Modeling and Sensitivity Analysis of Stick-Slip Piezoelectric Rotary Inertia Motor

Azadkhani, Mohammad; Karimi, Fatemeh; Ghafarirad, Hamed; Zareinezhad, Mohammad

Modeling and Sensitivity Analysis of Stick-Slip Piezoelectric Rotary Inertia Motor

Document Type : Original Article

Authors

Mohammad Azadkhani ¹

Fatemeh Karimi ¹

Hamed Ghafarirad ¹

Mohammad Zareinezhad ²

¹ Mechanical Engineering Department, Amirkabir University of Technology

² New Technologies Research Center, Amirkabir University of Technology

Abstract

This paper presents a comprehensive investigation about piezoelectric inertia motors. The study progressed with the meticulous fabrication of a rotational piezomotor, allowing for empirical data collection. A mathematical model was then developed, and system parameters were identified. A comparative analysis revealed significant improvements in model accuracy when Lu-Gre friction was employed, reducing the root mean square error (RSME) by approximately six-fold compared to previous models using Coulomb friction. Following model validation, a sensitivity analysis assessed the impact of parameter variations—specifically voltage, frequency, friction coefficient, and duty ratio—on the motor's performance. It provides valuable insights into how the physical parameters influence the motor's movement. Results indicated that the duty ratio had the most substantial effect on rotor speed, followed by frequency and voltage, while an inverse relationship was found between the friction coefficient and rotational speed.

Keywords

Rotary Piezomotor

Stick-Slip Motion

Sensitivity Analysis

Compliant Mechanism

Subjects