中文摘要：

以半解析环形单元对旋转型行波超声电动机的定子进行径向离散，基于动态子结构和Guyan缩聚的思想提出考虑齿的影响的方法并得到了定子的半解析动力学模型，该模型在保证精度的同时达到缩减计算量的目的。分析定子上的齿和转子的三维接触驱动机理，结合转子的动力学描述得到了整个旋转型行波超声电动机较为完整的数学模型。由此给出的仿真结果与电动机的输出特性试验吻合，分析了齿对电动机特性的影响，并证明界面力沿径向的分量导致的能量损耗不可忽视，进一步指出若在接触模型中忽略界面上的径向滑动造成的损耗，其性能仿真与试验结果则有较大偏差。该模型较真实地反应电动机的特性，可用于旋转型行波超声电动机性能的精确预测和结构参数设计。

英文摘要：

A kind of semi-analytical annular element is applied to mesh the inner web and outer annular plates of the stator of traveling wave type rotary ultrasonic motor （TRUM）. In addition each tooth on the top of stator is modeled and its dynamical contribution to the substrate is calculated based on both dynamical substructure theory and Guyan method. Then the semi-analytical model of the stator is derived and possesses enough precision with the reduced DOFs. Furthermore the three-dimensional contact mechanism is investigated between the teeth of stator and friction layer glued on the bottom of rotor. Then the completed analytical model of the motor is derived with the integration of dynamic description of the motor＇s rotor. The corresponding characteristic simulations by the proposed model are found to be in good agreement with the data from experiments. And it is investigated how geometric height of the teeth affects the characteristics of the motor. Finally it is pointed out that the slip friction in the radial direction leads to considerable waste of energy at the contact interface. On the other hand the measured characteristics could be inaccurate if the three dimension contact mechanism is simplified in the dynamic model. Thus the proposed model proves to be more accurate and can be used for the characteristics simulation and optimization design of the motor system.