多齿轮并联驱动机械系统偏载特性实验与仿真研究

发布时间：2019-01-01 20:57

【摘要】：多齿轮并联驱动机械系统是利用多个小齿轮驱动一个大齿轮，形成功率分流，是一种多点啮合传动机械系统，特别适用于大扭矩，低转速等应用场合。这种传动形式广泛应用于盾构掘进机的回转系统。这种冗余并联驱动方式固然能够提供巨大的驱动力，但由于在生产装配过程中，，不可避免产生的制造和安装误差，以及驱动电机不同的安装布置形式会使各个驱动支路传递的载荷大小不均匀，造成驱动电机偏载，严重的偏载会造成生产事故的发生。因此，有必要对多齿轮并联传动系统的载荷传递特性进行研究，分析驱动电机不同布置形式对系统均载特性的影响，为工程实践提供参考。本文通过多齿轮并联驱动回转系统力传递实验，建立多齿轮并联传动系统的有限元计算模型，进行系统的模态分析和静力学、动力学载荷传递分析，研究了三个小齿轮不同安装布置形式对系统均载特性的影响。最后建立了系统的集中参数模型，定义多齿轮并联传动系统的均载系数，利用Matlab/Simulink进行动力学仿真，研究分析了重合度、小齿轮支承刚度以及安装布置形式对系统均载特性的影响。结果表明重合度和小齿轮支撑刚度越大，系统的均载性越好；270°-180°-60°和180°-60°-0°两种布置形式系统均载性较好，270°-180°-0°和270°-60°-0°两种布置形式系统均载性较差。具体研究内容如下：首先以模拟盾构机实验平台的多齿轮并联驱动回转系统为对象，建立多齿轮同步驱动机械系统，设计完成相应的控制软件，采用实验平台的加载器施加空载、扭矩和弯扭耦合三种不同的工况，通过控制软件实现驱动电机的主、同两种不同控制方式，通过变换驱动电机的安装位置实现三个驱动电机四种不同安装布置形式，分析研究不同工况、不同控制形式和不同安装位置下驱动电机的载荷传递特性。其次利用有限元软件ABAQUS建立试验台回转系统有限元分析模型，通过系统的模态分析研究机械系统在约束工况下自身固有特性对传动偏载的影响，设置不同的载荷施加方式实现纯扭矩和弯扭耦合两种不同的工况，分析小齿轮变载荷工况下，四种不同的布置形式下力传递特性，并建立多齿轮并联传动系统各齿轮啮合面等效模型。最后根据牛顿欧拉定理，在讨论分析啮合刚度的建模的基础上，建立考虑了支承刚度，支承阻尼，齿轮的啮合刚度，啮合阻尼等参数的单齿轮驱动系统动力学集中参数模型。将模型推广到包含三个齿轮驱动的多齿轮并联传动系统，定义多齿轮并联传动系统均载系数，建立Matlab/Simulink动力学仿真模型，研究多齿轮并联驱动系统参数系统均载特性的影响，对不同安装布置形式的多齿轮传动系统载荷传递的均载进行评价。
[Abstract]:Multi-gear parallel drive mechanical system is a kind of multi-point meshing transmission mechanical system, which uses multiple pinion gears to drive one big gear and forms power shunt. It is especially suitable for applications such as large torque, low speed and so on. This transmission form is widely used in the rotary system of shield tunneling machine. This redundant parallel drive mode can provide a huge driving force, but due to the inevitable manufacturing and installation errors in the production and assembly process, As well as the different installation and layout of the drive motor will make the load of each driving branch uneven resulting in the driving motor bias load serious bias load will cause the production accident. Therefore, it is necessary to study the load transfer characteristics of multi-gear parallel transmission system, and analyze the influence of different configuration of drive motor on the load sharing characteristics of the system, and provide a reference for engineering practice. In this paper, the finite element calculation model of the multi-gear parallel drive system is established through the force transfer experiment of the multi-gear parallel drive rotary system, and the modal analysis, statics and dynamic load transfer analysis of the system are carried out. The influence of three pinion gears on the load-sharing characteristics of the system was studied. Finally, the centralized parameter model of the system is established, and the load sharing coefficient of the multi-gear parallel transmission system is defined. The dynamic simulation is carried out by using Matlab/Simulink, and the degree of coincidence is studied and analyzed. The influence of the supporting stiffness and mounting arrangement of pinion on the load-sharing characteristics of the system. The results show that the greater the degree of coincidence and the stiffness of pinion bracing, the better the load average of the system, 270 掳-180 掳-60 掳and 180 掳-60 掳-0 掳, and 270 掳-180 掳-0 掳and 270 掳-60 掳-0 掳. The specific research contents are as follows: firstly, taking the multi-gear parallel drive rotary system of the shield machine experiment platform as the object, the multi-gear synchronous drive mechanical system is established, and the corresponding control software is designed and completed. The loaders of the experimental platform are used to apply no-load, torsion and bending and torsion coupling three different working conditions. The main driving motor is realized by the control software, the same two different control modes are realized. The load transfer characteristics of three driving motors under different working conditions, different control modes and different installation positions are analyzed and studied by changing the installation position of the three drive motors. Secondly, the finite element analysis model of the rotary system is established by using the finite element software ABAQUS, and the influence of the inherent characteristics of the mechanical system on the driving offset load under the constrained working condition is studied through the modal analysis of the system. Two different working conditions of pure torque and bending and torsional coupling are realized by setting different load application modes. The force transfer characteristics under four different arrangement forms are analyzed under variable load condition of pinion gear. The equivalent model of the meshing surface of each gear in the parallel transmission system is established. Finally, according to Newton Euler's theorem, based on the analysis of meshing stiffness modeling, a dynamic centralized parameter model of single gear drive system is established, which includes support stiffness, supporting damping, gear meshing stiffness, meshing damping and so on. The model is extended to the multi-gear parallel drive system with three gears, the load sharing coefficient of the multi-gear parallel drive system is defined, the Matlab/Simulink dynamic simulation model is established, and the influence of the load sharing characteristics of the multi-gear parallel drive system parameter system is studied. The load average load transfer of multi-gear transmission system with different installation and arrangement is evaluated.
【学位授予单位】：上海交通大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TH132.41

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