消隙齿轮系统精密装配关键参数及其动力学性能影响研究

发布时间：2018-09-19 16:07

【摘要】：消隙齿轮传动系统在精密机构及仪器,尤其在惯性稳定平台上的运用非常广泛。随着惯性稳定平台向高精度,高可靠性以及抗恶劣工作环境的方向发展,保证并且提高消隙齿轮系统传动精度及其动态性能指标的要求更加迫切。实践表明,装配参数及相关误差等因素可能引发惯性稳定平台精密传动装置机械谐振失稳和其他动力学问题,从而导致动态性能难以控制甚至不可控制。基于此,本文开展了对消隙齿轮传动系统动力学特性以及影响其动力学特性的诸多因素的研究。从理论上分析了装配参数及误差对系统动态特性的影响机理,建立了含多种非线性因素的消隙齿轮传动系统动力学模型,深入研究了装配参数及相关误差对系统动态特性的影响规律,提出并研制了一套基于虚拟仪器的消隙齿轮动态特性测试与试验验证平台,并验证了论文相关研究结论的正确性。本文主要研究内容及创新性工作如下。(1)提出装配参数,动力学参数以及动力学性能之间的三个映射系概念,初步分析了各装配参数对消隙齿轮系统动力学性能的影响机理。定义了装配参数,动力学参数及动力学性能之间的映射,分析了从装配参数到系统动力学性能的映射关系,在此基础上,逐一分析了装配预紧力,过盈配合量与间隙,平行度偏差以及其他参数对消隙齿轮系统动力学性能的影响机理。(2)详细分析了消隙齿轮系统啮合传动原理,建立了消隙齿轮系统非线性动力学模型,研究了消隙齿轮系统的传动特性以及相关因素的动力学性能影响规律。以普通直齿齿轮啮合原理为依据,结合消隙齿轮系统的啮合特点,分析了消隙齿轮系统各齿轮之间的啮合情况,提出一种齿轮副单双齿啮合区的确定方法,建立了含多时变参数的消隙齿轮传动系统非线性动力学模型,分析了摩擦、阻尼、扭簧刚度、扭簧预紧力等因素对消隙齿轮传动系统动力学特性的影响。(3)以单级消隙齿轮传动系统为研究对象,深入研究了轴承装配参数对消隙齿轮系统动力学性能的影响。提出并建立了消隙齿轮等效啮合刚度模型,在齿轮单啮合点啮合刚度计算公式的基础上,推导出消隙齿轮综合啮合刚度计算公式;在考虑轴承装配过盈量与轴承预紧力的基础上,提出了一种简化的角接触球轴承接触刚度算法,推导了轴承径向刚度计算公式并给出了其算法流程;建立了消隙齿轮转子-轴承系统的横向-扭转动力学微分方程,分析并得到了轴承装配过盈量与预紧力系统频率特性的影响规律。(4)建立了消隙齿轮系统刚柔耦合动力学模型,并深入研究了部分装配参数及相关误差对消隙齿轮系统动力学性能的影响。以齿轮三维接触动力学理论为依据,利用ADAMS/Flex的柔性体有限元建模技术,建立了基于ADAMS/View的消隙齿轮传动系统刚柔耦合动力学模型,提高了消隙齿轮动力学建模与分析的精度;采用基于扫频激励的虚拟试验方法,详细分析了各装配参数及相关误差对单级消隙齿轮传动系统的振动特性和频率特性的影响,得到了扭簧预紧力、轴间距及轴平行度偏差等因素对系统动态特性的影响规律。(5)以某消隙齿轮减速器为试验对象,运用基于虚拟仪器的的系统动态特性测试方法,开展了消隙齿轮系统动力学性能测试与试验研究。研制了一台基于消隙齿轮传动的减速装置,搭建了一套基于Lab View的消隙齿轮传动系统动态性能测试平台,提出了一种启动电压和谐振频率的测试方法,检验了测试平台的测试稳定性,并利用此平台验证了部分研究结论的正确性。
[Abstract]:Clearance-eliminating gear transmission system is widely used in precision mechanisms and instruments, especially in inertial stabilization platforms. With the development of inertial stabilization platforms towards high precision, high reliability and anti-harsh working environment, it is more urgent to ensure and improve the transmission accuracy and dynamic performance of clearance-eliminating gear system. The mechanical resonance instability and other dynamic problems of the precision transmission of the inertia stabilized platform may be caused by the assembly parameters and related errors, which makes the dynamic performance difficult to control or even uncontrollable. The influence mechanism of assembly parameters and errors on the dynamic characteristics of the system is analyzed theoretically. The dynamic model of the backlash gear transmission system with various nonlinear factors is established. The influence of assembly parameters and related errors on the dynamic characteristics of the system is studied deeply. A set of backlash gear based on virtual instrument is proposed and developed. The main contents and innovative work of this paper are as follows. (1) The concepts of three mapping systems among assembly parameters, dynamic parameters and dynamic performance are proposed, and the influence of assembly parameters on the dynamic performance of clearance gear system is analyzed. The mapping between assembly parameters, dynamic parameters and dynamic performance is defined, and the mapping relationship from assembly parameters to system dynamic performance is analyzed. On this basis, the influence of assembly pre-tightening force, interference fit and clearance, parallelism deviation and other parameters on dynamic performance of backlash-eliminating gear system is analyzed one by one. (2) The meshing transmission principle of clearance-reducing gear system is analyzed in detail, the nonlinear dynamic model of clearance-reducing gear system is established, and the transmission characteristics of clearance-reducing gear system and the influence law of related factors on dynamic performance are studied. In this paper, a method for determining the meshing region of single and double teeth in backlash gear system is proposed. A nonlinear dynamic model of backlash-eliminating gear transmission system with multiple time-varying parameters is established. The effects of friction, damping, torsion spring stiffness and pre-tightening force on the dynamic characteristics of backlash-eliminating gear transmission system are analyzed. The influence of bearing assembly parameters on the dynamic performance of the clearance-reducing gear system is studied in detail. The equivalent meshing stiffness model of the clearance-reducing gear is proposed and established. Based on the meshing stiffness formula of the single meshing point of the gear, the meshing stiffness formula of the clearance-reducing gear is deduced. On the basis of bearing assembly interference and bearing pre-tightening force, a simplified contact stiffness algorithm for angular contact ball bearings is proposed, the calculation formula of bearing radial stiffness is derived and its algorithm flow is given; the lateral-torsional dynamic differential equation of clearance-eliminating gear rotor-bearing system is established, and the bearing assembly interference is analyzed and obtained. (4) The rigid-flexible coupling dynamic model of clearance gear system is established, and the influence of some assembly parameters and relative errors on the dynamic performance of clearance gear system is studied. A rigid-flexible coupling dynamic model of backlash gear transmission system based on ADAMS/View is established to improve the accuracy of modeling and analysis of backlash gear dynamics. The influence of pre-tightening force of torsion spring, shaft spacing and shaft parallelism deviation on the dynamic characteristics of the system is obtained. (5) Taking a clearance-reducing gear reducer as the test object, the dynamic performance test and experimental research of the clearance-reducing gear system are carried out by using the system dynamic characteristic test method based on virtual instrument. A set of dynamic performance test platform of backlash gear transmission system based on Lab View is built. A test method of starting voltage and harmonic frequency is put forward. The test stability of the test platform is checked and the validity of some research conclusions is verified by this platform.
【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】：2014
【分类号】：TH132.41

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