TY - JOUR
T1 - Nonlinear dynamic analysis of traveling wave-type ultrasonic motors
AU - Nakagawa, Yosuke
AU - Saito, Akira
AU - Maeno, Takashi
N1 - Funding Information:
Manuscript received February 1, 2007; accepted October 17, 2007. This work was supported in part by MEXT Grant-in-Aid for Scientific Research on Priority Areas, No. 438 Next-Generation Actuators Leading Breakthroughs. Y. Nakagawa was with Keio University, Yokohama, Japan. He is now with Central Railway Company, Japan. A. Saito was with Keio University University, Yokohama, Japan. He is now with the Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109 (e-mail: asakira@umich.edu). T. Maeno is with the Department of Mechanical Engineering, Keio University, Yokohama, Japan (e-mail: maeno@mech.keio.ac.jp). Digital Object Identifier 10.1109/TUFFC.2008.696
PY - 2008
Y1 - 2008
N2 - In this paper, nonlinear dynamic response of a traveling wave-type ultrasonic motor was investigated. In particular, understanding the transient dynamics of a bar- type ultrasonic motor, such as starting up and stopping, is of primary interest. First, the transient response of the bar-type ultrasonic motor at starting up and stopping was measured using a laser Doppler velocimeter, and its driving characteristics are discussed in detail. The motor is shown to possess amplitude-dependent nonlinearity that greatly influences the transient dynamics of the motor. Second, a dynamical model of the motor was constructed as a second- order nonlinear oscillator, which represents the dynamics of the piezoelectric ceramic, stator, and rotor. The model features nonlinearities caused by the frictional interface between the stator and the rotor, and cubic nonlinearity in the dynamics of the stator. Coulomb's friction model was employed for the interface model, and a stick-slip phenomenon is considered. Lastly, it was shown that the model is capable of representing the transient dynamics of the motor accurately. The critical parameters in the model were identified from measured results, and numerical simulations were conducted using the model with the identified parameters. Good agreement between the results of measurements and numerical simulations is observed.
AB - In this paper, nonlinear dynamic response of a traveling wave-type ultrasonic motor was investigated. In particular, understanding the transient dynamics of a bar- type ultrasonic motor, such as starting up and stopping, is of primary interest. First, the transient response of the bar-type ultrasonic motor at starting up and stopping was measured using a laser Doppler velocimeter, and its driving characteristics are discussed in detail. The motor is shown to possess amplitude-dependent nonlinearity that greatly influences the transient dynamics of the motor. Second, a dynamical model of the motor was constructed as a second- order nonlinear oscillator, which represents the dynamics of the piezoelectric ceramic, stator, and rotor. The model features nonlinearities caused by the frictional interface between the stator and the rotor, and cubic nonlinearity in the dynamics of the stator. Coulomb's friction model was employed for the interface model, and a stick-slip phenomenon is considered. Lastly, it was shown that the model is capable of representing the transient dynamics of the motor accurately. The critical parameters in the model were identified from measured results, and numerical simulations were conducted using the model with the identified parameters. Good agreement between the results of measurements and numerical simulations is observed.
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U2 - 10.1109/TUFFC.2008.696
DO - 10.1109/TUFFC.2008.696
M3 - Article
C2 - 18407861
AN - SCOPUS:64849101363
SN - 0885-3010
VL - 55
SP - 717
EP - 725
JO - IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control
JF - IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control
IS - 3
M1 - 4476379
ER -