机电集成静电谐波传动偏心分析及控制

发布时间：2018-09-03 19:46

【摘要】：机电集成静电谐波微传动系统是一种微型复合传动系统。当定子顺序通电后,由于电场力的作用,使转子柔轮产生周期性的弹性变形,当电场旋转一周后,转子会朝旋转电场相反的方向转动一定的角度,从而实现低速输出。柔轮偏心对机电集成静电谐波传动系统的动力学特性和工作性能有重要影响,因此柔轮偏心对于传动系统动态特性的影响规律及控制研究具有重要的理论意义。本文以施加电场力的柔轮为对象,根据弹性理论,推导了柔轮变形能、动能以及定子和柔轮之间电场能表达式,分析了偏心对柔轮静力学性能的影响规律,研究了偏心对机电集成静电谐波传动系统驱动力矩的影响规律。结果表明,系统偏心使驱动力矩明显下降。利用机械动力学理论,建立了柔轮的机电耦合动力学模型,在此基础上,分析了偏心对柔轮自由振动的影响规律。利用模态叠加法,分析了偏心对简谐激励下系统受迫振动的影响规律。结果表明,偏心使得系统的固有频率上升,振动幅值增加。完成了柔轮偏心控制系统的数学建模,确定了PID控制系统的控制参数,对比分析了开环与闭环控制系统的控制性能。建立了偏心柔轮控制系统的Simulink仿真模型,模拟了阶跃工作电压激励下的偏心控制过程,结果表明,采用PID控制器可以达到偏心调节的预期效果。
[Abstract]:Electromechanical Integrated Electrostatic Harmonic micro-transmission system is a kind of micro-composite transmission system.When the stator is electrified sequentially,due to the action of electric field force,the rotor flexspline produces periodic elastic deformation.When the electric field rotates one week,the rotor will rotate a certain angle in the opposite direction of the rotating electric field,thus realizing the low-speed output. The dynamic characteristics and working performance of the electro-integrated electrostatic harmonic drive system are important, so the influence of the eccentricity of the flexible wheel on the dynamic characteristics of the drive system and the control research are of great theoretical significance.
Based on the elastic theory, the expressions of the deformation energy, kinetic energy and the electric field energy between the stator and the flexible wheel are derived. The influence of eccentricity on the static and mechanical properties of the flexible wheel is analyzed. The influence of eccentricity on the driving torque of the Electromechanical Integrated Electrostatic Harmonic Drive system is studied. The driving torque is obviously decreased by the heart.
Based on the mechanical dynamics theory, the mechanical-electrical coupling dynamic model of the flexible wheel is established, and the influence of eccentricity on the free vibration of the flexible wheel is analyzed. Add.
The mathematical modeling of the eccentric control system of flexible wheel is completed, the control parameters of the PID control system are determined, and the control performance of the open-loop and closed-loop control systems is compared and analyzed. The Simulink simulation model of the eccentric flexible wheel control system is established, and the eccentric control process under the excitation of step working voltage is simulated. The results show that the PID controller can be used. Achieve the desired effect of eccentric adjustment.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH132.43

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