控制式差动无级变速器调速控制的研究

发布时间：2018-10-08 12:03

【摘要】：机械无级变速器一般是靠摩擦力来传递动力的，这样就限制了其调速范围和承载能力。针对这两个问题，我们提出用机械无级变速器去封闭差动周转轮系的两个输入端，形成所谓“控制式差动无级变速器”。这样可以通过周转轮系的差动合成作用，使机械无级变速器的调速范围得以扩大，甚至实现过零调速；或者通过并联系统的功率分流作用，提高整个装置的承载能力，同时实现精密调速。在上述两个问题中，无论解决哪一个，，都可以扩大机械无级变速器的应用范围。控制式差动无级变速器在结构上比较复杂，我们对其进行了运动学分析，给出装置类型的判定依据、传动比和调速范围等公式；该装置在空间结构上存在封闭，有可能导致循环功率的产生，简单分析装置是否存在循环功率的方法以及功率流计算方法；最后对装置的传动效率进行分析，推导出传动功率与装置参数之间的关系式。以前控制式差动无级变速器的调速都是靠调速手柄来进行机械调节，这样既费力又不准确，随着现代化大工业时代的到来，尤其是现代控制技术的发展，在此就提出利用现代控制系统理论建立控制式差动无级变速器的自动调速控制系统。通过对控制式差动无级变速器的结构上进行分析，在理论上对调节函数进行推导得出调速函数的表达式，由于调速函数表达式过于复杂，加上宽V带在调速的过程中有可能打滑或者带的伸张等，用现在控制理论很难实现精确的调速控制，所以利用最小二乘法对实验采样的数据进行拟合，最后得出调速函数多项式形式，为下一步控制理论做基础。在建立后控制系统的调节函数模型后，提出三种总体控制方案，在选择对比后决定采用以固高运动控制器为基础的伺服控制系统这一方案。确定控制方案后搭建控制系统的硬件模型，利用前面所知道的具体参数对编码器、固高控制器、伺服驱动器和伺服电机等硬件进行参数、性能对比选择，最后选择出具体的型号类型，确定硬件系统的组成结构。在硬件系统确定后，在此我们利用Visual C++强大的开发软件功能，根据控制式差动无级变速器在应用中经常用到的实际情况，提出三种调速控制模式，编制出人机对话框。并简单介绍操作程序的操作方法与步骤，在基于固高运动控制器开发出对应于三种控制模式的程序。本文为控制式差动无级变速器的调速控制提供了相对完整的理论分析过程，对其自动化调速的实现具有一定的指导意义。
[Abstract]:Mechanical stepless transmission is usually transmitted by friction, which limits its speed range and bearing capacity. In view of these two problems, we propose to use mechanical stepless transmission to close the two input terminals of differential swing gear train and form the so-called "controlled differential stepless transmission". In this way, the speed range of the mechanical stepless transmission can be expanded or even achieved through the differential synthesis of the swing gear train, or the load carrying capacity of the whole device can be enhanced by the power shunt of the parallel system. At the same time, the precision speed regulation is realized. No matter which one of the above two problems can be solved, the application of mechanical stepless transmission can be expanded. The structure of the controlled differential stepless variable transmission is quite complex. The kinematics analysis is carried out, and the determination basis of the device type, the transmission ratio and the speed regulation range are given, and the device is closed in the space structure. It may lead to the generation of circulating power, simple analysis of whether the device has the method of circulating power and power flow calculation method. Finally, the transmission efficiency of the device is analyzed, and the relationship between transmission power and device parameters is deduced. In the past, the speed regulation of the control differential stepless transmission was controlled by the speed control handle, which was both laborious and inaccurate. With the arrival of the modern industrial age, especially the development of modern control technology, Based on the modern control system theory, the automatic speed regulation control system of the control differential stepless transmission is proposed. Based on the analysis of the structure of the control differential stepless transmission, the expression of the governing function is derived theoretically, because the expression of the governing function is too complicated. In addition, the wide V band may slip or stretch in the course of speed regulation, so it is very difficult to realize the accurate speed control with the present control theory, so the least square method is used to fit the experimental sampling data. Finally, the polynomial form of the governing function is obtained, which is the basis of the next control theory. After the adjustment function model of the post control system is established, three general control schemes are proposed, and the servo control system based on the fixed height motion controller is selected and compared. The hardware model of the control system is built after the control scheme is determined. The parameters of the encoder, the fixed height controller, the servo driver and the servo motor are compared and selected by using the specific parameters previously known. Finally, the specific model type is selected, and the hardware system structure is determined. After the hardware system is determined, we use the powerful development software function of Visual C, according to the actual situation that the control type differential stepless transmission is often used in the application, put forward three kinds of speed regulation control mode, compile the man-machine dialogue frame. The operation method and procedure of the operation program are introduced briefly, and the program corresponding to three control modes is developed based on the fixed height motion controller. This paper provides a relatively complete theoretical analysis process for the speed regulation control of the controlled differential stepless variable transmission, and has certain guiding significance for the realization of its automatic speed regulation.
【学位授予单位】：陕西科技大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH132.46

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