直齿圆柱齿轮传动弯曲振动主动控制研究
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摘要
本文基于齿轮啮合原理及振动冲击理论,采用集中质量法建立了由一对渐开线直齿圆柱齿轮组成的传动系统三自由度数学模型。并采用一种主动控制结构,使主动控制力以更直接的方式来控制齿轮啮合点由于传动误差而引起的振动;利用压电堆作动器,通过作动器输出的位移控制齿轮轴的弯曲振动,以抑制齿轮传动误差,进而达到控制齿轮传动系统振动噪声的目的。在MATLAB/SIMULINK环境中设计模糊控制器和模糊PD控制器,建立完整的传动系统径向振动主动控制模型,并对其进行控制仿真。仿真结果表明模糊控制能有效的抑制系统振动。又基于ADAMS建立了齿轮传动系统刚柔耦合虚拟样机,研究和分析系统动态响应特性。并结合ADAMS和MATLAB软件对齿轮传动系统振动主动控制进行联合仿真,仿真结果进一步验证了齿轮传动振动主动控制的有效性和可行性。最后设计了齿轮传动系统振动主动控制实验平台,对齿轮系统动态响应特性进行实验研究,验证数学模型和虚拟样机的正确性。本文的主要内容有:
1.采用集中质量法建立了由一对直齿圆柱齿轮组成的齿轮传动系统三自由度弯扭耦合非线性数学模型;
2.基于ADAMS软件,建立了齿轮传动系统刚柔耦合虚拟样机,分析系统动态响应特性;
3.设计了齿轮传动振动模糊控制系统和模糊PD控制系统;
4.结合ADAMS和MATLAB软件对齿轮系统振动主动控制进行联合仿真;
5.设计了齿轮系统实验测试平台。
A three freedom degrees mathematical model of a pair of involute spur gear transmission system is built using the lumped mass method, based on gear meshing theory and vibration impact theory. An active control structure is applied to control the gear meshing point vibration which is caused by transmission error. Through piezoelectric stack actuator displacement output to control the shaft’s vibration, then suppressed the gear transmission error, and controlled the gear transmission system’s noise. Based on the Matlab/simulink environment, a fuzzy PD active controller and a fuzzy active controller for system’s vibration are designed. A complete gear transmission vibration control system is set up, and simulated. The results show that fuzzy control algorithm can effectively suppress the system’s vibration. Then a rigid-flexible coupling gear transmission virtual prototyping is established based on ADAMS, and it’s dynamic response has been researched and analyzed. A simulation method which combines ADAMS and MATLAB is carried out to research the gear transmission system’s vibration active control. The results show that the active vibration control system is effective and feasible. Final a gear vibration active control system experimental platform has been designed. The gear dynamic response has been studied by experimental method, and the response is consistent with the result which is carried out by mathematical model and the accuracy of virtual prototyping. The main contents and creative points are:
1. A three freedom degrees mathematical model of a pair of involute spur gear transmission system is built using the lumped mass method;
2. A rigid-flexible coupling gear transmission virtual prototyping is established based on ADAMS, and it’s dynamic response has been researched and analyzed;
3. A fuzzy PD active control system and a fuzzy active control system for gear transmission system’s vibration are designed;
4. A simulation method which combines ADAMS and MATLAB is carried out to research the gear transmission system’s vibration active control;
5. A gear vibration active control system experimental platform has been designed.
1.采用集中质量法建立了由一对直齿圆柱齿轮组成的齿轮传动系统三自由度弯扭耦合非线性数学模型;
2.基于ADAMS软件,建立了齿轮传动系统刚柔耦合虚拟样机,分析系统动态响应特性;
3.设计了齿轮传动振动模糊控制系统和模糊PD控制系统;
4.结合ADAMS和MATLAB软件对齿轮系统振动主动控制进行联合仿真;
5.设计了齿轮系统实验测试平台。
A three freedom degrees mathematical model of a pair of involute spur gear transmission system is built using the lumped mass method, based on gear meshing theory and vibration impact theory. An active control structure is applied to control the gear meshing point vibration which is caused by transmission error. Through piezoelectric stack actuator displacement output to control the shaft’s vibration, then suppressed the gear transmission error, and controlled the gear transmission system’s noise. Based on the Matlab/simulink environment, a fuzzy PD active controller and a fuzzy active controller for system’s vibration are designed. A complete gear transmission vibration control system is set up, and simulated. The results show that fuzzy control algorithm can effectively suppress the system’s vibration. Then a rigid-flexible coupling gear transmission virtual prototyping is established based on ADAMS, and it’s dynamic response has been researched and analyzed. A simulation method which combines ADAMS and MATLAB is carried out to research the gear transmission system’s vibration active control. The results show that the active vibration control system is effective and feasible. Final a gear vibration active control system experimental platform has been designed. The gear dynamic response has been studied by experimental method, and the response is consistent with the result which is carried out by mathematical model and the accuracy of virtual prototyping. The main contents and creative points are:
1. A three freedom degrees mathematical model of a pair of involute spur gear transmission system is built using the lumped mass method;
2. A rigid-flexible coupling gear transmission virtual prototyping is established based on ADAMS, and it’s dynamic response has been researched and analyzed;
3. A fuzzy PD active control system and a fuzzy active control system for gear transmission system’s vibration are designed;
4. A simulation method which combines ADAMS and MATLAB is carried out to research the gear transmission system’s vibration active control;
5. A gear vibration active control system experimental platform has been designed.
引文
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[4]张旭辉,付永领,刘永光.约束权函数的FXLMS算法的自适应有源隔振研究[J].噪声和振动控制,2008,4(2):4-6.
[5] Kim I S,Na H S,Gray R M.Constraint filterrd-x and filtered-u least-mean-square algorithms for the active noise control in ducts [J]. J. Acoust. Soc. Amer. 1994,95:3379-3389.
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[14]秦大同,朱才朝,李润方.内齿行星传动参数动态优化[J].重庆大学学报,1997(2):89-94.
[15] V. Neriya,R.Bhatr, S. Sanker. Coupled tensional flexural vibration of a geared shaft system using finite element analysis[J]. The Shock and Vibration Bulletin,1998,55:25-58.
[16]沈允文,孙涛.行星齿轮传动非线性动力学模型与方程[J].机械工程学报,2000,38(3):100-107.
[17]李润方,林腾蛟.齿轮啮合内部动态激励数值分析[J].机械传动, 2001,25(2):1-3.
[18]李润方,王立华等.高速重载齿轮的有限元分析[J].中国机械工程,2003,20:1773-1777.
[19]李连进,张维屏.降低齿轮箱噪声的一种途径[J].东北化工学报,1989,10(4):439-444.
[20]任明章,连小珉,蒋孝煜.齿轮箱噪声故障诊断专家系统的研究与开发[J].清华大学学报,1996,36(8):66-71.
[21]李润方,林腾蛟,陶泽光.齿轮箱振动与噪声实验研究[J].机械设计与研究,2003,19(5):63-65.
[22]王基,吴新跃,朱石坚.某型船用传动齿轮箱振动模态的试验与分析[J].海军工程大学学报,2007,19(2):55-58.
[23]王玉芳,童忠钫.齿轮误差对齿轮加速度噪声的影响[J].振动、测试与诊断,1993(4):1-10.
[24]左言言,宫镇.齿轮箱噪声的分析与控制[J].中国机械工程,1994,5(2):55-57.
[25]种建明.齿轮箱结构设计对噪声的影响[J].机械传动,1996,11:21-24.
[26]张平宽,王慧林,史玉光.薄膜阻尼在齿轮箱噪声控制中的应用[J].太原重型机械学院学报,1996,17(1):81-85.
[27]毛炳秋,林莉,曹挺杰.采用阻尼环降低齿轮传动噪声的研究[J].机械设计与研究,2005,21(1):47-49.
[28]罗玉军,高中庸,朱萍.基于润滑降噪实验的车床挂轮噪声分析[J].润滑与密封,2006(7):155-157.
[29] Tuplin W A. Gear load capacity[J]. Sir Isaac Pitman&Sans,Ltd.,1962.
[30] Iida H,Tamura A,Yamada Y.Vibrational characteristics of friction between gear teeth[J]. Bull JSME 1985,28:1521~1519.
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