Two-Mode Resonator and Contact Model for Standing Wave Piezomotor

The paper presents a model for a standing wave piezoelectric motor with a two bending mode resonator. The resonator is modelled using Hamilton’s principle and the Rayleigh-Ritz method. The contact is modelled using the Lagrange Multiplier method under the assumption of slip and it is shown how to solve the set of differential-algebraic equations. Detailed simulations show resonance frequencies as function of the piezoelement’s position, tip trajectories and contact forces. The paper demonstrates that contact stiffness and stick should be included in such a model to obtain physically realistic results and a method to include stick is suggested.