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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
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dc.contributor.advisor | 李世光(Chih-Kung Lee),吳光鐘(Kuang-Chong Wu) | |
dc.contributor.author | Wen-Chun Su | en |
dc.contributor.author | 蘇文群 | zh_TW |
dc.date.accessioned | 2021-07-11T14:50:09Z | - |
dc.date.available | 2022-08-01 | |
dc.date.copyright | 2020-09-09 | |
dc.date.issued | 2020 | |
dc.date.submitted | 2020-08-16 | |
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dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/78301 | - |
dc.description.abstract | 本研究發展以希爾伯特轉換(Hilbert Transform)設計壓電線性馬達之驅動參數,將本團隊過去開發之雙頻雙模態激發行進波的研究延伸至多頻多模態的行進波驅動研究,在一維的有限結構中設計並製作出壓電線性馬達,透過在不鏽鋼平板上兩端以並聯的方式貼合壓電陶瓷片作為馬達的致動源,並發展出解析解來進行馬達設計及共振頻率及模態的模擬計算。本研究將所使用到的共振頻率彼此具有為整數倍的關係,如此一來各個驅動模態的相位差不會隨著時間變化,而能夠使行進波更加穩定且為週期性,較以往選擇兩個相鄰共振模態來激發的雙頻雙模態為驅動方式更為穩定。多頻多模態驅動方法為使用較高頻的模態相疊加來增加行進波單位時間內的驅動次數,行進波速度也會較驅動低頻模態更快,同時也能做到改變載物行進的速度,進而達到變速的功能。本研究也導入了希爾伯特轉換(Hilbert Transform)來分析空間中行進波與駐波的比例來定義行進波之效率,同時能從理論推導出之通解析解中計算出最佳之行進波驅動參數,並控制行進波方向,希爾伯特轉換不只能對理論進行分析,並同時也對實際雷射振動計量測到的行進波數據作分析,以與理論作相互對照。 本研究完成以兩組多頻多模態驅動的壓電馬達驅動一線性馬達平台,使用兩組鏡像之馬達架構出雙邊驅動的方式來增加125.5克滑塊移動效率,在無載重的情況下,以第三模態和第四模態所疊加之行進波平均驅動速度可到2.2mm/s,而滑塊行進之距離為41mm。而載物驅動實驗的部分為在滑塊上放上不同克重的砝碼,而最重可推動之砝碼重量達到160g,總重量為285.5克,平均速度達到0.59mm/s,行徑距離為22mm,驗證此多頻多模態壓電線性馬達之驅動效能。 | zh_TW |
dc.description.abstract | This study developed a new driving method named “Multi-Integer-Frequency Multi-Mode” for generating traveling waves on a one-dimensional finite structure for the application of motorization. It is based on the two-frequency two-mode method that reported by our research team. In this paper, a piezoelectric linear motor is designed and fabricated by using a simply-supported one-dimensional finite plate. Two piezoelectric PZT sheets are attached on two ends of the plate froming two parallel bimorphs. Resonant frequencis of the first 4 bending modes are designed to have an integer multiple relation. In this way, the phase difference of each driving mode does not change with time, and it can make the traveling wave more stable and periodic. Different from the two-frequency two-mode method that used two adjacent resonance modes for excitation, the multi-integer-frequency multi-mode method uses the superposition of higher frequency modes to increase the number of driving modes per unit time to generate the traveling wave. The traveling wave speed can be faster. To optimize the design, the Hilbert transform is used to analyze the ratio of the traveling wave to the standing wave in space. Then, it is used to optimize the driving parameters and is estimated by using the derived analytical solution. The Hilbert transform not only can analyze the solution of theory, but also can use to analyze the data measured by laser scanning vibrometer. Finally, two designed linear motor are integrated to construct a piezoelectric motor that suspended by two rails of ball bearings. The weight of the slider is 125.5g. Experimental results show that the average driving speed of the traveling wave superimposed by the third mode and the fourth mode can reach 2.2mm/s, and the distance of the slider travels 41mm. The maximum loading is 160g with an average speed of 0.59mm/s and a travel distance of 22mm. In summary, the analytical, numerical, and experimental analyses verify the concept of the multi-frequency multi-mode piezoelectric linear motor, and its performace is much improved than the two-frequency two-mode method. | en |
dc.description.provenance | Made available in DSpace on 2021-07-11T14:50:09Z (GMT). No. of bitstreams: 1 U0001-0708202017550400.pdf: 12291808 bytes, checksum: 2657b6388da4e88298af2346e1c04a2e (MD5) Previous issue date: 2020 | en |
dc.description.tableofcontents | 口試委員審定書 i 誌謝 ii 中文摘要 iii ABSTRACT iv 目錄 vi 圖目錄 ix 表目錄 xviii 第1章 緒論 1 1.1 研究背景與動機 1 1.2 文獻回顧 2 1.2.1 壓電馬達介紹 2 1.2.2 駐波式壓電馬達 3 1.2.3 行進波式壓電馬達 4 1.2.4 壓電馬達市場趨勢分析 10 1.3 論文架構 11 第2章 多頻多模態壓電馬達系統結構設計 12 2.1 設計理念 12 2.2 研究架構 14 2.3 結構設計 15 2.3.1 材料選擇 15 2.3.2 多頻多模態壓電馬達結構 18 第3章 壓電材料介紹及理論推導 21 3.1 材料介紹 21 3.1.1 壓電效應 21 3.1.2 壓電材料種類 23 3.2 理論推導 24 3.2.1 壓電物性本構方程式 24 3.2.2 壓電馬達統御方程式 27 3.3 希爾伯特轉換(Hilbert Transform) 38 3.3.1 起源 38 3.3.2 積分轉換式 38 3.3.3 分析與定量行進波的效率 41 3.3.4 第一模態和第二模態疊加之行進波驅動設計 44 3.3.5 第三模態和第四模態疊加之行進波驅動設計 50 第4章 壓電馬達系統製程與開發 52 4.1 壓電馬達系統架設 52 4.1.1 雙簡支端壓電馬達夾具 52 4.1.2 垂直式雙簡支端滾珠滑軌 53 4.2 MATLAB數值模型 56 4.3 FEM模擬模型的建立與參數設定 59 第5章 數值模擬與有限元素法結果分析 64 5.1 行進波與Hilbert Transform分析 64 5.1.1 多倍角驅動與共振頻驅動行進波效率比較 64 5.1.2 不同相位差驅動效率及影響 69 5.1.3 不同電壓比驅動效率及影響 79 5.1.4 模態控制切換行進波驅動速度 85 5.1.5 行進波區段與非行進波區段Hilbert Transform轉換結果 86 5.1.6 面外位移與面內位移之關係 88 5.2 兩個模態以上疊加之行進波效率分析 93 5.3 FEM多頻多模態壓電馬達模擬結果分析 95 5.3.1 共振頻率與模態形狀 95 5.3.2 驅動不同相位差之模擬結果 96 5.3.3 驅動不同電壓比之模擬結果 100 5.3.4 共振頻驅動與倍數頻驅動之模擬結果 103 5.3.5 優化參數行進波 105 第6章 多頻多模態壓電馬達實驗結果與討論 107 6.1 共振頻量測與模態形狀驗證 107 6.2 行進波量測及Hilbert Transform數據分析 111 6.2.1 不同相位差驅動效率及影響 111 6.2.2 不同電壓比驅動效率及影響 119 6.2.3 數值模擬與有限元素分析和實驗誤差之討論 124 第7章 載物驅動實驗與線性滑軌驅動實驗 131 7.1 載物驅動實驗 131 7.1.1 固定荷重下不同模態驅動載物實驗 131 7.1.2 固定驅動方式下不同荷重載物驅動實驗 135 7.2 滑軌滑塊驅動實驗 137 7.2.1 無負重下不同模態疊加之行進波滑軌驅動效率及影響 138 7.2.2 不同模態驅動作滑塊連續控制實驗 142 7.2.3 不同負重下行進波驅動滑塊效率及影響 143 7.2.4 不同方法驅動滑軌滑塊實驗 147 第8章 結論與未來展望 148 8.1 結論 148 8.2 未來展望 148 參考文獻 149 | |
dc.language.iso | zh-TW | |
dc.title | 以希爾伯特轉換設計多頻多模態壓電線性馬達 | zh_TW |
dc.title | Hilbert transform for design of piezoelectric linear motor | en |
dc.type | Thesis | |
dc.date.schoolyear | 108-2 | |
dc.description.degree | 碩士 | |
dc.contributor.coadvisor | 吳文中(Wen-Jong Wu),許聿翔(Yu-Hsiang Hsu) | |
dc.contributor.oralexamcommittee | 謝志文(Chih-Wen Hsieh) | |
dc.subject.keyword | 多頻多模態,壓電馬達,壓電材料,行進波, | zh_TW |
dc.subject.keyword | Multi-Integer-Frequency Multi-Mode,piezoelectric motor,piezoelectric material,traveling wave, | en |
dc.relation.page | 151 | |
dc.identifier.doi | 10.6342/NTU202002662 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2020-08-17 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 應用力學研究所 | zh_TW |
顯示於系所單位: | 應用力學研究所 |
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