机电集成压电谐波传动系统研究

发布时间：2017-12-28 14:05

本文关键词：机电集成压电谐波传动系统研究　出处：《燕山大学》2016年博士论文　论文类型：学位论文

【摘要】：机电集成压电谐波传动系统是一个集压电驱动、谐波传动和活齿传动于一体的新型传动装置,该传动系统克服了传统摩擦式压电电机易磨损、寿命短以及非接触式压电电机输出转矩小的缺点,具有响应速度快、寿命长、低速大转矩、无电磁干扰等优点,在航空航天、生物医学、精密定位和微型机器人等尖端技术领域具有广泛的应用前景。本文分析了机电集成压电谐波传动系统的工作原理。建立了该种传动系统的机电耦合静力学方程,分析了活齿传动系统的工作过程及受力随转角的变化规律以及系统输出转矩随电压等参数的变化规律。研究发现:输出转矩以一特定角度为周期发生周期性波动。在压电学、连续体振动理论和离散体振动理论的基础上,建立了机电集成压电谐波传动系统机电耦合动力学模型,推导了机电耦合自由振动方程,求解了系统的固有频率和模态振型。揭示了系统参数对耦合固有频率的影响规律。分析了不同模态下系统耦合对固有频率的影响规律。研究发现:系统耦合使得驱动部分相近模态固有频率和传动部分全振动模态下的固有频率均发生了变化。针对驱动部分、传动部分以及整体耦合三种情况,建立了机电集成压电谐波传动系统在压电激励下的受迫振动分析方程组。讨论了驱动参数和传动参数对系统耦合受迫振动的影响规律。研究发现:驱动部分参数和传动部分参数对系统受迫振动的影响主要表现在改变受迫振动振幅上。考虑压电陶瓷存在的非线性压电效应和活齿啮合齿数变化引起的非线性效应,建立了机电集成压电谐波传动系统驱动部分和传动部分的非线性动力学模型和方程,采用林滋泰德-庞加莱法推导了弱非线性自由振动和接近共振时受迫振动的非线性近似解,采用摄动法推导了远离共振时受迫振动的非线性近似解。给出了系统的幅频特性、位移响应及其参数影响。研究发现:压电非线性效应和啮合齿数变化引起的非线性对耦合系统的影响显著,活齿啮合齿数对非线性的影响较大。研究了系统参数对机电集成压电谐波传动系统混沌振动的影响,给出了参数变化时系统混沌振动的分岔图,当分岔参数取恒定值时,通过时域图、相图、庞加莱映射图和功率谱图判断了混沌运动的发生情况,揭示了混沌振动产生的条件。设计并研制了机电集成压电谐波传动系统的样机,利用测试系统测得在电压峰峰值为150V时,样机的最大转矩为0.383Nm;利用锤击振动测试系统对样机的固有频率进行测试,试验结果与理论分析最大误差为12.47%,验证了理论分析的正确性。
[Abstract]:Electromechanical integrated piezoelectric harmonic drive system is a new type of piezoelectric driving transmission, harmonic drive and the oscillating tooth drive in one device, the transmission system overcomes the traditional friction type piezoelectric motor is easy to wear, short life and non contact pressure electric motor output torque small shortcomings, has the advantages of fast response, long life, low speed and high torque, no electromagnetic interference, and has wide application prospect in aerospace, biomedical, precision positioning and micro robots and other cutting-edge technology. The working principle of the electromechanical integrated piezoelectric harmonic drive system is analyzed in this paper. The electromechanical coupling static equation of the transmission system is established, and the working process of the movable teeth transmission system and the variation law of the force with the rotation angle are analyzed, as well as the variation rule of the output torque of the system with voltage and other parameters. It is found that the output torque takes a periodic fluctuation at a particular angle. On the basis of piezoelectricity, continuum vibration theory and dispersion vibration theory, the electromechanical coupling dynamic model of electromechanical integrated piezoelectric harmonic drive system is established, and the electromechanical coupling free vibration equation is derived, and the natural frequencies and mode shapes of the system are solved. The influence of the system parameters on the natural frequency of the coupling is revealed. The influence of the system coupling on the natural frequency under different modes is analyzed. It is found that the system coupling makes the natural frequencies of the driving part of the similar modes and the full vibration modes of the transmission part change. For the three cases of driving part, transmission part and integral coupling, the forced vibration analysis equations of electromechanical integrated piezoelectric harmonic drive system under piezoelectric excitation are established. The influence of driving parameters and transmission parameters on the coupled forced vibration of the system is discussed. It is found that the influence of the driving parameters and the driving parameters on the forced vibration of the system is mainly manifested in the change of the amplitude of the forced vibration. Considering the nonlinear effect caused by piezoelectric ceramics have nonlinear piezoelectric effect and tooth meshing tooth number changes, establish the electromechanical integrated piezoelectric harmonic drive system driven nonlinear dynamics model and equations of part and the transmission part, using linzitaide Poincare method to deduce the weakly nonlinear free vibration and the forced vibration of nonlinear near resonance the approximate solution, the perturbation method is derived from nonlinear forced vibration resonance approximation. The amplitude frequency characteristic, the displacement response and the influence of the parameters are given. It is found that the nonlinearity caused by the nonlinear effect of piezoelectric and the number of mesh teeth has a significant impact on the coupling system. The number of teeth engaged in movable teeth has great influence on the nonlinearity. Study on the influence of system parameters on the chaotic vibration of electromechanical integrated piezoelectric harmonic drive system, the bifurcation diagram of chaotic vibration system is presented. The variation of parameters, when the bifurcation parameter from a constant value, through the time domain diagram, phase diagram, Poincare map and the power spectrum of the chaotic motion of the judgment, reveals the chaotic vibration condition. The prototype design and development of the electromechanical integrated piezoelectric harmonic drive system, the test system is measured at the peak voltage is 150V, the maximum torque of the prototype is 0.383Nm; using hammer vibration test system natural frequencies of the prototype test, analysis of test results and the theoretical error is 12.47%, validate the theory analysis.
【学位授予单位】：燕山大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TH139

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