电磁谐波活齿传动研究
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摘要
本文研究了一种新型的机电集成传动装置——电磁谐波活齿传动系统。该系统将电磁谐波传动与活齿传动集成起来，可实现系统的低速大扭矩输出。由于该装置中没有高速旋转的机械部件，因此可以获得更快的响应速度，并且系统的体积、重量均较小。
本文给出了电磁谐波活齿传动的驱动原理，将传动的关键零件——柔轮简化为圆环薄壳，在弹性圆环理论的基础上，建立了电磁力作用下柔轮的力学模型，给出了电磁力的表达式，推导了电磁力作用下柔轮的位移、内力及应力计算公式，分析了其沿轴向、周向及径向坐标的分布规律，讨论了其随系统参数的变化规律。对活齿进行了受力分析，得到了系统的输出力矩，分析了输出力矩特性以及随系统参数的变化规律。
针对传动中柔轮在磁场力作用下发生变形，导致气隙长度随时改变这一现象，引入气隙函数对磁场进行分析，给出了电磁谐波传动考虑定子槽和柔轮变形的气隙系数，进而得到电磁谐波活齿传动总的气隙系数，从而可以更加准确地描述磁场及柔轮受力状态。
分析系统中存在的电磁-结构耦合关系，进行离散化处理，通过引入运动网格场域，建立了电磁场和结构场的耦合控制方程，讨论了两场之间存在的耦合条件和边界条件，推导出位移和力在两个物理场交界面上传递的表达式，得到了柔轮的径向位移及轴向位移分布。按照耦合问题的迭代求解步骤，对系统进行了机电耦合有限元模拟，模拟结果证实了理论分析的正确性。
对电磁谐波活齿传动的电磁损耗和机械损耗问题进行了研究，分析了铜损及铁损的影响因素以及不同功率时铜损、铁损相对总电磁损耗的比例，讨论了机械损耗的影响因素及影响规律。建立了电磁谐波活齿传动系统三维温度场计算模型，采用迭代的方法对温度场进行了计算，得到了样机的温度分布曲线。
依据电磁谐波活齿传动原理，进行了电磁谐波活齿传动样机的结构设计、加工制作和原理性实验。
In this paper, a new type of integrated electromechanical transmission device,electromagnetic harmonic movable teeth transmission system, was researched. As theskillfully combine of electromagnetic harmonic transmission with movable teethtransmission, this system can get low speed and large torque output. The system can get afaster response speed, smaller size and weight, due to the lack of high-speed rotatingmachine parts of the device.
The driving principle of harmonic electromagnetic movable tooth transmission wasgot, as assuming flexspline to be shell, based on elastic ring theory, the flexspline forcemodel under action of electromagnetic force was created, displacement, force and stresscalculation formula was derived, their distribution along with axial and circumferentialcoordinates is analyzed, their variation laws with the system parameter variation arediscussed. The stress of movable tooth is analyzed, and the system output torque isobtained, finally this output torque features and variation laws with the system parametervariation are analyzed.
Inwiew of the phenomenon of flexspline will deform in the magnetic field, thisdeformation will change the air gap length at any moment, the concept of air gap functionwas introduced to analyse magnetic field， the harmonic transmission air gap coefficientwas given by considering stator slots and deformation flexspline, then the total gapcoefficient of harmonic electromagnetic movable tooth transmission was got, therefore themagnetic field and flexspline electromagnetic force state could be described accurately.
By analyzing the electromagnetic-structural coupling relationship of the system andconducting discretization, governing equations of electromagnetic and structural fieldwere established by applying moving grid field, coupling conditions and boundaryconditions exist between two fields were discussed, expression that displacement andforce transfer in both physical field interface were derived, distribution of flexspline radialand axial displacement was got. According to coupling problem iterative solving steps, thesystem was simulated with electromechanical coupling finite element, results confirm thetheory analysis is correct.
The electromagnetic losses and mechanical losses of harmonic electromagneticmovable tooth transmission were studied. Influencing factors of copper losses and ironlosses, ratio relative to the total losses in different power, and influencing factors and rulesof mechanical power losses were analyzed. Three-dimensional temperature field model forelectromagnetic harmonic movable teeth transmission system was established, calculatedtemperature field by iterative method, prototype temperature distribution curve was got.
According to harmonic electromagnetic movable teeth transmission principle, thedesign, manufacture and principle experiment of harmonic electromagnetic movable toothtransmission prototype were conducted.
本文给出了电磁谐波活齿传动的驱动原理，将传动的关键零件——柔轮简化为圆环薄壳，在弹性圆环理论的基础上，建立了电磁力作用下柔轮的力学模型，给出了电磁力的表达式，推导了电磁力作用下柔轮的位移、内力及应力计算公式，分析了其沿轴向、周向及径向坐标的分布规律，讨论了其随系统参数的变化规律。对活齿进行了受力分析，得到了系统的输出力矩，分析了输出力矩特性以及随系统参数的变化规律。
针对传动中柔轮在磁场力作用下发生变形，导致气隙长度随时改变这一现象，引入气隙函数对磁场进行分析，给出了电磁谐波传动考虑定子槽和柔轮变形的气隙系数，进而得到电磁谐波活齿传动总的气隙系数，从而可以更加准确地描述磁场及柔轮受力状态。
分析系统中存在的电磁-结构耦合关系，进行离散化处理，通过引入运动网格场域，建立了电磁场和结构场的耦合控制方程，讨论了两场之间存在的耦合条件和边界条件，推导出位移和力在两个物理场交界面上传递的表达式，得到了柔轮的径向位移及轴向位移分布。按照耦合问题的迭代求解步骤，对系统进行了机电耦合有限元模拟，模拟结果证实了理论分析的正确性。
对电磁谐波活齿传动的电磁损耗和机械损耗问题进行了研究，分析了铜损及铁损的影响因素以及不同功率时铜损、铁损相对总电磁损耗的比例，讨论了机械损耗的影响因素及影响规律。建立了电磁谐波活齿传动系统三维温度场计算模型，采用迭代的方法对温度场进行了计算，得到了样机的温度分布曲线。
依据电磁谐波活齿传动原理，进行了电磁谐波活齿传动样机的结构设计、加工制作和原理性实验。
In this paper, a new type of integrated electromechanical transmission device,electromagnetic harmonic movable teeth transmission system, was researched. As theskillfully combine of electromagnetic harmonic transmission with movable teethtransmission, this system can get low speed and large torque output. The system can get afaster response speed, smaller size and weight, due to the lack of high-speed rotatingmachine parts of the device.
The driving principle of harmonic electromagnetic movable tooth transmission wasgot, as assuming flexspline to be shell, based on elastic ring theory, the flexspline forcemodel under action of electromagnetic force was created, displacement, force and stresscalculation formula was derived, their distribution along with axial and circumferentialcoordinates is analyzed, their variation laws with the system parameter variation arediscussed. The stress of movable tooth is analyzed, and the system output torque isobtained, finally this output torque features and variation laws with the system parametervariation are analyzed.
Inwiew of the phenomenon of flexspline will deform in the magnetic field, thisdeformation will change the air gap length at any moment, the concept of air gap functionwas introduced to analyse magnetic field， the harmonic transmission air gap coefficientwas given by considering stator slots and deformation flexspline, then the total gapcoefficient of harmonic electromagnetic movable tooth transmission was got, therefore themagnetic field and flexspline electromagnetic force state could be described accurately.
By analyzing the electromagnetic-structural coupling relationship of the system andconducting discretization, governing equations of electromagnetic and structural fieldwere established by applying moving grid field, coupling conditions and boundaryconditions exist between two fields were discussed, expression that displacement andforce transfer in both physical field interface were derived, distribution of flexspline radialand axial displacement was got. According to coupling problem iterative solving steps, thesystem was simulated with electromechanical coupling finite element, results confirm thetheory analysis is correct.
The electromagnetic losses and mechanical losses of harmonic electromagneticmovable tooth transmission were studied. Influencing factors of copper losses and ironlosses, ratio relative to the total losses in different power, and influencing factors and rulesof mechanical power losses were analyzed. Three-dimensional temperature field model forelectromagnetic harmonic movable teeth transmission system was established, calculatedtemperature field by iterative method, prototype temperature distribution curve was got.
According to harmonic electromagnetic movable teeth transmission principle, thedesign, manufacture and principle experiment of harmonic electromagnetic movable toothtransmission prototype were conducted.
引文
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