主动平衡减速器的设计理论及控制策略研究

发布时间：2018-04-07 17:54

本文选题：主动平衡　切入点：邻接矩阵　出处：《北京交通大学》2017年硕士论文

【摘要】：目前,机械产品正朝着轻量化和高速化的方向发展,由此产生的惯性作用越来越显著。惯性作用的增加使机械在运转过程中的动力性能下降,带来振动和噪声的加剧,为了减小或消除这种不利影响,改善机械的动力性能,以适应机械高速化和精密化的需求,探求进一步改善机械动力性能的新方法显得越来越重要。本文以主动平衡减速器为对象,从机构选型、运动学动力学、控制方法和实验等方面展开研究。具体内容包括:1、对主动平衡减速器的型综合进行了研究,确定了主动平衡减速器的选型原则,并研究了轮系与轮系的连接关系,提出了能够描述基本轮系组合关系的齿轮连接邻接矩阵表达方式。2、建立了主动平衡减速器的运动学及动力学模型,从动力学性能和振动响应两方面研究了其平衡原理和设计方法,并分别以四杆机构和六杆机构为待平衡机构进行了主动平衡减速器的优化设计。3、建立了主动平衡减速器的机电耦合模型,设计了主动平衡减速器的模糊自适应PID控制系统,并对其进行了仿真研究。4、开展了主动平衡减速器系统的实验研究,进行了实验设计,完成了以四杆机构为实验机构的性能实验,得到了不同转速下系统的振动响应和动力学性能,结果验证了主动平衡减速器对系统的动力性能的柔性调节功能。本文从理论、仿真和实验相结合的角度对主动平衡减速器系统进行了研究,验证了其系统的动力性能的柔性调节功能,该研究成果为主动平衡减速器后续的推广以及成果转化提供了理论和实践基础。
[Abstract]:At present, mechanical products are developing in the direction of lightweight and high speed, and the inertial effect is becoming more and more obvious.With the increase of inertia, the dynamic performance of machinery in the process of operation is decreased, and the vibration and noise are aggravated. In order to reduce or eliminate this adverse effect and improve the dynamic performance of machinery, it is necessary to adapt to the demands of high speed and precision of machinery.It is more and more important to explore new methods for further improving mechanical dynamic performance.In this paper, the active balancing reducer is studied from the aspects of mechanism selection, kinematics and dynamics, control methods and experiments.The specific contents include: 1, the type synthesis of active balancing reducer is studied, the selection principle of active balancing reducer is determined, and the connection relationship between gear train and gear train is studied.In this paper, the expression method of gear connection adjacency matrix, which can describe the basic gear train combination relationship, is proposed, and the kinematics and dynamics model of active balancing reducer is established.The balance principle and design method are studied in terms of mechanical properties and vibration response.The optimal design of active balancing reducer is carried out with four-bar mechanism and six-bar mechanism respectively. The electromechanical coupling model of active balancing reducer is established, and the fuzzy adaptive PID control system of active balancing reducer is designed.And the simulation research. 4, the experimental research of the active balancing reducer system, the experimental design, and the performance experiment of the four-bar mechanism are completed.The vibration response and dynamic performance of the system at different rotational speeds are obtained. The results show that the active balancing reducer is flexible in regulating the dynamic performance of the system.In this paper, the active balancing reducer system is studied from the angle of theory, simulation and experiment, and the flexible regulation function of its dynamic performance is verified.The research results provide a theoretical and practical basis for the subsequent extension and transformation of the active balancing reducer.
【学位授予单位】：北京交通大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH132.46

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