進行波型超音波モータの非線形動特性解析

抄録

First, transient response of a bar-type ultrasonic motor is measured using laser-doppler-velocimeter in order to show the relationship between input parameters and the non-linear dynamic characteristics. Next, dynamical model of ultrasonic motor is constructed. The piezoelectric ceramics and stator's vibration are modeled as a second order system considering non-linear terms at piezoelectric ceramics and elastics of metal part of the stator. At the interface between the rotor and stator, three-dimensional discrete model using springs and dampers at the contact surface is introduced in order to calculate the friction force between them. Coulomb's friction model was introduced considering stick-slip at contact area. As a result, the validity of the mathematical model was confirmed by showing that simulation results are in good agreement with those obtained by measurement.