电磁谐波活齿传动系统输出力矩及动力学特性研究
[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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