中文摘要：

通过分析旋转型行波超声电机接触界面上的相对运动趋势和动力传递机理,指出定、转子存在径向滑动的现象,由此建立了考虑径向滑动的三维接触模型,并提出描述径向滑动趋势大小的指标—摩擦角,在此基础上结合定子与转子的动力学描述得到了整个电机的数学模型.文章通过仿真得到了界面上切向接触作用力的分布规律和滑动摩擦导致的能量损失情况,分析了径向滑移对电机输出特性的影响,结果与实验吻合.而以往文献的接触模型由于忽略了界面上的径向滑动造成的损耗,其性能仿真与实验结果有较大偏差,由此证明了径向滑移对电机机械性能的影响是不容忽视的.

英文摘要：

It is pointed out that the slip friction in the radial direction exists by the analyses of the corresponding moving tendency and the principle of power transmission at the contact interface of traveling wave type rotary ultrasonic motor（TRUM）. Then the contact model is built, which calculates the slip friction in the radial direction. At the same time the friction angle is originally defined, which can describe the extent of the slip friction in the radial direction. So the model representing the complete motor is derived by the integration of the models of stator, rotor and contact interface. Finally the distributed contact forces and the corresponding power losses at the interface are simulated. Moreover the authors investigate the effect from the slip friction in the radial direction on mechanical performance and the simulation by this paper excellently conforms to the results from experiments. However the measured performance could not be fitted well if the three dimension contact mechanism was simplified as is shown in some recent literatures. So it is turned out that slip friction in the radial direction strongly affects mechanical characteristics of TRUM.