and the moment when the lone pole electrical signal is detected is used as the start response detection of the ultrasonic motor At the starting point, the motor output reaches 90% of the average speed as the end point of the start-up response, and this time is taken as the start-up response time of the ultrasonic motor.

The test instrument is used to feed back the piezoelectric ceramic lone pole signal to the acquisition card.

In order to generate A and B two-phase standing waves and satisfy their spatial phase difference π/2, the piezoelectric annular ceramic element is usually polarized and arranged as shown in Figure 3, that is, there is a λ between the A and B two-phase polarization regions. The regions of /4 and 3λ/4, in which the forwardly polarized λ/4 region is often used to provide feedback signals, are called lone poles.

The ultrasonic motor is installed on the motor base, the output shaft of the ultrasonic motor is connected with the transmission shaft by a rigid sleeve, the load disk is fixed on the transmission shaft, and the weight is fixed on the load disk through an external fixed pulley device. The weight is used to adjust the size of the load. The transmission shaft and the photoelectric encoder are connected by a rigid sleeve. The ultrasonic motor, the transmission shaft and the photoelectric encoder transmission shaft are coaxial transmission. Keeping the centering between the shafts will keep the output torque and speed of the ultrasonic motor. Constant, so as to ensure that the photoelectric encoder can measure the output speed of the ultrasonic motor more realistically.

The second technical scheme of the present invention is:

An ultrasonic motor start-up characteristic testing device based on isolated pole feedback is characterized in that it includes a test instrument 19 for measuring the isolated pole feedback signal, an external load and a base plate 18, and the base plate 18 is equipped with a motor riser 1, Vertical plate 5, thick vertical plate 9 and rear plate 11, an ultrasonic motor clamping device 2 is installed on the motor vertical plate 1, and the ultrasonic motor 3 is clamped on the ultrasonic motor clamping device 2, and the test instrument 19 passes the signal detection line and The signal output end of the ultrasonic motor 3 is connected; the output shaft of the ultrasonic motor 3 is sleeved in one end of the first rigid sleeve 4 through a clearance fit, and the other end of the first rigid sleeve 4 is connected with the transmission shaft 8 through a clearance fit, and the transmission shaft 8 passes through the vertical plate 5, the gap between the holes of the vertical plate 5 is matched with the bearing 6, the inner ring of the bearing 6 is fixed by the shaft shoulder of the transmission shaft 8, the load disc 7 is fixed on the transmission shaft 8 by set screws, and the thick vertical plate 9 A hole is drilled on the top, the transmission shaft 8 passes through the thick vertical plate 9, and the deep groove ball bearing 10 is clearance fit in the hole of the thick vertical plate 9, and the inner ring of the deep groove ball bearing 10 is also fixed by the shaft shoulder of the transmission shaft 8, and the transmission The other end of the shaft 8 is loosely fitted with the side hole of the second rigid sleeve 13, and the other end of the second rigid sleeve 13 is connected with the input shaft of the photoelectric encoder 12, and the photoelectric encoder 12 is clamped on the rear plate 11 by screws. Above, the photoelectric encoder 12 feeds back the speed of the ultrasonic motor; the external load is composed of an external base 14, a bracket 15, a pulley shaft 16 and a fixed pulley 17, and the bracket 15 is inclined outward at an angle to prevent the weight 20 from colliding with the experimental platform and affecting the experiment. The accuracy of the data, the external base 14 is fastened with bolts through the light groove of the bottom plate 18, the bracket 15 is fixed on the external base 14 by bolts, and the deep groove ball bearing is fixed through the shaft shoulder of the pulley shaft 16 and the hole clearance of the bracket. The fixed pulley 17 is fixed on the pulley shaft 16 through a key, the groove of the load disc 7 is wound with a string, and the string is externally connected to the groove of the fixed pulley 17, and the weight 20 is tied around the string to bypass the fixed pulley 17 On one end of the load, change the size of the load by changing the size of the weight.

The motor riser 1, riser 5, thick riser 9 and rear plate 11 are fastened in the chute of the bottom plate 18 by bolts.

The test instrument 19 is equipped with a collection card for collecting piezoelectric ceramic isolated pole signals.

Beneficial effects of the present invention:

1) Using the isolated pole feedback signal as the starting point of the starting characteristic test, the test result is more accurate than defining the starting point of 5% of the average speed as the starting point, and can more truly reflect the starting response time of the ultrasonic motor; 2) Through the external fixed pulley winding The method of connecting weights can easily and simply change the size of the load.

Description of drawings

Fig. 1 is a schematic diagram of the axonometric structure of the test platform of the present invention.

Fig. 2 is a top view structural diagram of the testing platform of the present invention.

Fig. 3 is a schematic diagram of polarization partitions of the piezoelectric ceramics of the present invention.

Implementation

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Embodiment one.

As shown in Figure 1-3.

A method for testing the starting characteristics of an ultrasonic motor based on lone pole feedback, which comprises the following steps:

First, the moment when the ultrasonic motor’s lone pole feedback signal is first detected by the testing instrument is used as the starting moment for measuring the start-up time of the ultrasonic motor; as shown in Figure 3

Secondly, use the encoder to measure the real-time rotational speed of the ultrasonic motor, and take the moment when the motor reaches 90% of the stable speed as the motor start-up and end time;

Third, the time from the initial moment of the ultrasonic motor startup to the end of the ultrasonic motor startup is taken as the ultrasonic motor startup time;

Fourth, replace suspended weights of different weights and repeat steps 1 to 3, and the measured start-up time of the ultrasonic motor without load is shown in Figures 1 and 2.

The piezoelectric ceramic sheet of the ultrasonic motor vibrates through the inverse piezoelectric effect, and the lone pole of the piezoelectric ceramic of the ultrasonic motor generates an electrical signal by the piezoelectric effect. The motor output reaches 90% of the average speed as the termination point of the start-up response, and this time is taken as the start-up response time of the ultrasonic motor. The load disk fastened on the transmission shaft and the external fixed pulley device, suspending weights of different weights can conveniently realize the research on the start-up response characteristics of the ultrasonic motor under different load conditions.

Embodiment two.

As shown in Figure 1-3.

An ultrasonic motor starting characteristic test device based on isolated pole feedback, which includes a test instrument 19 for measuring the isolated pole feedback signal, an external load and a base plate 18, the test instrument 19 is a conventional electrical signal tester, which can be designed by itself Or purchase directly from the market. Generally speaking, the acquisition card for collecting piezoelectric ceramic isolated pole signals can be installed in the test instrument 19 to realize the isolated pole signal capture of the present invention, and the moment when the isolated pole signal is captured is used as the response time detection the starting moment of . Motor riser 1, riser 5, thick riser 9 and rear plate 11 are installed on the base plate 18, and motor riser 1, riser 5, thick riser 9 and rear plate 11 all can be fastened on the base plate 18 by bolts. in the chute. An ultrasonic motor clamping device 2 is installed on the motor vertical plate 1, and the ultrasonic motor 3 is clamped on the ultrasonic motor clamping device 2, and the test instrument 19 is connected with the signal output end of the ultrasonic motor 3 through a signal detection line; The output shaft is sleeved in one end of the first rigid sleeve 4 through a clearance fit, and the other end of the first rigid sleeve 4 is connected with the transmission shaft 8 through a clearance fit. Cooperate with bearing 6, the inner ring of bearing 6 is fixed by the shaft shoulder of transmission shaft 8, the load disc 7 is fixed on the transmission shaft 8 by positioning screws, the thick vertical plate 9 is drilled with holes, and the transmission shaft 8 passes through the thick vertical plate 9. The deep groove ball bearing 10 is clearance fit in the hole of the thick vertical plate 9, the inner ring of the deep groove ball bearing 10 is also fixed by the shaft shoulder of the transmission shaft 8, and the other end of the transmission shaft 8 is clearance fit with the second rigid sleeve 13, the other end of the second rigid sleeve 13 is connected to the input shaft of the photoelectric encoder 12, the photoelectric encoder 12 is clamped on the rear plate 11 by screws, and the photoelectric encoder 12 feeds back the speed of the ultrasonic motor; The load is composed of an external base 14, a bracket 15, a pulley shaft 16 and a fixed pulley 17. The bracket 15 is inclined outward at an angle to prevent the weight 20 from colliding with the experimental platform and affecting the accuracy of the experimental data. The groove is fastened with bolts, the bracket 15 is fixed on the external base 14 by bolts, the deep groove ball bearing is fixed through the shaft shoulder of the pulley shaft 16 and the clearance between the holes of the bracket, and the fixed pulley 17 is fixed on the pulley shaft 16 through a key. The groove of the disc 7 is wound with a string, and the string is externally connected to the groove of the fixed pulley 17, and the weight 20 is wound around the end of the string bypassing the fixed pulley 17, and the weight is changed by changing the size of the weight. The size of the load.

The parts not involved in the present invention are the same as the prior art or can be realized by adopting the prior art.

Claims (6)

1. A method for testing the starting characteristics of an ultrasonic motor based on lone pole feedback, characterized in that it comprises the following steps: Firstly, the moment when the testing instrument detects the lone pole feedback signal of the ultrasonic motor for the first time is used as the initial moment of measuring the start-up time of the ultrasonic motor; Secondly, use the encoder to measure the real-time rotational speed of the ultrasonic motor, and take the moment when the motor reaches 90% of the stable speed as the motor start-up and end time; Third, the time from the initial moment of the ultrasonic motor startup to the end of the ultrasonic motor startup is taken as the ultrasonic motor startup time; Fourth, replace suspended weights of different weights and repeat steps 1 to 3 to measure the start-up time of the ultrasonic motor without load. 2. The method according to claim 1, characterized in that the piezoelectric ceramic sheet of the ultrasonic motor generates vibration through the inverse piezoelectric effect, and the lone pole of the piezoelectric ceramic of the ultrasonic motor generates an electrical signal by the piezoelectric effect, and the detection The moment to the isolated pole electric signal is used as the starting point of the ultrasonic motor start-up response detection, and the motor output reaches 90% of the average speed as the end point of the start-up response, and this time is taken as the start-up response time of the ultrasonic motor. 3. The method according to claim 1, characterized in that the test instrument is used to feed back the piezoelectric ceramic isolated pole signal to the acquisition card. 4. An ultrasonic motor starting characteristic testing device based on the isolated pole feedback used in the method of claim 1, characterized in that it includes a test instrument (19) for measuring the isolated pole feedback signal, an external load and a base plate (18), the motor riser (1), riser (5), thick riser (9) and rear plate (11) are installed on the bottom plate (18), and an ultrasonic motor clamp is installed on the motor riser (1) holding device (2), the ultrasonic motor (3) is clamped on the ultrasonic motor clamping device (2), and the test instrument (19) is connected to the signal output end of the ultrasonic motor (3) through a signal detection line; the ultrasonic motor (3) The output shaft of the first rigid sleeve (4) is sleeved in one end of the first rigid sleeve (4) through a clearance fit, and the other end of the first rigid sleeve (4) is connected with the transmission shaft (8) through a clearance fit, and the transmission shaft (8) passes through the vertical The plate (5), vertical plate (5) is fitted with a bearing (6) in the hole gap, the inner ring of the bearing (6) is fixed by the shaft shoulder of the transmission shaft 8, and the load disc (7) is fixed on the transmission shaft ( 8), the thick vertical plate (9) is drilled with a hole, the transmission shaft (8) passes through the thick vertical plate (9), and the deep groove ball bearing (10) is clearance fit in the hole of the thick vertical plate (9). The inner ring of the groove ball bearing (10) is also fixed by the shaft shoulder of the transmission shaft (8), and the other end of the transmission shaft (8) is clearance fit with the side hole of the second rigid sleeve (13), and the second rigid sleeve The other end of (13) is connected to the input shaft of the photoelectric encoder (12), and the photoelectric encoder (12) is clamped on the back plate (11) by screws, and the photoelectric encoder (12) feeds back the speed of the ultrasonic motor; the external load It is composed of an external base (14), a bracket (15), a pulley shaft (16) and a fixed pulley (17). The bracket (15) is inclined outward at an angle to prevent the weight (20) from colliding with the experimental platform and affecting the experimental data. Accuracy, the external base (14) is fastened with bolts through the light groove of the bottom plate (18), the bracket (15) is fixed on the external base (14) by bolts, and the deep groove ball bearing passes through the shaft shoulder of the pulley shaft (16) and The fixed pulley (17) is fixed on the pulley shaft (16) through a key, and the groove of the load disc (7) is wound with a string, and the string is externally connected to the groove of the fixed pulley (17). On the groove, the weight (20) is tied around the end where the thin rope goes around the fixed pulley (17), and the size of the load is changed by changing the size of the weight. 5. The ultrasonic motor starting characteristic test device based on isolated pole feedback according to claim 4, characterized in that the motor riser (1), riser (5), thick riser (9) and rear plate ( 11) Fasten it in the chute of the bottom plate (18) by bolts. 6. The ultrasonic motor start-up characteristic testing device based on isolated pole feedback according to claim 4, characterized in that the testing instrument (19) is equipped with an acquisition card for collecting piezoelectric ceramic isolated pole signals.

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