基于冗余伺服电机法的平面弹性连杆机构平衡的研究
发布时间：2018-11-13 18:20
【摘要】：近几十年来,机械产品趋于轻量化,运转速度趋于高速化。高速下急剧增大的惯性力使机构构件产生弹性变形和振动,从而恶化机构的工作性能并且影响运动精度,因此,此时构件的弹性不能被忽略。 目前在解决刚性机构震动平衡的问题上提出了一种新的方法——冗余伺服电机法(Redundant Servo Motor),简称RSM法。RSM法的主要思想是,将满足运动学要求作为设计机构的约束条件(即输入转角的位移),通过优化输入转角曲线(即输入转角、角速度和角加速度)来改善机构动力学性能。本文将冗余伺服电机法应用于弹性连杆机构的动平衡研究。 论文首先以弹性四杆机构为例,以震动力和震动力矩的加权和为目标函数,控制点处的角速度和角加速度为优化变量,建立其弹性动力学模型及其优化模型,分别给出动力学模型和优化模型的计算机程序框图,采用仿真软件(MATLAB)对理论推导进行证明。并进行理论分析,阐明RSM法对弹性机构进行动平衡的原理。其次应用动力学分析软件SPACAR验证弹性四杆机构动力学模型的正确性。然后选取五种运动规律作为伺服电机的轨迹对此机构进行优化,并且以五种运动规律中的多项式次数和多项式的连续性为考察对象对优化结果作了方差分析。 论文最后分析了RSM法应用于弹性动力学平衡的优点以及存在的不足之处。 本文研究的主要贡献在于将新的机构平衡设计方法-冗余伺服电机法(RSM)应用于弹性机构动平衡研究,使机构能够在满足机构运动学要求的基础上达到比较好的动力学平衡效果,并且应用动力学分析软件SPARCAR验证了所建立的弹性四杆机构动力学模型的正确性。
[Abstract]:In recent decades, mechanical products tend to be lightweight, running speed tends to high speed. The rapid increase of inertia force at high speed results in elastic deformation and vibration of the mechanism member, which deteriorates the working performance of the mechanism and affects the motion accuracy. Therefore, the elasticity of the component can not be ignored at this time. In order to solve the problem of vibration balance of rigid mechanism, a new method, redundant servo motor method (Redundant Servo Motor),) for short RSM method, is put forward in this paper. The main idea of RSM method is, The kinematics requirement is taken as the constraint condition of the design mechanism (that is, the displacement of the input angle), and the dynamic performance of the mechanism is improved by optimizing the input angle curve (that is, the input angle, angular velocity and angular acceleration). In this paper, the redundant servo motor method is applied to study the dynamic balance of elastic linkage mechanism. Firstly, taking the elastic four-bar mechanism as an example, taking the weighted sum of vibration force and moment as the objective function and the angular velocity and angular acceleration at the control point as the optimization variables, the elastic dynamics model and its optimization model are established. The computer program block diagrams of the dynamic model and the optimization model are given, and the theoretical derivation is proved by the simulation software (MATLAB). The principle of dynamic balance of elastic mechanism by RSM method is explained by theoretical analysis. Secondly, the dynamics analysis software SPACAR is used to verify the correctness of the dynamic model of the elastic four-bar mechanism. Then five kinds of motion laws are selected as the track of the servo motor to optimize the mechanism, and the polynomial degree and the continuity of the polynomial in the five kinds of motion laws are taken as the inspection object to analyze the variance of the optimization results. Finally, the advantages and disadvantages of the RSM method applied to the elastodynamic equilibrium are analyzed. The main contribution of this paper lies in the application of the new mechanism balance design method-redundant servo motor method (RSM) to the study of dynamic balance of elastic mechanism. The mechanism can achieve a better dynamic balance effect on the basis of satisfying the kinematics requirements of the mechanism, and the correctness of the established dynamic model of the elastic four-bar mechanism is verified by using the dynamic analysis software SPARCAR.
【学位授予单位】：东华大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112
本文编号：2330038
[Abstract]:In recent decades, mechanical products tend to be lightweight, running speed tends to high speed. The rapid increase of inertia force at high speed results in elastic deformation and vibration of the mechanism member, which deteriorates the working performance of the mechanism and affects the motion accuracy. Therefore, the elasticity of the component can not be ignored at this time. In order to solve the problem of vibration balance of rigid mechanism, a new method, redundant servo motor method (Redundant Servo Motor),) for short RSM method, is put forward in this paper. The main idea of RSM method is, The kinematics requirement is taken as the constraint condition of the design mechanism (that is, the displacement of the input angle), and the dynamic performance of the mechanism is improved by optimizing the input angle curve (that is, the input angle, angular velocity and angular acceleration). In this paper, the redundant servo motor method is applied to study the dynamic balance of elastic linkage mechanism. Firstly, taking the elastic four-bar mechanism as an example, taking the weighted sum of vibration force and moment as the objective function and the angular velocity and angular acceleration at the control point as the optimization variables, the elastic dynamics model and its optimization model are established. The computer program block diagrams of the dynamic model and the optimization model are given, and the theoretical derivation is proved by the simulation software (MATLAB). The principle of dynamic balance of elastic mechanism by RSM method is explained by theoretical analysis. Secondly, the dynamics analysis software SPACAR is used to verify the correctness of the dynamic model of the elastic four-bar mechanism. Then five kinds of motion laws are selected as the track of the servo motor to optimize the mechanism, and the polynomial degree and the continuity of the polynomial in the five kinds of motion laws are taken as the inspection object to analyze the variance of the optimization results. Finally, the advantages and disadvantages of the RSM method applied to the elastodynamic equilibrium are analyzed. The main contribution of this paper lies in the application of the new mechanism balance design method-redundant servo motor method (RSM) to the study of dynamic balance of elastic mechanism. The mechanism can achieve a better dynamic balance effect on the basis of satisfying the kinematics requirements of the mechanism, and the correctness of the established dynamic model of the elastic four-bar mechanism is verified by using the dynamic analysis software SPARCAR.
【学位授予单位】：东华大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112
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