The traditional dynamic models of linear ultrasonic motor (LUSM) do not consider the influences of the preload force and the roughness of the contact surface of stator/slider on the performance of the motor, which unable to effectively describe the dynamic behavior of the motor. In this paper, a dynamic model is established for a V-shaped LUSM considering the influence of the preload force and the roughness of the contact surface of stator/slider on the dynamic behavior of the motor. The contact mechanism of the stator/slider and the influence of preload force on the stator parameters are studied and analyzed. The effectiveness of the developed model is verified by comparing with the analytical model that ignored the effect of the preload force on the stator parameters. The experimental results shown that the developed model can accurately reflect the dynamic characteristics of the motor, and the model will be helpful for the function prediction and precise control of the motor.

传统的线性超声电机（LUSM）动力学模型没有考虑预紧力和定子/滑块接触面粗糙度对电机性能的影响，无法有效描述电机的动态行为。在本文中，考虑了预紧力和定子/滑块接触表面粗糙度对电机动态行为的影响，建立了 V 形 LUSM 的动力学模型。研究和分析了定子/滑块的接触机理和预紧力对定子参数的影响。通过与忽略预紧力对定子参数影响的分析模型进行比较，验证了所开发模型的有效性。