电磁谐波活齿传动系统输出力矩及动力学特性研究

发布时间：2018-09-16 22:08

【摘要】：机电集成电磁谐波活齿传动系统集传动、驱动和控制于一体,可以实现谐波传动技术、电磁驱动技术、活齿传动技术和控制技术的有机结合,是一种新型机电集成广义复合传动装置。该传动系统中没有高速旋转的部件,惯性力小,可以获得更快的响应速度,能够实现大减速比运动传递和低速大扭矩的动力输出。本文运用电磁学原理研究了气隙磁场随柔轮变形的变化规律,引入气隙形状因子,针对磁路饱和及未饱和两种情况分别给出了形状因子的计算公式,进行了等效气隙分析,给出了气隙磁通密度和柔轮单位面积上电磁力的计算公式。根据圆柱壳体非胀大变形理论,将电磁谐波活齿传动系统中的关键零件——柔轮简化为圆柱薄壳,建立了电磁力作用下柔轮的受力分析模型,推导出柔轮在电磁力作用下的位移表达式,揭示了柔轮位移随系统参数的变化规律。根据弹性力学原理,建立了电磁谐波活齿传动系统的受力分析模型,对传动过程中各零件的受力进行了分析,在此基础上推导出系统输出力矩公式,与摩擦式电磁谐波传动的输出力矩进行了对比,分析了系统参数对输出力矩的影响规律。结果表明:电磁谐波活齿传动系统的输出力矩大约是摩擦式电磁谐波传动的输出力矩的7倍。运用机械振动理论,建立了电磁谐波活齿传动系统的机电耦合动力学方程,推导出系统自由振动的频率方程和模态函数表达式,对径向激励和切向激励作用下系统的频响函数进行了求解,分析了机电参数对系统自由振动和受迫振动的影响规律。研究了电磁谐波活齿传动系统柔轮发生偏心时系统的振动特性。给出了系统偏心状态下的电磁力表达式,推导出偏心状态下传动系统中柔轮的模态函数公式,分析了系统机电参数变化对偏心柔轮的自由振动和受迫响应的影响规律,对有无偏心时柔轮的固有频率和振动模态进行了对比分析。完成了样机的参数设计、加工和振动特性测试。应用ANSYS Workbench有限元分析软件对传动系统中柔轮的变形和振动模态进行了仿真分析,对样机进行了固有频率测试,对比了仿真、实验和理论计算结果;仿真结果与理论值最大误差为10.18%,实验结果与理论值最大误差为16.57%;实验、仿真和理论值基本一致,验证了理论分析的正确性。
[Abstract]:The electromechanical integrated electromagnetic harmonic movable tooth drive system integrates transmission, drive and control. It can realize the organic combination of harmonic transmission technology, electromagnetic drive technology, movable tooth drive technology and control technology. It is a new type of electromechanical integrated generalized compound transmission device. There are no high-speed rotating components in the transmission system, so the inertial force is small, the response speed can be obtained faster, and the large deceleration ratio motion transfer and the power output of low speed and large torque can be realized. In this paper, the variation law of air gap magnetic field with flexible wheel deformation is studied by means of electromagnetic principle. The air gap shape factor is introduced, and the calculation formulas of the shape factor are given for the two cases of magnetic circuit saturation and unsaturation respectively, and the equivalent air gap analysis is carried out. The formulas for calculating the flux density of air gap and the electromagnetic force per unit area of flexible wheel are given. According to the theory of non-flatulence deformation of cylindrical shell, the key component of electromagnetic harmonic movable tooth transmission system-flexure wheel is simplified into a thin cylindrical shell, and the force analysis model of flexwheel under the action of electromagnetic force is established. The displacement expression of flexible wheel under the action of electromagnetic force is deduced, and the variation rule of flexible wheel displacement with system parameters is revealed. According to the principle of elastic mechanics, the force analysis model of electromagnetic harmonic movable tooth transmission system is established, and the force of each part in the transmission process is analyzed. On this basis, the output torque formula of the system is deduced. Compared with the output torque of the friction electromagnetic harmonic drive, the influence of system parameters on the output torque is analyzed. The results show that the output torque of electromagnetic harmonic movable tooth transmission system is about 7 times of that of friction electromagnetic harmonic transmission system. Based on the theory of mechanical vibration, the electromechanical coupling dynamic equation of electromagnetic harmonic movable tooth transmission system is established, and the frequency equation and modal function expression of the free vibration of the system are derived. The frequency response function of the system under radial and tangential excitation is solved, and the influence of mechanical and electrical parameters on the free and forced vibration of the system is analyzed. The vibration characteristics of flexible wheel with eccentricity in electromagnetic harmonic movable tooth drive system are studied. The expression of electromagnetic force in eccentricity of the system is given, the formula of modal function of flexible wheel in eccentric state is deduced, and the influence of the change of mechanical and electrical parameters of the system on the free vibration and forced response of eccentric flexure wheel is analyzed. The natural frequency and vibration mode of flexible wheel with or without eccentricity are compared and analyzed. The parameters design, machining and vibration characteristic test of the prototype are completed. The deformation and vibration modes of flexible wheel in transmission system are simulated and analyzed by ANSYS Workbench finite element analysis software. The natural frequency of the prototype is tested, and the results of simulation, experiment and theoretical calculation are compared. The maximum error between the simulation results and the theoretical values is 10.18 and the maximum error between the experimental results and the theoretical values is 16.57.The experimental, simulation and theoretical values are basically consistent with each other, which verifies the correctness of the theoretical analysis.
【学位授予单位】：燕山大学
【学位级别】：博士
【学位授予年份】：2015
【分类号】：TH132.41

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