CN111079231A - Multi-physical-field comprehensive design method for linear ultrasonic motor - Google Patents
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Abstract
本发明涉及一种直线超声波电机多物理场综合设计方法，包括以下步骤：将电振‑温度‑结构耦合设计问题解耦为电振‑结构、电振‑温度与温度‑结构三个双耦合设计问题，实现设计需求与计算效率的折中；采用有限元数值计算与响应面法相结合的手段，获得以电机结构多尺度尺寸参数为变量的定子模态特性解析表达函数簇，电机作动性能解析表达函数簇，关键部件最高温度、最大温差以及最大热应力解析表达函数，进而采用智能优化算法开展结构多尺度尺寸参数的精细化设计，大幅提升电机综合性能指标。本发明具有计算精度高、设计周期短、对工程师的经验依赖程度低，易于推广的优点。
The invention relates to a multi-physics comprehensive design method for a linear ultrasonic motor, comprising the following steps: decoupling the electrical vibration-temperature-structure coupling design problem into three double-coupling designs of electrical vibration-structure, electrical vibration-temperature and temperature-structure To achieve a compromise between design requirements and calculation efficiency; using the combination of finite element numerical calculation and response surface method, the analytical expression function cluster of stator modal characteristics with the multi-scale dimension parameters of the motor structure as variables was obtained, and the motor actuation performance was analyzed. Expression function clusters, analytical expression functions of the maximum temperature, maximum temperature difference and maximum thermal stress of key components, and then use the intelligent optimization algorithm to carry out the refined design of multi-scale size parameters of the structure, which greatly improves the comprehensive performance index of the motor. The invention has the advantages of high calculation accuracy, short design period, low degree of dependence on the experience of engineers, and easy popularization.
Description
Technical Field
The invention relates to the technical field of ultrasonic motors, in particular to a multi-physical-field comprehensive design method of a linear ultrasonic motor.
Background
The linear ultrasonic motor has many advantages that the electromagnetic motor does not have, and has gained important application in the fields of medical equipment, aerospace, military equipment and the like. However, due to the complicated thermo-mechanical-electric coupling problem caused by the excitation of the high-frequency alternating electric field, the ultrasonic mechanical resonance and the friction and impact of the stator and the rotor, a serious challenge is brought to the optimization design of the linear ultrasonic motor, and the influence of the multi-scale size parameters of the motor structure on the vibration mode of the stator, the actuation performance of the motor, the mechanical strength and the temperature rise should be comprehensively considered in the basic design and the optimization design of the motor.
The existing optimization design method of the linear ultrasonic motor has the following defects: 1) the optimization design of the existing linear ultrasonic motor is developed aiming at improving certain performance such as actuating performance, temperature, mechanical strength and stator vibration mode, and the optimization of the comprehensive performance of the motor under the multi-physical field coupling inside the motor is not considered comprehensively; 2) in the existing linear ultrasonic motor multi-physical field design method, a direct coupling analysis method is adopted to carry out multi-physical field coupling analysis on the motor, so that the calculation amount is large, and the calculation time is long; 3) the existing linear ultrasonic motor design method is developed aiming at macro-size parameters of a structural component, and the fine design of structural component and micro-size parameters is not considered.
Disclosure of Invention
The invention aims to solve the technical problem of providing a linear ultrasonic motor multi-physical field comprehensive design method based on electric vibration-temperature-structure decoupling, aiming at the defects in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a multi-physical field comprehensive design method for a linear ultrasonic motor comprises the following steps:
(1) according to the actual application occasion and the requirement of the motor and the rated parameters of the motor, the basic performance index of the linear ultrasonic motor to be designed is summarized, and a proper stator configuration is selected;
(2) through analyzing the working principle of the linear ultrasonic motor and the coupling relation between the internal electric field, the temperature field and the structural field of the linear ultrasonic motor, the multi-physical-field design problem of the motor is converted into a multi-physical-field comprehensive design problem based on electric vibration-temperature-structure decoupling, and the multi-physical-field comprehensive performance index of the motor is formulated;
(3) carrying out sensitivity analysis on motor structure parameters to determine multi-scale size parameters of a key structure of the motor, summarizing a stator modal characteristic analysis expression function cluster taking the motor structure size parameters as variables according to the obtained motor performance parameters, analyzing the motor actuation performance analysis expression function cluster, and analyzing the expression functions of the highest temperature, the maximum temperature difference and the maximum thermal stress of each component;
dimensional parameter variables of the multi-scale structure of the structural component: x ═ X1,x2,x3,······,xk)T；
Stator modal characteristic function cluster: fM＝(fM1,fM2,fM3,······,fMm)T；
Actuation performance function clustering: fA＝(fA1,fA2,fA3,······,fAn)T；
Critical component maximum operating temperature variation function: fT＝(fT1,fT2,fT3,······,fTr)T；
Maximum temperature difference change analytic expression function: fTD＝(fTD,fTD,fTD,······,fTDr)T；
Maximum thermal stress analytic expression function: fS＝(fS1,fS2,fS3,······,fSt)T；
(4) Adopting a weighting set to integrate a stator modal characteristic function, a motor actuating performance parameter function, a temperature field distribution function and a thermal stress function into a single comprehensive optimization target optimization function, wherein a weighting factor lambdaiSatisfy the requirement of
And primary and secondary light and heavy distribution is carried out according to application requirements and optimization targetsDifferent weighting coefficients;
(5) calculating and finding out an optimal solution through an intelligent optimization algorithm;
(6) perfecting the overall design scheme of the motor according to the structural dimension variable of the optimal solution;
(7) drawing a processing diagram of each component of the motor, performing linear cutting on a die, configuring and pasting piezoelectric ceramics, applying pretightening force, welding wires, assembling, testing and determining that the modal characteristics of the stator, the actual actuation performance and the temperature rise performance of the motor and the mechanical strength indexes of key parts are qualified, and then performing scheme shaping and batch production.
In the step (2), the multi-physical-field integrated design based on electric vibration-temperature-structure decoupling includes an electric vibration-structure coupling design, an electric vibration-temperature coupling design and a temperature-structure coupling design, and specifically includes the following steps:
(21) electric vibration-structure coupling design: performing modal analysis and harmonic response analysis on the stator, judging whether the requirements of the modal characteristics of the stator are met, if so, performing finite element transient analysis, designing the actuation performance of the motor, performing the next step, and if not, returning to the step (2);
(22) electric vibration-temperature coupling design: establishing a three-dimensional finite element universe temperature field model of the whole machine by considering the internal thermal-mechanical-electric coupling of the motor and the temperature dependence of motor materials, and performing analysis and calculation on a steady-state temperature field and a transient-state temperature field to complete temperature verification on key parts of the motor;
(23) temperature-structure coupling design: applying the temperature field analysis result of the step (22) as a thermal load, carrying out global steady-state and transient thermal stress field analysis on the motor according to corresponding electrical, mechanical and thermal boundary conditions when the motor actually works, and checking the mechanical strength of key parts of the motor.
In the step (2), the comprehensive performance indexes of the multiple physical fields comprise stator modal characteristic parameters, motor actuation performance parameters, temperature of key parts of the motor and thermal stress.
In the step (21), the electric vibration-structure coupling design comprises the following specific steps:
(A1) determining the size parameters of the motor structure, and establishing a multi-scale solid model of the finite element structure of the whole machine in consideration of the contact boundary conditions of the clamping and the stator and the rotor;
(B1) carrying out modal sensitivity analysis on the stator, and inducing the key dimension parameters of the structural component influencing the modal characteristics of the stator;
(C1) preliminarily determining excitation frequency according to the modal frequency of the stator, and applying excitation voltage to perform stator response analysis;
(D1) calculating the normal displacement amplitude and the tangential displacement amplitude of the stator driving foot under the contact state of the stator and the rotor;
(E1) constructing an analytical model of the average thrust of the motor:
wherein, FavRepresenting the average thrust of the motor; fpIndicating the applied pretension; mu.sv,μsRespectively representing the viscous friction coefficient and the static friction coefficient of a contact interface of the stator and the rotor;
representing equivalent rigidity of a micro contact surface of a stator and a rotor, wherein the nonlinear contact force P (d) can be represented by an analytic expression derived from an elastic-plastic contact model; d represents the average normal distance of the rough surface, and T represents one vibration period of the stator; f. ofdRepresents the excitation frequency; u shapenRepresenting the normal displacement amplitude of the stator driving foot in the contact state of the stator and the rotor; u shapetAnd the tangential displacement amplitude of the stator driving foot in the stator and rotor contact state is shown.
In the step (22), the electric vibration-temperature coupling design comprises the following specific steps:
(A2) establishing a complete machine three-dimensional finite element universe temperature field model considering the temperature dependence of motor material parameters;
(B2) calculating the electric field and structure field variables inside the motor under the given initial temperature and excitation voltage;
(C2) calculating losses generated inside the motor in each vibration period, wherein the losses include mechanical vibration loss, dielectric loss of piezoelectric materials and contact loss between the stator and the rotor;
(D2) calculating the temperature of the motor, feeding the calculated motor node temperature value back to the finite element model, updating the material parameters of the motor according to the temperature dependency relationship of the motor material, and performing a new iteration solution to realize the electric vibration-temperature coupling analysis of the motor;
(E2) carrying out iterative solution according to the steps until a set temperature difference threshold value is met;
(F2) and (3) according to the calculated motor temperature field distribution and the temperature limit requirement of the motor, checking whether the motor meets the temperature design requirement, if so, performing the next temperature-decoupling coupling design, and if not, returning to the step (2).
In the step (3), the method further comprises determining a basic constraint condition of the function as: the actuating performance is higher than the original design FA＞FAOMechanical strength above design performance limit requirement FS＞FSOTemperature below design performance limit requirement FT,FTD＜FTR。
In the step (5), a hybrid intelligent optimization algorithm is adopted to search a global optimal solution of a single comprehensive optimization objective optimization function, and the size of a structural component with overall optimal motor comprehensive performance is optimally designed; the intelligent optimization algorithm comprises a genetic algorithm, a simulated annealing algorithm, a particle swarm algorithm and an immune algorithm.
According to the technical scheme, the multi-physical-field coupling design method of the linear ultrasonic motor decouples the multi-physical-field coupling design problem of the electric vibration-temperature-structure of the linear ultrasonic motor into three double-coupling design problems of electric vibration-structure, electric vibration-temperature and temperature-structure coupling design, and compromises the design requirements and the calculation efficiency; when the multi-physical field analysis is carried out inside the motor, the thermo-mechanical-electric coupling effect is fully considered, and compared with the existing multi-physical field analysis process, the calculation accuracy of each performance index is greatly improved; the influence of the multi-scale size parameters of the motor structure on the vibration mode of the stator, the actuating performance of the motor, the mechanical strength and the temperature rise is comprehensively considered in the basic design and the optimized design of the motor, and the scientific reasonability of the motor structure size optimized design target group is obviously improved.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a flow chart of the electrical vibration-structure coupling design of the motor of the present invention;
FIG. 3 is a flow chart of the electric vibration-temperature coupling design of the motor of the present invention;
FIG. 4 is a flow chart of the present invention for the design of multi-scale size refinement optimization.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1 to 4, the method for comprehensively designing multiple physical fields of a linear ultrasonic motor in the present embodiment specifically includes the following steps:
s1: selecting a stator configuration, preliminarily summarizing basic performance indexes of the linear ultrasonic motor to be designed and limitations such as volume, temperature and mechanical strength according to actual application occasions and requirements of the motor and rated parameters of the motor, and selecting a proper stator configuration;
s2: the method comprises the following steps of (1) preliminarily designing a motor structure, decoupling an electric vibration-temperature-structure coupling design problem into three double-coupling design problems of electric vibration-structure design, electric vibration-temperature design and temperature-structure design by analyzing a working principle of a linear ultrasonic motor and a coupling relation between an internal electric field, a temperature field and a structure field of the linear ultrasonic motor, realizing compromise of calculation precision and operation efficiency, preliminarily designing a macroscopic structure size parameter of the motor by taking an application requirement as a target, and reasonably selecting and matching structural member materials;
s21: the electric vibration-structure coupling design of the motor, as shown in fig. 2, specifically includes the following steps:
establishing a multi-scale entity model of a finite element structure of the whole machine by using finite element commercial software including but not limited to ANSYS software, wherein the boundary conditions of clamping and stator-rotor contact are considered, a fine-scale fine model is established by using entity units for a stator, a clamping part, a driving part and a friction strip, a micro-scale fine model is established for a stator-rotor contact interface by using a node moving method, and a macro-scale integral model is established for a linear motion platform (rotor) by using integral units;
carrying out modal sensitivity analysis on the stator, inducing the key dimension parameters of the structural component influencing the modal characteristics of the stator, and preliminarily determining the excitation frequency f according to the modal frequency of the statord；
The stator is subjected to harmonic response analysis by combining rated parameters, and the normal displacement amplitude U of the stator driving foot under the contact state of the stator and the rotor is calculatednAnd tangential displacement amplitude UtAnd the following motor average thrust F deduced by a stator/rotor microcosmic contact model and a coulomb stick-slip friction model is combinedavThe analytical model (2) is based on a multi-scale structural parameter X ═ X (X) of the structural component1,x2,x3,······,xk)TAs a variable, for rated output speed vrThe lower actuating performance is designed
Wherein, FpIndicating applied pretension, μv,μsRespectively representing the viscous friction coefficient and the static friction coefficient of the contact interface of the stator and the rotor,
in order to represent equivalent rigidity of the stator and the rotor microcosmic contact surfaces, the nonlinear contact force P (d) can be represented by an analytic expression derived by an elastic-plastic contact model, d represents the average normal distance of a rough surface, and T represents one vibration period of a stator;
the performance of the motor is emphasized by the design requirements, including but not limited to maximum thrust FP(X) maximum thrust-weight ratio FW(X), Power Density FD(X), efficiency FE(X)。
S22: the electric vibration-temperature coupling design of the motor is shown in fig. 3, and the specific steps are as follows:
establishing a complete machine three-dimensional finite element global temperature field model considering the temperature dependence of the motor material parameters by using finite element commercial software including but not limited to ANSYS software, and calculating electric field and structural field variables inside the motor under the given initial temperature and excitation voltage: electric field vector E, displacement vector u, mechanical strain vector S, mechanical stress vector T, and electrical displacement vector D.
Calculating the losses generated inside the machine during each vibration cycle, including the mechanical vibration losses QmDielectric loss Q of piezoelectric materialdAnd contact loss (sum of friction loss and ultrasonic impact loss) Q between the stator and the movercThe three losses can be calculated by the following three equations:
wherein, Vp,VsRespectively representing the total volume of the piezoelectric ceramic component and the metal elastic matrix in the stator, Q representing the mechanical quality factor of the piezoelectric ceramic, csExpressing the damping coefficient, U, of the metal substrateiDenotes the amplitude of the metal base unit node in the i direction, tan δ denotes the dielectric loss factor of the piezoelectric ceramic, α denotes the heat distribution factor of the heat generated by the friction loss and the ultrasonic impact loss, respectively, on the side of the contact surface with respect to the driving foot of the stator, and FfThe friction force between the stator and the rotor is shown, e is a collision recovery coefficient, and m is the mass of the stator driving foot.
Calculating the mechanical vibration loss QmDielectric loss Q of piezoelectric materialdAs a body heat load, the contact loss Q between the stator and the movercAs a surface heat source treatment, the following motor is further usedAnd iteratively calculating the temperature of the motor by using a heat transfer equation and a heat transfer boundary condition, feeding the calculated node temperature value back to the finite element model, updating material parameters of the motor according to the temperature dependency relationship of the material of the motor, and performing a new iteration solution to realize the electric vibration-temperature coupling analysis of the motor.
Where ρ represents the material density, CpDenotes a material specific heat capacity, k denotes a thermal conductivity, h denotes a thermal convection coefficient, V denotes a motor volume, and S denotes a total surface area of a contact portion of a motor surface with air.
And carrying out iterative solution according to the steps until a set temperature difference threshold value is met, then checking whether the motor meets the temperature design requirement according to the calculated motor temperature field distribution and the temperature limit requirement of the motor, if so, carrying out the next temperature-decoupling coupling design, and if not, returning to the step S3 for redesign.
The temperature distribution of the motor is optimized according to different practical application occasions and different working states by selecting different components, including but not limited to the maximum temperature rise F of the piezoelectric ceramicsTp(X), maximum temperature rise of the Metal matrix FTm(X), maximum temperature rise of driving foot FTm(X), maximum temperature difference F of piezoelectric ceramicsTpD(X), maximum temperature difference F of metal matrixTmD(X), maximum temperature difference of driving foot FTmD(X)。
S23: the temperature-structure coupling design of the motor comprises the following specific steps:
and taking the temperature field result calculated in the step S22 as a thermal load, and meanwhile, paying attention to the fact that a unit conversion tool of a finite element is utilized to convert a thermal unit into a structural unit corresponding to the thermal unit, so that analysis can be continuous and stable in two solving domains of the thermal and the structure, the smooth application of the temperature load on the structure can be realized, an electrical boundary condition is applied to the motor according to rated electrical parameters of the motor, harmonic response analysis is carried out on the stator, the thermal stress distribution condition of each part of the motor is obtained, whether the motor meets the requirement of mechanical strength design is checked according to the mechanical strength limit of the key part of the motor, if the requirement is met, the next step of fine optimization design of the structural size of the motor is carried out, and if the requirement is not met.
The mechanical strength of each component of the motor is optimized according to different practical application occasions and working states, including but not limited to the maximum thermal stress F of the piezoelectric ceramicssp(X) maximum thermal stress F of the holding membersc(X), maximum thermal stress of driving foot Fsd(X)。
S3: the method comprises the steps of performing structure multi-scale size refinement optimization design based on an intelligent algorithm, as shown in FIG. 4, summarizing key size parameters to be optimized through preliminary design of a motor structure, then performing simulation calculation according to electric vibration-temperature-structure decoupling motor internal multi-physical fields, and establishing a response surface regression model between a motor response variable and a structure size design variable by combining with a central composite test design, so as to realize high precision and high calculation efficiency of the optimization model;
determining the basic constraint conditions of the function as follows: the actuating performance is higher than the original design FA＞FAOMechanical strength above design performance limit requirement FS＞FSOTemperature below design performance limit requirement FT,FTD＜FTR(ii) a Adopting a weighting set to integrate a stator modal characteristic function, a motor actuating performance parameter function, a temperature field distribution function and a thermal stress function into a single comprehensive optimization target optimization function, wherein a weighting factor lambdaiSatisfy the requirement of
And different weighting coefficients are distributed according to the application requirements and the optimization target primary and secondary.
S4: a hybrid intelligent optimization algorithm is adopted to search a global optimal solution of a single comprehensive optimization target optimization function G, and the size of a structural component with overall optimal motor comprehensive performance is optimally designed:
an optimal solution is searched by adopting a hybrid intelligent optimization algorithm, and the global optimization capability and the convergence speed are improved; the intelligent optimization algorithm comprises a genetic algorithm, a simulated annealing algorithm, a particle swarm algorithm and an immune algorithm.
S5: perfecting the overall design scheme of the motor according to the optimal structural parameters, properly adjusting the structural size design according to the processing technology of the ultrasonic motor, comparing the indexes of the motor, such as the actuation performance, the temperature rise, the mechanical strength and the like, which are optimally adjusted with the indexes of the original design scheme, if the expected target is not reached, performing the optimal design again by adjusting the weighting factors, and if the expected performance improvement effect is reached, determining the design scheme;
s6: drawing a processing diagram of each component of the motor, performing linear cutting on a die, configuring and pasting piezoelectric ceramics, applying pretightening force, welding wires, assembling, testing and determining that the modal characteristics of the stator, the actual actuation performance and the temperature rise performance of the motor and the mechanical strength indexes of key parts are qualified, and then performing scheme shaping and batch production.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (8)
1. A linear ultrasonic motor multi-physical field comprehensive design method is characterized by comprising the following steps:
(1) according to the actual application occasion and the requirement of the motor and the rated parameters of the motor, the basic performance index of the linear ultrasonic motor to be designed is summarized, and a proper stator configuration is selected;
(2) through analyzing the working principle of the linear ultrasonic motor and the coupling relation between the internal electric field, the temperature field and the structural field of the linear ultrasonic motor, the multi-physical-field design problem of the motor is converted into a multi-physical-field comprehensive design problem based on electric vibration-temperature-structure decoupling, and the multi-physical-field comprehensive performance index of the motor is formulated;
(3) carrying out sensitivity analysis on structural parameters of the motor, determining multi-scale size parameters of a key structure of the motor, and summarizing a stator modal characteristic analytic expression function cluster taking the structural parameters of the motor as variables, a motor actuation performance analytic expression function cluster, and maximum temperature, maximum temperature difference and maximum thermal stress analytic expression functions of all components according to a motor multi-physical field analysis result based on electric vibration-temperature-structure decoupling;
(4) adopting a weighting set to integrate a stator modal characteristic function, a motor actuating performance parameter function, a temperature field distribution function and a thermal stress function into a single comprehensive optimization target optimization function, wherein a weighting factor lambdaiSatisfy the requirement of
Different weighting coefficients are distributed according to application requirements and optimization targets;
(5) calculating and finding out an optimal solution through an intelligent optimization algorithm;
(6) perfecting the overall design scheme of the motor according to the structural dimension variable of the optimal solution;
(7) drawing a processing drawing of each component of the motor, setting indexes to be qualified, shaping the scheme and carrying out batch production.
2. The linear ultrasonic motor multi-physical field design method according to claim 1, characterized in that: in the step (2), the electric vibration-temperature-structure decoupling multi-physics field comprehensive design comprises an electric vibration-structure coupling design, an electric vibration-temperature coupling design and a temperature-structure coupling design, and specifically comprises the following steps:
(21) electric vibration-structure coupling design: performing modal analysis and harmonic response analysis on the stator, judging whether the requirements of the modal characteristics of the stator are met, if so, performing finite element transient analysis, designing the actuation performance of the motor, performing the next step, and if not, returning to the step (2);
(22) electric vibration-temperature coupling design: considering the internal thermal-mechanical-electrical coupling of the motor and the temperature dependence of motor materials, establishing a three-dimensional finite element global temperature field model of the whole machine, and performing analysis and calculation on a steady-state temperature field and a transient-state temperature field to complete temperature verification on key parts of the motor;
(23) temperature-structure coupling design: applying the temperature field analysis result of the step (22) as a thermal load, carrying out global steady-state and transient thermal stress field analysis on the motor according to corresponding electrical, mechanical and thermal boundary conditions when the motor actually works, and checking the mechanical strength of key parts of the motor.
3. The linear ultrasonic motor multi-physical field design method according to claim 1, characterized in that: in the step (2), the comprehensive performance indexes of the multiple physical fields comprise stator modal characteristic parameters, motor actuation performance parameters, temperature of key parts of the motor and thermal stress.
4. The comprehensive design method for multiple physical fields of the linear ultrasonic motor according to claim 2, is characterized in that: in the step (21), the electric vibration-structure coupling design specifically comprises the following steps:
(A1) determining the size parameters of the motor structure, and establishing a multi-scale solid model of the finite element structure of the whole machine in consideration of the contact boundary conditions of the clamping and the stator and the rotor;
(B1) carrying out modal sensitivity analysis on the stator, and inducing the key dimension parameters of the structural component influencing the modal characteristics of the stator;
(C1) preliminarily determining excitation frequency according to the modal frequency of the stator, and applying excitation voltage to perform stator response analysis;
(D1) calculating the normal displacement amplitude and the tangential displacement amplitude of the stator driving foot under the contact state of the stator and the rotor;
(E1) constructing an analytical model of the average thrust of the motor:
wherein, FavRepresenting the average thrust of the motor; fpIndicating the applied pretension; mu.sv,μsRespectively representing the viscous friction coefficient and the static friction coefficient of a contact interface of the stator and the rotor;
representing equivalent rigidity of a micro contact surface of a stator and a rotor, wherein the nonlinear contact force P (d) can be represented by an analytic expression derived from an elastic-plastic contact model; d represents the average normal distance of the rough surface, and T represents one vibration period of the stator; f. ofdRepresents the excitation frequency; u shapenRepresenting the normal displacement amplitude of the stator driving foot in the contact state of the stator and the rotor; u shapetAnd the tangential displacement amplitude of the stator driving foot in the stator and rotor contact state is shown.
5. The comprehensive design method for multiple physical fields of the linear ultrasonic motor according to claim 2, is characterized in that: in the step (22), the electric vibration-temperature coupling design comprises the following specific steps:
(A2) establishing a complete machine three-dimensional finite element universe temperature field model considering the temperature dependence of motor material parameters;
(B2) calculating the electric field and structure field variables inside the motor under the given initial temperature and excitation voltage;
(C2) calculating losses generated inside the motor in each vibration period, wherein the losses include mechanical vibration loss, dielectric loss of piezoelectric materials and contact loss between the stator and the rotor;
(D2) calculating the temperature of the motor, feeding the calculated motor node temperature value back to the finite element model, updating the material parameters of the motor according to the temperature dependency relationship of the motor material, and performing a new iteration solution to realize the electric vibration-temperature coupling analysis of the motor;
(E2) carrying out iterative solution according to the steps until a set temperature difference threshold value is met;
(F2) and (3) according to the calculated motor temperature field distribution and the temperature limit requirement of the motor, checking whether the motor meets the temperature design requirement, if so, performing the next temperature-structure coupling design, and if not, returning to the step (2).
6. The comprehensive design method for multiple physical fields of the linear ultrasonic motor according to claim 1, characterized in that:
structural component multiscale structural parameter variables: x ═ X1,x2,x3,……,xk)T；
Stator modal characteristic function cluster: fM＝(fM1,fM2,fM3,……,fMm)T；
Actuation performance function clustering: fA＝(fA1,fA2,fA3,……,fAn)T；
Critical component maximum operating temperature variation function: fT＝(fT1,fT2,fT3,……,fTr)T；
Maximum temperature difference change analytic expression function: fTD＝(fTD,fTD,fTD,……,fTDr)T；
Maximum thermal stress analytic expression function: fS＝(fS1,fS2,fS3,……,fSt)T。
7. The method for comprehensively designing multiple physical fields of the linear ultrasonic motor according to claim 6, wherein the method comprises the following steps: in the step (3), determining the basic constraint conditions of the function as follows: the actuating performance is higher than the original design FA＞FAOMechanical strength above design performance limit requirement FS＞FSOTemperature below design performance limit requirement FT,FTD＜FTR。
8. The comprehensive design method for multiple physical fields of the linear ultrasonic motor according to claim 1, characterized in that: in the step (5), a hybrid intelligent optimization algorithm is adopted to search a global optimal solution of a single comprehensive optimization objective optimization function, and the size of a structural component with overall optimal motor comprehensive performance is optimally designed; the intelligent optimization algorithm comprises a genetic algorithm, a simulated annealing algorithm, a particle swarm algorithm and an immune algorithm.
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