Research On The Optimized Structrual Design And Control Of Giant Magnetorstrictive Inchworm Linear Motor

With the development of modern science and technology, there is an increasing demand for active-materials-drive inchworm linear motor in the field of automotive, aeronautical and astronautic industries in nowadays. This thesis presents a magnetostrictive inchworm linear motor which has the potential to secure a long stroke with heavy load and nano-metric positioning. The design of the magnetostrictive inchworm linear motor is based on inchworm motion and that three giant magnetostrictive actuators (GMA) work as core drive units. In this thesis, the research on the linear motor consists of basic theory, structural optimum design, experiments and control system.In chapter 1, the thesis introduces the state-of-art of magnetostrictive inchworm linear motor, summarizes the type and development of linear motor, and presents the characteristic, application and control method of the magnetostrictive inchworm linear motor.In chapter 2, the thesis introduces the structure and operational principle of permanent magnetic biased GMA and unbiased GMA, and further introduces the structure and operational principle of magnetostrictive inchworm linear motor. The rigidity of linear motor is analyzed by COMSOL. Finally, the structural optimum design is realized.In chapter 3, the control signal of magnetostrictive inchworm linear motor is optimized according to the characteristic of Giant Magnetostrictive Material (GMM). Then, the speed performances, load performances and motion resolutions are checked in experiments and the resulting experimental data are analyzed at the end of the chapter.In the chapter 4, the dynamic model of the magnetostrictive inchworm linear motor is established according to the motor's mechanical structure and characteristic of GMM. The model can simulate the dynamic motion of the linear motor at different input signal and different loading configuration. Finally, the simulating results are compared with the experimental results to validate the dynamic model.In chapter 5, on the basis of research work in chapter 3 and chapter 4, a closed-loop control system is created in an attempt to realize the nano-metric precise positioning. The relative experiments are carried out and the positioning error is discussed.In chapter 6, main work of the thesis is summarized, and the further researches are discussed, finally.