V-형 선형 초음파 모터의 구동 특성

정성수,박태곤,Jeong, Seong-Su,Park, Tae-Gone 한국전기전자재료학회 2007 전기전자재료학회논문지 Vol.20 No.5

A linear ultrasonic motor was designed by a combination of the longitudinal and bending mode. linear ultrasonic motors are based on an elliptical motion on the surface of elastic body, such as bar or plates. The corresponding eigen-mode of one resonance frequency can be excited twice at the same time with a phase shift of 90 degrees in space and time. That is excite symmetric and anti-symmetric modes. Then it determines the thrust and speed of the motor. Linear ultrasonic motors are investigated experimentally in according to be fabricated a general classification to motor structure and material characteristic. There was the first to simulate as use of finite element analysis ANSYS 9.0. The AL-T2W8-ARM14-LEG18-ANGLE80 motor has a maxim efficiency 18 % under the speed 0.14 m/s, thrust 345 gf and preload 280 gf, operating frequency is 57.6 kHz.

직렬 공진형 인버터를 사용한 초음파 모터 구동시스템의 공진 인덕턴스 선정법

이을재,김영석 전력전자학회 2000 전력전자학회 논문지 Vol.5 No.2

본 논문에서는 진행파형 초음파 모터 구동을 위한 직렬형 모터측에 직렬로 삽입되는 인덕터의 설계를 위한 새로운 해석 방법을 제시하였다. 초음파 모터의 구조를 등가적으로 해석하였고 이를 토대로 직렬 인덕터의 선정법을 제시하였다. 직렬 인덕터가 최적으로 설계되었을 때 모터 내부의 기계측 고유 공진 요소에 효율적인 전력이 전달될 수 있음을 시뮬레이션을 통하여 확인하였다. 여러 단계의 외부 인덕터에 대한 실험을 통하여 초음파 모터의 주파수 및 속도 특성이 검토되었다. 그 결과 제안된 외부 인덕터 선정방법의 타당성이 입증되었다. To chive a traveling wave type ultrasonic motor with the series""-resonant inverter, the external inductor is i lnserted between the motor and inverter. In $\psi$is paper, we proposed a novel 3Ilalysis method to design the 3 ~xternal inductor. An equivalent model of the ultrasonic motor is expressed, and a selection method of the , ;;eries inductor is proposed from the basis of the model. When the series inductor has an optimal value, it is v velified by computer simulation results that power is efficiently transmitted to the mechanical resonant c component in the motor. The frequency and speed characteristics of the ultrasonic motor are investigated by e experiments for several external inductors. The validity of the proposed method for selecting external inductor i is clarified.clarified.

박형 초음파 모터의 최적설계 및 구동 드라이버 개발

정성수(Seong-Su Jeong),전호익(Ho-Ik Jun),박태곤(Tae-Gone Park) 대한전기학회 2009 전기학회논문지 Vol.58 No.5

This paper proposed optimal design and microcontroller driver for driving the thin-type ultrasonic motor. To find the optimal size of the stator, motions of the motor were simulated using ATILA by changing length, width and thickness of the ceramics. Two sinusoidal waves which have 90 degree phase difference were needed for driving the thin-type motor. The thin-type ultrasonic motor driver was composed of microcontroller (Atmega128), push-pull inverter, encoder and AD-converter. Microcontroller generates four square waves which have variable frequency and 25[%] duty ratio in 20~150[kHz]. The output signals of microcontroller were converted to sine wave and cosine wave by push-pull inverter and were applied to the thin-type ultrasonic motor. The encoder and AD-converter were used for maintaining speed of the thin-type ultrasonic motor. The AD-converter controlled DC voltage of inverter in accordance with output signal of encoder. Using the driver, characteristics of the motor as speed and torque were measured.

초음파 모터를 이용한 롤-스크린 시스템 설계

김정도,정우석,함유경,김동진,홍철호,Kim, Jeong-Do,Jung, Woo-Suk,Ham, Yu-Kyung,Kim, Dong-Jin,Hong, Chul-Ho 한국조명전기설비학회 2005 조명·전기설비학회논문지 Vol.19 No.8

롤-스크린의 조용한 동작을 위해 압전 초음파 모터를 사용하여 롤-스크린이 설계되었다. 롤-스크린에 사용된 초음파 모터를 구동하기 위하여, 디지털로 제어되는 구동회로가 PLD를 사용하여 설계되었다. 또한 롤-스크린의 위치와 속도를 측정하기 위하여 1회전 당 36펄스의 엔코더가 사용되었다. 이러한 저급 엔코더를 사용함에도 불구하고, 초음파 모터의 정밀한 속도제어를 위하여 새로운 제어 방법이 제안되었다. 제안된 방법은 가변 샘플링시간을 사용하고 있으며, 초음파모터가 가지는 초기 비선형 특성 문제를 보상하도록 하였다. For silent operation, Roll-Screen has been designed by using piezolelectric ultrasonic motor. To drive the ultrasonic motor, a digitally controlled drive system has been designed by using PLD. And to measure the position and velocity of Roll-Screen, encoder with 36 pulse/revolution is used. This paper proposed a new method for a precise velocity control of ultrasonic motor, in spite of using low-level encoder. The proposed method use a non-fixed sampling time and compensate the initial nonlinear characteristics of ultrasonic motors.

리니어 초음파 모터를 이용한 X-Y stage의 마이크로 미터급 위치 구동회로 설계

김정도(Kim, Jeong-Do),홍철호(Hong, Chul-Ho),김동진(Kim, Dong-Jin),함유경(Ham, Yu-Kyung) 한국산학기술학회 2005 한국산학기술학회논문지 Vol.6 No.2

초음파 모터는 전자기식 모터들과는 달리 다양한 특정과 뛰어난 성능을 가진 새로운 형태의 모터이다. 그러나, 초음파 모터는 특히 구동시간에 따라 시스템의 비선형적인 특성과 파라미터의 변화들에 대한 문제를 갖는다. 그러므로 기존의 PID제어기를 사용함으로써 만족스러운 제어기의 성능을 내기가 어렵다. 본 논문에서는 원환형 초음파 모터와 선형 초음파 모터의 정밀 제어를 하기 위해 구동시간에 따른 응답 시간과 변화 등의 특성을 각각 분석하고, 리니어 초음파 모터에 대해서는 ㎛정도의 오차를 갖는 스텝 제어기와 PD제어기를 결합한 제어기를 제안한다. 제안된 제어기의 성능은 제어를 하지 않고 구동 시에 측정된 슬립 오차와 제안된 제어기를 사용하여 구동 시 측정된 슬립 오차를 비교하여 평가하였다. 실험 결과 스텝 제어기를 사용한 리니어 초음파 모터의 슬립오차는 10㎛ 이하로 우수한 성능을 입증하였다. The ultrasonic piezo motor is a new type motor that has an excellent performance and many useful features that electromagnetic motors do not have. But, it suffers from severe system non-Iinearities and parameter variations especially during speed control. Therefore, it is difficult to accomplish satisfactory control performance by using the conventional PID controller. In this paper, to achieve the precise control for linear type ultrasonic motor was analyzed as a function of response time and change with a driving time. Also, we propose controller that combines STEP controller and PD controller that have error of urn about liner type ultrasonic motor.

초음파 모터용 람다형 다방향 변환자

도영수,남효덕,김영덕,Do, Young-Soo,Nam, Hyo-Duk,Kim, Young-Duk 한국전기전자재료학회 2008 전기전자재료학회논문지 Vol.21 No.2

The transducer for multi-directionally movable ultrasonic motor having lambda shaped vibrators has been proposed and designed. The two branches cross at a right angle with each other at the tip. FEM analyses of lambda shaped transducer were carried out to find vibration modes for ultrasonic motor. The lambda shaped transducer has one symmetric mode and two anti-symmetric modes. The symmetric mode generates the normal direction motion of the tip. The lateral and vertical direction motion of the tip are excited by two anti-symmetric modes. The normal and lateral direction motions made an lateral elliptic trajectory. And the normal and vertical direction motions made an vertical elliptic trajectory normal to previous one. The transducer with 1 mm in thickness and 25 mm in length has been fabricated and evaluated. The resonance frequencies of the transducer was 32 kHz and 103 kHz. The tangential and vertical vibration displacement of the transducer having the lateral elliptic trajectory were $1.5{\mu}m\;and\;1.1{\mu}m$, respectively at the driving voltage of 100 Vpp and frequency of 32 kHz and 103 kHz. And the tangential and vertical vibration displacement of the transducer having the vertical elliptic trajectory were $0.4{\mu}m\;and\;0.2{\mu}m$, respectively at the same driving condition.

Micro Cylindrical Ultrasonic Motor with Improvised Power and Efficiency

Gyanabrata Sahoo,Baruna Kumar Turuk,Basudeba Behera 한국전기전자재료학회 2023 Transactions on Electrical and Electronic Material Vol.24 No.3

This paper presents a micrometer scale of a bar-type traveling wave ultrasonic motor. The proposed work is based on the cylindrical micro ultrasonic motor which consists of an 8 piezoelectric bar, is very small in size, and has been designed through a Micro-meter scale. It produces a high power/weight ratio, and efficiency is independent of the size of the motor. The different parameters of such motors are studied and analyzed. The motor produces an output power of 5.7 pW. The output torque is 0.28 nN. The produced rotation per minute is 2620 RPM with a preload of 0.98 μN. There is a great demand for high drive power for micro loads in many fields as per their requirement or field of application, such as micro-robots, microsurgery equipment, and MEMS applications.

Self-Tuning Speed Control of Ultrasonic Motor Combined with Efficiency Optimization

Jingzhuo Shi,Fangfang Lv,Bo Liu 제어·로봇·시스템학회 2014 International Journal of Control, Automation, and Vol.12 No.1

Aiming at the nonlinear characteristics of ultrasonic motor (USM) control system, a self-tuning pole assignment speed control strategy is proposed in this paper. The parameters of motor system are identified online, and then the controller is modified online according to the identified parameters of motor. In view of the short-time working characteristic of USM, a method for determining initial values of parameters with online identification algorithms is presented. Using this method, efficient self-tuning control can be realized using a small quantity of testing data. The proposed strategy is robust and relatively simple. Experimental results indicate that the speed control performance is good.

리형 초음파모터의 모드가변에 따른 진동특성 개선

윤신용,김수석 한국조명전기설비학회 2004 조명·전기설비학회논문지 Vol.18 No.2

본 논문은 링형 초음파모터의 진동모드에 의한 진동특성 개선을 제안하였다. 고정자의 압전세락믹과 탄성체에 대한 설계는 공진주파수, 진동모드 및 결합계수 등을 고려한 유한요소법(FEM)에 의해 계산되었다. 6차로부터 8차까지의 진동해석 결과를 통하여, 7차 모드는 결합효율, 최소전력소비 및 굴곡 진동에 있어서 매우 우수한 결과를 얻었다. 또한 7차 모드 이상에서는 입력전압에 대한 출력전류가 매우 크게 증가함을 알 수 있었다. 두께 0.5[mm]∼2[mm]까지의 진동계산 결과 0.5[mm]에서 진동변위가 매우 높은 값을 지님을 알 수 있었다. 이러한 해석결과로부터 본 연구에서는 약 43.86[KHz]의 공진주파수을 갖는 외경 50[mm], 내경 22[mm]의 초음파모터를 제조하였으며 다음의 시뮬레이션 결과 42.2[KHz]와 실험결과43.86(KHz)의 값을 얻었다. 따라서 본 논문의 타당성은 시뮬레이션 결과와 실험결과의 비교 검토를 통하여 거의 일치하는 결과를 입증하였다. This paper suggested the vibration characteristic improvement by variation mode of ring type ultrasonic motor. Design for the piezoelectric ceramic and elastic body of stator were calculated by the finite element method(FEM) that consider the resonance frequency, vibration mode and coupling efficiency etc. Through the result of vibration analysis from 6 order mode to 8 mode, the 7 order mode was gained very an excellent results that it was the coupling efficient, minimum power loss and bending vibration value. Here over 7 order mode, was acquired that an output current for input voltage was very a large increased results. The result of vibration calculation, from thickness 0.5[mm] to 2[mm], know the fact that the vibration displacement at 0.5[mm] is an high value too. From such analysis result, this paper was manufactured the ultrasonic motor of outer diameter 50[mm], inter 22[mm] having the about 43.86[KHz] resonance frequency. We have gated that a simulation result is 42.2[KHz] and an experiment result is 43.86[KHz]. Then, a propriety of this paper was established the result almost similar to though comparison, investigation of simulation and experiment result.

리니어 압전 초음파 모터를 위한 성능분석과 정밀 제어기 설계

김정도(Jeong-Do Kim) 호서대학교 공업기술연구소 2004 공업기술연구 논문집 Vol.23 No.1

The ultrasonic piezo motor is a new type motor that has an excellent perform ance and m any useful features th at electrom agnetic m otors do not have. B ut, it suffers from severe system non-linearities and param eter variations especially during speed control. Therefore, it is difficult to accom plish satisfactory control perform ance by using the conventional P ID controller. In this paper, to achieve the precise control for linear type ultrasonic m otor analyzed response tim e & change w ith a driving tim e. A lso, we propose controller th at com bine ST E P controller and PD controller that have error of /mi about liner type ultrasonic motor.