Dynamic analysis of cylindrical type ultrasonic motor based on Euler

Circular wobbling motion of the stator head of a cylindrical type ultrasonic motor was simplified as revolution of a rigid body about a fixed point, by considering the motion and structural characteristics of the stator. The dynamic model of the stator was established by using the Euler angles and Euler dynamics theory. The complete dynamic model of the motor was derived on the basis of the integrated model of the stator and the rotor dynamics equations. The startup and shutdown dynamic response characteristics of the prototype motor with 30 mm of diameter were simulated utilizing the fourth order Runge-Kutta numerical method. Then the startup response characteristics of the prototype motor was experimented. The experimental measurement shows that the simulation results of the startup dynamic response characteristics were validated by the experimental results of the prototype motor.