精密柔索传动机理与设计方法研究

发布时间：2018-03-08 13:47

本文选题：精密指向机构　切入点：柔索传动　出处：《国防科学技术大学》2013年博士论文　论文类型：学位论文

【摘要】：精密指向机构作为光电侦察与火控、精确制导武器、高分辨率对地观测、机器人等系统的重要组成部分,正在朝着高精度、高带宽、轻量化、灵巧型的方向发展。精密指向机构作为一类典型的伺服系统,主要由驱动电机、机械传动和执行机构等构成,其中机械传动特性对精密指向机构的指向精度、工作带宽以及结构紧凑性等具有重要影响。传统齿轮传动、链传动以及带传动等传动方式由于存在固有的间隙、摩擦等非线性因素,制约了精密指向机构伺服性能的进一步提高,迫切需要探索具有更高传动精度和响应特性的新型传动方式。与传统的齿轮、链、带等传动方式相比,精密柔索传动具有高精度、低空回、无摩擦、无需润滑、结构紧凑的特点,在精密指向机构中具有良好的应用前景。本文通过深入地研究精密柔索传动的工作机理、机构设计、特性分析、性能仿真以及典型应用等问题,初步形成精密柔索传动机构设计与特性分析的方法,为精密柔索传动技术在新一代高精度、轻量化精密指向机构中的应用提供技术支持。论文的研究工作主要包含以下几个部分:1、针对机械传动对伺服性能的影响问题,研究了传动刚度、传动空回以及传动摩擦等非线性因素对伺服系统的控制精度、工作带宽、稳定性能等的影响机理,通过分析改善伺服性能的技术途径,阐明了开展新型传动方式研究的必要性。2、针对柔索传动的工作机理与设计问题,研究了柔索传动的典型构型、工作特点、传动机理以及关键设计问题。通过分析柔索传动中绳轮相互作用机理,分析了弯曲刚度以及非线性摩擦等因素对传动方程的影响;提出了一种基于横向一致性、绳槽匹配以及同绳异槽缠绕三原则的无干涉柔索传动绳槽设计方法,可从原理上避免传动过程中的刮擦和磨损问题;在进一步分析柔索传动的典型失效形式的基础上,较系统地提出了柔索传动设计的准则与一般步骤。3、针对类直齿轮型柔索传动系统,推导了包括传动力矩、传动空回、传动刚度、纵向振动固有频率、横向振动固有频率五方面关键传动特性的理论公式;分析了预紧力、传动包角、摩擦系数、弯曲刚度、绳轮直径等主要设计参数与传动特性之间的关系;通过对钢丝绳拉伸模量、绳轮摩擦系数、柔索传动空回等特性进行测试,验证了理论分析结果的正确性,初步形成了柔索传动机构特性分析的方法,为开展柔索传动系统的设计提供了理论依据。4、针对复杂柔索传动机构难以采用数学解析方法进行分析的问题,研究了基于多体动力学软件Recurdyn的柔索传动特性仿真方法。分析了采用相对节点法进行钢丝绳刚柔混合建模的方法,提出了采用多微段轴套力模拟钢丝绳、采用刚性接触模拟绳轮相互作用的柔索传动仿真分析方法,可以对其传动力矩和传动精度特性进行仿真,所作工作为复杂柔索传动机构特性分析提供了一种有效的仿真手段。5、针对某型轻量化光电吊舱严格的尺寸、重量以及精度要求,以所研究的柔索传动设计与特性分析方法为指导,提出了一种基于柔索传动的超轻型光电吊舱设计方案,详细研究了超轻型光电吊舱设计的过程与关键参数确定方法;通过研制实验样机,测试了其频率响应特性和位置随动误差。结果表明基于柔索传动技术的超轻型光电吊舱的位置随动精度优于0.5mrad,实现了预期的设计目标。6、针对某型导引头大离轴角、小型化的设计要求,以所研究的柔索传动设计与特性分析方法为指导,对一种基于类直齿轮和类锥齿轮复合的差动型柔索传动导引头设计方案进行了深入研究;分析了差动型柔索传动导引头机构的结构构型、传动系统设计、动力学耦合与特性仿真等问题,制作了试验样机,对样机的测试表明,所设计差动型柔索传动导引头可较好的满足大离轴角、轻量化等要求,也进一步验证了所研究方法的有效性。
[Abstract]:Precise pointing mechanism as photoelectric reconnaissance and fire control, precision guided weapons, high-resolution earth observation, an important part of robot system, is developed with high precision, high bandwidth, lightweight, compact and precise direction. Pointing mechanism as a typical servo system is mainly composed of a drive motor, a mechanical transmission and actuator, the mechanical transmission characteristics of the precision pointing mechanism pointing accuracy, has an important influence on working bandwidth and compact structure. The traditional gear drive, chain drive and belt drive way due to its inherent clearance, friction and other nonlinear factors that restrict the further improvement of the performance of the servo precision pointing mechanism, urgent to explore new type of transmission mode has higher transmission accuracy and response characteristics. With the traditional gear chain, compared with transmission, cable transmission with high precision Precision, low back, no friction, no lubrication, the characteristics of compact structure, has a good application prospect in precision pointing mechanism. Through in-depth study of the working mechanism, precision cable transmission mechanism design, performance analysis, performance simulation and typical application problems, the initial formation of method design and characteristics analysis of transmission the precise mechanism of cable, cable transmission technology in a new generation of high precision for precision soft, lightweight application in precision pointing mechanism to provide technical support. The research work of this thesis mainly includes the following parts: 1, aiming at the problem of mechanical transmission on the servo performance, the transmission stiffness, control precision, air transmission back and drive the nonlinear factors of the servo system working bandwidth, the influence mechanism of stable performance, technical approach to improve the servo performance through the analysis, elaborated on the development of new transmission mode The necessity of.2, according to the working mechanism of cable transmission and design problems, typical configuration, cable transmission work characteristics, transmission mechanism and key design problems. Through the analysis of cable transmission rope wheel interaction mechanism, the effect of bending stiffness and nonlinear friction on the transmission equation is proposed; a horizontal consistency based on groove matching and interference free cable rope groove design method with different slot transmission rope winding three principle, can in principle to avoid scratching the transmission process and wear problems; based on further analysis of typical cable transmission failure form, is proposed cable transmission design criteria and general steps of.3, according to the kind of spur gear type cable transmission system is deduced including transmission torque, transmission space, transmission stiffness, longitudinal vibration, lateral vibration inherent frequency five The theoretical formula of key transmission characteristics; analysis of preload, transmission angle, friction coefficient, bending stiffness, the relationship between the rope wheel diameter of the main design parameters and the transmission characteristics of the wire rope tensile modulus; the rope wheel, friction coefficient, cable transmission backlash characteristics were tested to verify the results of theoretical analysis, the initial formation of the method of characteristic analysis of transmission mechanism of the flexible cable, provides a theoretical basis for the design of.4 cable transmission system, aiming at the complicated cable transmission mechanism to analyze the problem by using mathematical method, the simulation method of transmission characteristics of multi-body dynamics software Recurdyn based on the analysis of the cable. The method of steel wire rope rigid flexible model using the relative node method, proposes a multi micro segment sleeve simulation of wire rope, rope wheel contact simulation interaction simulation using rigid cable transmission Analysis method can be used to simulate the transmission torque characteristics and the transmission accuracy, the work provides an effective means for the simulation of.5 complex cable characteristic analysis of transmission mechanism for a certain type of lightweight optical pod strict size, weight and accuracy requirements, based on the analysis and design method of cable transmission characteristics as a guide, put forward a kind of flexible cable transmission and ultra light optoelectronic pod design which based on a detailed study of the process and the key parameters of the ultra light photoelectric pod design determination method; by developing experimental prototype, the frequency response and random position error test. Based on the results of ultra light optoelectronic pod position of cable transmission technology with dynamic accuracy is better than 0.5mrad,.6 is expected to achieve the design goal, for a certain type of seeker big off-axis angle, the design requirements of miniaturization, based on the cable and transmission design The analysis method as a guide, a kind of differential type flexible spur gear and bevel gear transmission cable composite seeker design scheme based on in-depth research; configuration of differential type cable transmission seeker mechanism is analyzed, the design of the drive system, coupled with the characteristics of dynamics simulation, a prototype that shows that the testing of the prototype, the design of differential type cable transmission seeker can better meet the requirements of large off-axis angle, light weight, but also show the validity of this method.

【学位授予单位】：国防科学技术大学
【学位级别】：博士
【学位授予年份】：2013
【分类号】：TH132

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