Electromechanical coupling dynamics for a novel non-resonant harmonic piezoelectric motor

Abstract

Most of the traditional piezoelectric motors are driven by the resonance of piezoelectric ceramics and can achieve a large output torque. However, these motors also have the defects of high speed and difficulty to adjusting the speed when working. To overcome these issues, a novel non-resonant harmonic rotary piezoelectric motor operating at low speed is presented. Electromechanically coupled vibration has a great influence on the dynamic performance of the piezoelectric motor, which may lead to instability of the output performance of the motor. Therefore, the electromechanical coupling dynamic characteristics of the proposed non-resonant piezoelectric motor are studied in this paper. The working principle of the motor is illustrated, and the electromechanical dynamic model and nonlinear dynamic equations are established. Utilizing the dynamic equations, the coupled natural frequencies, amplitude-frequency characteristics, and dynamic responses of the motor are developed. Meanwhile, the influence of parameters on natural frequency and nonlinear response is analyzed. What's more, the natural frequencies of the system are tested by building an experimental platform. Results show the minimum coupled natural frequency of the motor is 11231 rad/s. The length of the piezoelectric stack, the length, and mass block of the harmonic rod have an important influence on the natural frequency of the proposed non-resonant harmonic piezoelectric motor. The nonlinear piezoelectric effect has a larger effect on the forced response amplitude when the excitation frequency is far away from resonance, but a smaller effect on the forced response amplitude when the excitation frequency is near resonance. What's more, the maximum error between the theoretical natural frequencies and the test frequencies is 3%, which verifies the correctness of the theoretical model.