航空学报 > 2015, Vol. 36 Issue (3): 987-994   doi: 10.7527/S1000-6893.2014.0127

消隙齿轮伺服系统动力学建模与频率特性

廖洪波, 范大鹏, 范世珣   

  1. 国防科学技术大学 机电工程与自动化学院, 长沙 410073
  • 收稿日期:2014-05-12 修回日期:2014-06-23 出版日期:2015-03-15 发布日期:2015-03-31
  • 通讯作者: 范大鹏 男,博士,教授,博士生导师。主要研究方向:数控技术,嵌入式系统以及精密光电跟踪平台的测控技术。Tel: 0731-84574934 E-mail: fdp@nudt.edu.cn E-mail:fdp@nudt.edu.cn
  • 作者简介:廖洪波 男,博士研究生。主要研究方向:光电伺服系统先进控制算法。Tel: 0731-84574934 E-mail: 13975890826@163.com;范世珣 男,博士,讲师。主要研究方向:机电伺服系统先进控制技术。Tel: 0731-84574934 E-mail: Shixun.fan@gmail.com
  • 基金资助:

    国家自然科学基金 (51135009)

Dynamics modeling and frequency characteristic of anti-backlash gear servo system

LIAO Hongbo, FAN Dapeng, FAN Shixun   

  1. College of Mechatronics Engineering and Automation, National University of Defense Technology, Changsha 410073, China
  • Received:2014-05-12 Revised:2014-06-23 Online:2015-03-15 Published:2015-03-31
  • Supported by:

    National Natural Science Foundation of China (51135009)

摘要:

消隙齿轮广泛应用于航天精密伺服机构领域,具有高精度、高响应速度和高稳定性的要求,故需对其频率特性进行研究。依据两质量系统建模方法,建立了消隙齿轮伺服系统包含线性和非线性两部分的动力学模型。以普通直齿轮分段死区模型为基础,建立了消隙齿轮分段死区模型,给出了模型中等效传递刚度的计算方法,特别是消隙扭簧扭转刚度的计算方法。利用数值仿真分析方法,对所建立的消隙齿轮伺服系统动力学模型进行了仿真分析,给出了传动轴刚度、静态间隙和扭簧刚度对系统谐振特性的不同影响结果。结果表明:静态间隙与扭簧刚度是影响消隙齿轮伺服系统谐振频率的重要因素。

关键词: 消隙齿轮, 等效刚度, 谐振频率, 间隙, 消隙扭簧

Abstract:

Anti-backlash gear is widely used in the aerospace precision servo mechanism, which has the requirements of high precision, high response speed and high stability, so it is important to research its frequency characteristic. Based on the method of modeling of two-mass system, the dynamics model which includes the linear and nonlinear parts of anti-backlash gear servo system is built. The segment dead zone model of anti-backlash gear is established based on the segment dead zone model of spur gear. The formula which can calculate the equivalent stiffness of anti-backlash gear is deduced, especially including the formula of stiffness of anti-backlash spring. The influences of shaft stiffness, static backlash and anti-backlash spring stiffness on response frequency are analyzed by the method of numerical simulation. The results show that static backlash and anti-backlash spring stiffness are important factors.

Key words: anti-backlash gear, equivalent stiffness, resonance frequency, backlash, anti-backlash spring

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