---
_id: '9876'
abstract:
- lang: eng
  text: Piezoelectric inertia motors use the inertia of a body to drive it by means
    of a friction contact in a series of small steps. It has been shown previously
    in theoretical investigations that higher velocities and smoother movements can
    be obtained if these steps do not contain phases of stiction (''stick-slip`` operation),
    but use sliding friction only (''slip-slip`` operation). One very promising driving
    option for such motors is the superposition of multiple sinusoidal signals or
    harmonics. In this contribution, the theoretical results are validated experimentally.
    In this context, a quick and reliable identification process for parameters describing
    the friction contact is proposed. Additionally, the force generation potential
    of inertia motors is investigated theoretically and experimentally. The experimental
    results confirm the theoretical result that for a given maximum frequency, a signal
    with a high fundamental frequency and consisting of two superposed sine waves
    leads to the highest velocity and the smoothest motion, while the maximum motor
    force is obtained with signals containing more harmonics. These results are of
    fundamental importance for the further development of high-velocity piezoelectric
    inertia motors.
author:
- first_name: Matthias
  full_name: Hunstig, Matthias
  last_name: Hunstig
- first_name: Tobias
  full_name: Hemsel, Tobias
  id: '210'
  last_name: Hemsel
- first_name: Walter
  full_name: Sextro, Walter
  id: '21220'
  last_name: Sextro
citation:
  ama: 'Hunstig M, Hemsel T, Sextro W. High-velocity operation of piezoelectric inertia
    motors: experimental validation. <i>Archive of Applied Mechanics</i>. 2014:1-9.
    doi:<a href="https://doi.org/10.1007/s00419-014-0940-0">10.1007/s00419-014-0940-0</a>'
  apa: 'Hunstig, M., Hemsel, T., &#38; Sextro, W. (2014). High-velocity operation
    of piezoelectric inertia motors: experimental validation. <i>Archive of Applied
    Mechanics</i>, 1–9. <a href="https://doi.org/10.1007/s00419-014-0940-0">https://doi.org/10.1007/s00419-014-0940-0</a>'
  bibtex: '@article{Hunstig_Hemsel_Sextro_2014, title={High-velocity operation of
    piezoelectric inertia motors: experimental validation}, DOI={<a href="https://doi.org/10.1007/s00419-014-0940-0">10.1007/s00419-014-0940-0</a>},
    journal={Archive of Applied Mechanics}, publisher={Springer Berlin Heidelberg},
    author={Hunstig, Matthias and Hemsel, Tobias and Sextro, Walter}, year={2014},
    pages={1–9} }'
  chicago: 'Hunstig, Matthias, Tobias Hemsel, and Walter Sextro. “High-Velocity Operation
    of Piezoelectric Inertia Motors: Experimental Validation.” <i>Archive of Applied
    Mechanics</i>, 2014, 1–9. <a href="https://doi.org/10.1007/s00419-014-0940-0">https://doi.org/10.1007/s00419-014-0940-0</a>.'
  ieee: 'M. Hunstig, T. Hemsel, and W. Sextro, “High-velocity operation of piezoelectric
    inertia motors: experimental validation,” <i>Archive of Applied Mechanics</i>,
    pp. 1–9, 2014.'
  mla: 'Hunstig, Matthias, et al. “High-Velocity Operation of Piezoelectric Inertia
    Motors: Experimental Validation.” <i>Archive of Applied Mechanics</i>, Springer
    Berlin Heidelberg, 2014, pp. 1–9, doi:<a href="https://doi.org/10.1007/s00419-014-0940-0">10.1007/s00419-014-0940-0</a>.'
  short: M. Hunstig, T. Hemsel, W. Sextro, Archive of Applied Mechanics (2014) 1–9.
date_created: 2019-05-20T13:08:08Z
date_updated: 2019-05-20T13:08:43Z
department:
- _id: '151'
doi: 10.1007/s00419-014-0940-0
keyword:
- Inertia motor
- High velocity
- Stick-slip motor
- Slip-slip operation
- Friction parameter identification
language:
- iso: eng
page: 1-9
publication: Archive of Applied Mechanics
publication_identifier:
  issn:
  - 0939-1533
publisher: Springer Berlin Heidelberg
status: public
title: 'High-velocity operation of piezoelectric inertia motors: experimental validation'
type: journal_article
user_id: '55222'
year: '2014'
...
---
_id: '9802'
abstract:
- lang: eng
  text: It has been shown previously that ``slip-slip'' operation of piezoelectric
    inertia motors allows higher velocities and smoother movements than classic ``stick-slip''
    operation. One very promising driving option is to use a superposition of multiple
    sinusoidal signals. In this contribution, previous theoretical results are validated
    experimentally. The results confirm the theoretical result that for a given maximum
    frequency, usually defined by the actuator characteristics, a signal with high
    fundamental frequency and consisting of two superposed sine waves leads to the
    highest velocity and the smoothest motion. This result is of fundamental importance
    for the further development of high-velocity piezoelectric inertia motors.
author:
- first_name: Matthias
  full_name: Hunstig, Matthias
  last_name: Hunstig
- first_name: Tobias
  full_name: Hemsel, Tobias
  id: '210'
  last_name: Hemsel
- first_name: Walter
  full_name: Sextro, Walter
  id: '21220'
  last_name: Sextro
citation:
  ama: 'Hunstig M, Hemsel T, Sextro W. High-Velocity Slip-Slip Operation of Piezoelectric
    Inertia Motors - Experimental Validation. In: <i>Proceedings of 10th International
    Workshop on Piezoelectric Materials and Applications and 8th Energy Harvesting
    Workshop</i>. Hannover, Germany; 2013:16-18.'
  apa: Hunstig, M., Hemsel, T., &#38; Sextro, W. (2013). High-Velocity Slip-Slip Operation
    of Piezoelectric Inertia Motors - Experimental Validation. In <i>Proceedings of
    10th International Workshop on Piezoelectric Materials and Applications and 8th
    Energy Harvesting Workshop</i> (pp. 16–18). Hannover, Germany.
  bibtex: '@inproceedings{Hunstig_Hemsel_Sextro_2013, place={Hannover, Germany}, title={High-Velocity
    Slip-Slip Operation of Piezoelectric Inertia Motors - Experimental Validation},
    booktitle={Proceedings of 10th International Workshop on Piezoelectric Materials
    and Applications and 8th Energy Harvesting Workshop}, author={Hunstig, Matthias
    and Hemsel, Tobias and Sextro, Walter}, year={2013}, pages={16–18} }'
  chicago: Hunstig, Matthias, Tobias Hemsel, and Walter Sextro. “High-Velocity Slip-Slip
    Operation of Piezoelectric Inertia Motors - Experimental Validation.” In <i>Proceedings
    of 10th International Workshop on Piezoelectric Materials and Applications and
    8th Energy Harvesting Workshop</i>, 16–18. Hannover, Germany, 2013.
  ieee: M. Hunstig, T. Hemsel, and W. Sextro, “High-Velocity Slip-Slip Operation of
    Piezoelectric Inertia Motors - Experimental Validation,” in <i>Proceedings of
    10th International Workshop on Piezoelectric Materials and Applications and 8th
    Energy Harvesting Workshop</i>, 2013, pp. 16–18.
  mla: Hunstig, Matthias, et al. “High-Velocity Slip-Slip Operation of Piezoelectric
    Inertia Motors - Experimental Validation.” <i>Proceedings of 10th International
    Workshop on Piezoelectric Materials and Applications and 8th Energy Harvesting
    Workshop</i>, 2013, pp. 16–18.
  short: 'M. Hunstig, T. Hemsel, W. Sextro, in: Proceedings of 10th International
    Workshop on Piezoelectric Materials and Applications and 8th Energy Harvesting
    Workshop, Hannover, Germany, 2013, pp. 16–18.'
date_created: 2019-05-13T14:06:14Z
date_updated: 2022-01-06T07:04:21Z
department:
- _id: '151'
keyword:
- Piezoelectric inertia motor
- stick-slip motor
- driving signal
- velocity
- smoothness
language:
- iso: eng
page: 16-18
place: Hannover, Germany
publication: Proceedings of 10th International Workshop on Piezoelectric Materials
  and Applications and 8th Energy Harvesting Workshop
status: public
title: High-Velocity Slip-Slip Operation of Piezoelectric Inertia Motors - Experimental
  Validation
type: conference
user_id: '55222'
year: '2013'
...
---
_id: '9804'
abstract:
- lang: eng
  text: This contribution provides a systematic investigation and performance comparison
    of different modes of operation for piezoelectric inertia drives. The movement
    of these motors is classically assumed to consist of steps involving stiction
    and sliding, resulting in the term ``stick-slip drives''. In the first part of
    this contribution it has been found that using ideal driving signals, ``slip-slip''
    operation without phases of stiction allows very high velocities, while the maximum
    velocity is limited principally in stick-slip operation. In this part it is shown
    that slip-slip operation is also suitable for use with real actuators, driven
    with frequency-limited versions of the ideal signals presented in part I. The
    motional performance of the motor as well as its wear and the required electric
    power are investigated for operation with different signals. It is found that
    for high velocity inertia motors it is recommendable to use actuators with large
    stroke and to drive them with a signal consisting of two harmonics at a high fundamental
    frequency, a result that is supported by similar setups implemented experimentally
    by other authors. Using Lanczos' \sigma factors to calculate the frequency-limited
    excitation signals instead of standard Fourier series additionally increases the
    motor performance significantly. The results help motor designers to choose the
    appropriate mode of operation and to optimise the motor parameters for their individual
    applications.
author:
- first_name: Matthias
  full_name: Hunstig, Matthias
  last_name: Hunstig
- first_name: Tobias
  full_name: Hemsel, Tobias
  id: '210'
  last_name: Hemsel
- first_name: Walter
  full_name: Sextro, Walter
  id: '21220'
  last_name: Sextro
citation:
  ama: 'Hunstig M, Hemsel T, Sextro W. Stick-slip and slip-slip operation of piezoelectric
    inertia drives - Part II: Frequency-limited excitation. <i>Sensors and Actuators
    A: Physical</i>. 2013;200:79-89. doi:<a href="https://doi.org/10.1016/j.sna.2012.11.043">10.1016/j.sna.2012.11.043</a>'
  apa: 'Hunstig, M., Hemsel, T., &#38; Sextro, W. (2013). Stick-slip and slip-slip
    operation of piezoelectric inertia drives - Part II: Frequency-limited excitation.
    <i>Sensors and Actuators A: Physical</i>, <i>200</i>, 79–89. <a href="https://doi.org/10.1016/j.sna.2012.11.043">https://doi.org/10.1016/j.sna.2012.11.043</a>'
  bibtex: '@article{Hunstig_Hemsel_Sextro_2013, title={Stick-slip and slip-slip operation
    of piezoelectric inertia drives - Part II: Frequency-limited excitation}, volume={200},
    DOI={<a href="https://doi.org/10.1016/j.sna.2012.11.043">10.1016/j.sna.2012.11.043</a>},
    journal={Sensors and Actuators A: Physical}, author={Hunstig, Matthias and Hemsel,
    Tobias and Sextro, Walter}, year={2013}, pages={79–89} }'
  chicago: 'Hunstig, Matthias, Tobias Hemsel, and Walter Sextro. “Stick-Slip and Slip-Slip
    Operation of Piezoelectric Inertia Drives - Part II: Frequency-Limited Excitation.”
    <i>Sensors and Actuators A: Physical</i> 200 (2013): 79–89. <a href="https://doi.org/10.1016/j.sna.2012.11.043">https://doi.org/10.1016/j.sna.2012.11.043</a>.'
  ieee: 'M. Hunstig, T. Hemsel, and W. Sextro, “Stick-slip and slip-slip operation
    of piezoelectric inertia drives - Part II: Frequency-limited excitation,” <i>Sensors
    and Actuators A: Physical</i>, vol. 200, pp. 79–89, 2013.'
  mla: 'Hunstig, Matthias, et al. “Stick-Slip and Slip-Slip Operation of Piezoelectric
    Inertia Drives - Part II: Frequency-Limited Excitation.” <i>Sensors and Actuators
    A: Physical</i>, vol. 200, 2013, pp. 79–89, doi:<a href="https://doi.org/10.1016/j.sna.2012.11.043">10.1016/j.sna.2012.11.043</a>.'
  short: 'M. Hunstig, T. Hemsel, W. Sextro, Sensors and Actuators A: Physical 200
    (2013) 79–89.'
date_created: 2019-05-13T14:09:31Z
date_updated: 2022-01-06T07:04:21Z
department:
- _id: '151'
doi: 10.1016/j.sna.2012.11.043
intvolume: '       200'
keyword:
- Inertia motor
language:
- iso: eng
page: 79 - 89
publication: 'Sensors and Actuators A: Physical'
quality_controlled: '1'
status: public
title: 'Stick-slip and slip-slip operation of piezoelectric inertia drives - Part
  II: Frequency-limited excitation'
type: journal_article
user_id: '55222'
volume: 200
year: '2013'
...
---
_id: '9805'
abstract:
- lang: eng
  text: 'Piezoelectric inertia motors, also known as ``stick--slip drives'''', use
    the inertia of a body to drive it in small steps by means of a friction contact.
    While these steps are classically assumed to involve stiction and sliding, the
    motors can also operate in ``slip--slip'''' mode without any phase of static friction.
    This contribution provides a systematic investigation and performance comparison
    of different stick--slip and slip--slip modes of operation. Different criteria
    for comparing the motional performance of inertia motors are defined: Steady state
    velocity, smoothness of motion, and start-up time. Using the example of a translational
    inertia motor excited by an ideal displacement signal, it is found that the maximum
    velocity reachable in stick--slip operation is limited principally, while continuous
    slip--slip operation allows very high velocities. For the investigated driving
    signals, the motor velocity is proportional to the square root of the actuator
    stroke. The motor performance with these ideal signals defines an upper boundary
    for the performance of real motors.'
author:
- first_name: Matthias
  full_name: Hunstig, Matthias
  last_name: Hunstig
- first_name: Tobias
  full_name: Hemsel, Tobias
  id: '210'
  last_name: Hemsel
- first_name: Walter
  full_name: Sextro, Walter
  id: '21220'
  last_name: Sextro
citation:
  ama: 'Hunstig M, Hemsel T, Sextro W. Stick-slip and slip-slip operation of piezoelectric
    inertia drives - Part I: Ideal Excitation. <i>Sensors and Actuators A: Physical</i>.
    2013;200:90-100. doi:<a href="https://doi.org/10.1016/j.sna.2012.11.012">10.1016/j.sna.2012.11.012</a>'
  apa: 'Hunstig, M., Hemsel, T., &#38; Sextro, W. (2013). Stick-slip and slip-slip
    operation of piezoelectric inertia drives - Part I: Ideal Excitation. <i>Sensors
    and Actuators A: Physical</i>, <i>200</i>, 90–100. <a href="https://doi.org/10.1016/j.sna.2012.11.012">https://doi.org/10.1016/j.sna.2012.11.012</a>'
  bibtex: '@article{Hunstig_Hemsel_Sextro_2013, title={Stick-slip and slip-slip operation
    of piezoelectric inertia drives - Part I: Ideal Excitation.}, volume={200}, DOI={<a
    href="https://doi.org/10.1016/j.sna.2012.11.012">10.1016/j.sna.2012.11.012</a>},
    journal={Sensors and Actuators A: Physical}, author={Hunstig, Matthias and Hemsel,
    Tobias and Sextro, Walter}, year={2013}, pages={90–100} }'
  chicago: 'Hunstig, Matthias, Tobias Hemsel, and Walter Sextro. “Stick-Slip and Slip-Slip
    Operation of Piezoelectric Inertia Drives - Part I: Ideal Excitation.” <i>Sensors
    and Actuators A: Physical</i> 200 (2013): 90–100. <a href="https://doi.org/10.1016/j.sna.2012.11.012">https://doi.org/10.1016/j.sna.2012.11.012</a>.'
  ieee: 'M. Hunstig, T. Hemsel, and W. Sextro, “Stick-slip and slip-slip operation
    of piezoelectric inertia drives - Part I: Ideal Excitation.,” <i>Sensors and Actuators
    A: Physical</i>, vol. 200, pp. 90–100, 2013.'
  mla: 'Hunstig, Matthias, et al. “Stick-Slip and Slip-Slip Operation of Piezoelectric
    Inertia Drives - Part I: Ideal Excitation.” <i>Sensors and Actuators A: Physical</i>,
    vol. 200, 2013, pp. 90–100, doi:<a href="https://doi.org/10.1016/j.sna.2012.11.012">10.1016/j.sna.2012.11.012</a>.'
  short: 'M. Hunstig, T. Hemsel, W. Sextro, Sensors and Actuators A: Physical 200
    (2013) 90–100.'
date_created: 2019-05-13T14:10:34Z
date_updated: 2022-01-06T07:04:21Z
department:
- _id: '151'
doi: 10.1016/j.sna.2012.11.012
intvolume: '       200'
keyword:
- Inertia motor
- Stick--slip drive
- Mode of operation
- Performance indicator
- Velocity maximization
- Actuator stroke
language:
- iso: eng
page: 90 - 100
publication: 'Sensors and Actuators A: Physical'
quality_controlled: '1'
status: public
title: 'Stick-slip and slip-slip operation of piezoelectric inertia drives - Part
  I: Ideal Excitation.'
type: journal_article
user_id: '55222'
volume: 200
year: '2013'
...
---
_id: '9784'
abstract:
- lang: eng
  text: Piezoelectric inertia motors use the inertia of a body to drive it by means
    of a friction contact in a series of small steps. These motors can operate in
    ``stick-slip'' or ``slip-slip'' mode, with the fundamental frequency of the driving
    signal ranging from several Hertz to more than 100 kHz. To predict the motor characteristics,
    a Coulomb friction model is sufficient in many cases, but numerical simulation
    requires microscopic time steps. This contribution proposes a much faster simulation
    technique using one evaluation per period of the excitation signal. The proposed
    technique produces results very close to those of timestep simulation for ultrasonics
    inertia motors and allows direct determination of the steady-state velocity of
    an inertia motor from the motion profile of the driving part. Thus it is a useful
    simulation technique which can be applied in both analysis and design of inertia
    motors, especially for parameter studies and optimisation.
author:
- first_name: Matthias
  full_name: Hunstig, Matthias
  last_name: Hunstig
- first_name: Tobias
  full_name: Hemsel, Tobias
  last_name: Hemsel
- first_name: Walter
  full_name: Sextro, Walter
  last_name: Sextro
citation:
  ama: 'Hunstig M, Hemsel T, Sextro W. An efficient simulation technique for high-frequency
    piezoelectric inertia motors. In: <i>Ultrasonics Symposium (IUS), 2012 IEEE International</i>.
    ; 2012:277-280. doi:<a href="https://doi.org/10.1109/ULTSYM.2012.0068">10.1109/ULTSYM.2012.0068</a>'
  apa: Hunstig, M., Hemsel, T., &#38; Sextro, W. (2012). An efficient simulation technique
    for high-frequency piezoelectric inertia motors. In <i>Ultrasonics Symposium (IUS),
    2012 IEEE International</i> (pp. 277–280). <a href="https://doi.org/10.1109/ULTSYM.2012.0068">https://doi.org/10.1109/ULTSYM.2012.0068</a>
  bibtex: '@inproceedings{Hunstig_Hemsel_Sextro_2012, title={An efficient simulation
    technique for high-frequency piezoelectric inertia motors}, DOI={<a href="https://doi.org/10.1109/ULTSYM.2012.0068">10.1109/ULTSYM.2012.0068</a>},
    booktitle={Ultrasonics Symposium (IUS), 2012 IEEE International}, author={Hunstig,
    Matthias and Hemsel, Tobias and Sextro, Walter}, year={2012}, pages={277–280}
    }'
  chicago: Hunstig, Matthias, Tobias Hemsel, and Walter Sextro. “An Efficient Simulation
    Technique for High-Frequency Piezoelectric Inertia Motors.” In <i>Ultrasonics
    Symposium (IUS), 2012 IEEE International</i>, 277–80, 2012. <a href="https://doi.org/10.1109/ULTSYM.2012.0068">https://doi.org/10.1109/ULTSYM.2012.0068</a>.
  ieee: M. Hunstig, T. Hemsel, and W. Sextro, “An efficient simulation technique for
    high-frequency piezoelectric inertia motors,” in <i>Ultrasonics Symposium (IUS),
    2012 IEEE International</i>, 2012, pp. 277–280.
  mla: Hunstig, Matthias, et al. “An Efficient Simulation Technique for High-Frequency
    Piezoelectric Inertia Motors.” <i>Ultrasonics Symposium (IUS), 2012 IEEE International</i>,
    2012, pp. 277–80, doi:<a href="https://doi.org/10.1109/ULTSYM.2012.0068">10.1109/ULTSYM.2012.0068</a>.
  short: 'M. Hunstig, T. Hemsel, W. Sextro, in: Ultrasonics Symposium (IUS), 2012
    IEEE International, 2012, pp. 277–280.'
date_created: 2019-05-13T13:20:17Z
date_updated: 2022-01-06T07:04:20Z
department:
- _id: '151'
doi: 10.1109/ULTSYM.2012.0068
keyword:
- friction
- ultrasonic motors
- Coulomb friction model
- efficient simulation technique
- friction contact
- high-frequency piezoelectric inertia motor
- motor characteristics prediction
- numerical simulation
- slip-slip mode
- stick-slip mode
- time-step simulation
- ultrasonic inertia motor
- Acceleration
- Acoustics
- Actuators
- Computational modeling
- Friction
- Numerical models
- Steady-state
language:
- iso: eng
page: 277-280
publication: Ultrasonics Symposium (IUS), 2012 IEEE International
publication_identifier:
  issn:
  - 1948-5719
quality_controlled: '1'
status: public
title: An efficient simulation technique for high-frequency piezoelectric inertia
  motors
type: conference
user_id: '55222'
year: '2012'
...