一种含柔性轴的超声电机定位特性研究

为了进一步提高超声电机的定位精度，满足航空航天驱动机构对高定位精度的迫切需求，采用柔性轴提高超声电机运行稳定性，并基于电机瞬态响应特性，实现超声电机的高精度定位性能.超声电机具有响应快的特点，具有实现高定位精度的可能，但由于其步进特性不清晰，运行波动较大，其潜力尚未被完全挖掘.针对该问题，首先探索超声电机的步进特性，得到不同负载下电机的步进规律，然后采用连续模式和步进模式相结合的控制策略，实现了超声电机的高精度定位特性.研究结果表明：采用柔性轴后，电机步进波动大幅降低，电机定位精度可达0.48″，所需的定位时间小于1.34 s.

The Positioning Characteristics of an Ultrasonic Motor with Flexible Shaft

In order to further improve the positioning accuracy of the ultrasonic motor and meet the urgent needs of the aerospace drive mechanism for high positioning accuracy, the flexible shaft is used to improve the operating stability of the ultrasonic motor. Based on the transient response characteristics of the motor, the high precision positioning of the ultrasonic motor is realized. The ultrasonic motor has the characteristics of fast response and the possibility of achieving high positioning accuracy. However, due to the unclear stepping characteristics and large fluctuations in operation, its potential has not yet been fully utilized. To solve this problem, first explore the stepping characteristics of the ultrasonic motor to obtain the stepping law of the motor under different load torques, and then use a continuous mode and stepping mode combined control strategy to achieve the high precision positioning characteristics of the ultrasonic motor. The results of the study show that after the flexible shaft is adopted, the stepping fluctuation of the motor is greatly reduced, the positioning accuracy of the motor can reach 0.48 ″, and the costed time is less than 1.34 s.