机电集成超环面传动研究
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摘要
本文研究了一种新型的广义复合传动系统——机电集成超环面传动系统。该传动系统集传动、电机和控制于一体,具有结构紧凑、输出力矩大、转速可控、响应速度快等优点,具有广阔的应用前景。因此,对系统设计理论和加工制造技术的研究具有重要的理论意义与实用价值。本文在蜗杆线圈设计、定子齿位移分析、效率分析以及关键件的加工制造技术等方面对该传动系统进行了深入系统的研究。主要包含以下内容:
给出了机电集成超环面传动的驱动原理,推导了定子及蜗杆齿的空间轨迹方程。讨论了系统的传动比和参数选择。分析了系统在不同啮合条件下,电枢线圈的分布方案以及线圈螺旋角同主要参数的关系。给出了行星轮安装的位置分布,推导了系统输出力矩公式,分析了系统参数及线圈分布对输出力矩的影响规律。
应用空间坐标变换原理推导了定子齿在局部坐标系下的位移与总体坐标系下的位移之间的相互关系。以定子齿的截面能量为积分单元给出了定子齿的势能计算公式,通过最小能量原理求得定子齿的位移表达式,分析了定子齿在不同啮合位置的位移分布规律。分析了系统参数对定子齿位移的影响规律,得到了定子齿截面上的位移分布。并用ANSYS软件对定子齿的位移分布进行了模拟,证明了理论分析的正确性。
用Pro/E软件进行了系统建模,对整个系统进行了有限元分析,得到了在不同啮合位置机构各部件的应力分布规律,发现行星轮齿及行星轮齿与行星轮体的接合位置是系统在力学性能上的薄弱环节。
利用拉格朗日状态函数推导出传动系统的数学模型和运动方程,分析了系统的能量分布。研究了环面蜗杆的表面磁势分布,利用分解磁感应强度的方法,把空间问题化解成平面问题,求解了系统各相的自感和互感,给出了两者的变化规律。推导出在变频器恒转矩控制下的端口电压方程,推导了系统的电枢损耗、铁芯损耗以及机械损耗的计算公式,推导出系统的效率表达式,研究了系统效率的影响因素及影响规律。
设计并研制出行星架固定式机电集成超环面传动系统样机。给出了传动系统的加工方案,研究了传动系统的关键制造技术。分析了加工中产生误差的原因,并对产生的加工误差进行了理论分析。进行了样机的传动比实验。验证了传动原理的正确性。
The purpose of this dissertation is to develop a novel complex drive system: the electromechanical integrated toroidal drive which integrates drive, motor, with control. This driver has some advantages such as: compact structure, large torque, speed-control, quick response and so on. So it certainly has a promising future. Therefore, the study on the design theory and machining technology is significant. In this dissertation, the design of worm coil, the displacement analysis of stator teeth, the efficiency of the system are deeply studied, which are shown as follows:
The operation principle of electromechanical integrated toroidal drive is given, and the space track function of stator and worm teeth is induced. The speed ratio and the parameter choice of this system are discussed. Under different mesh situation, the relationship between the regularity of the winding for the armature and the main parameters of the helix angle is emphatically introduced. Followed by the expression of the output torque and the analysis of the change law of the output torque along with the system parameters, the distribution of the planet wheel is given.
According to the principle of the space coordinate transformation, the relationship between the displacement in the stator’s local coordination system and that in the base coordination is worked out. The equations of stator teeth’s potential energy, whose section energy is used by the integral element, is presented. The displacement expression of the stator’s teeth is presented according to the minimum energy method. The distribution law of the stator teeth in different mesh position and the displacement change along with the system parameters are analyzed. Moreover, the displacement distribution in the section of the stator teeth is carried out. The displacement simulation of the stator teeth is performed using ANSYS software and the theoretical analysis is illustrated.
The model of the system is established with Pro/E software, and the finite element analysis for this model is performed. The stress distribution of these components is presented with different mesh position. The distribution law of the stress along with the mesh position is discussed. In the view of mechanical properties, it is found that the planet’s teeth are the weak component .
With Lagrange state function, the mathematical model, motion equation, the energy distribution and the expression of the system efficiency are obtained. The distribution of surface magnetic potential is analyzed. With the method of disassemble magnetic induction intensity, the spatial problem is transformed into the two-dimensional problem, based on which the self-inductance, mutual-inductance and the distribution law for the angle change of the rotor are given. The voltage equation of the frequency converter under the constant torque is induced. As such, the formula of the system armature loss, the core loss and the mechanical loss are derived. The influence factor and the influence of them on the efficiency are studied.
The prototypes are designed and manufactured. The processing scheme is given and the key manufacturing technique of this drive system is studied in detail. The factors which could possibly lead to errors in the manufacture is discussed and theoretically analyzed. Furthermore, a few initial solutions for the problems above mentioned are proposed as well. The experiment for the speed ratio is done which demonstrated the correctness of the drive principle.
给出了机电集成超环面传动的驱动原理,推导了定子及蜗杆齿的空间轨迹方程。讨论了系统的传动比和参数选择。分析了系统在不同啮合条件下,电枢线圈的分布方案以及线圈螺旋角同主要参数的关系。给出了行星轮安装的位置分布,推导了系统输出力矩公式,分析了系统参数及线圈分布对输出力矩的影响规律。
应用空间坐标变换原理推导了定子齿在局部坐标系下的位移与总体坐标系下的位移之间的相互关系。以定子齿的截面能量为积分单元给出了定子齿的势能计算公式,通过最小能量原理求得定子齿的位移表达式,分析了定子齿在不同啮合位置的位移分布规律。分析了系统参数对定子齿位移的影响规律,得到了定子齿截面上的位移分布。并用ANSYS软件对定子齿的位移分布进行了模拟,证明了理论分析的正确性。
用Pro/E软件进行了系统建模,对整个系统进行了有限元分析,得到了在不同啮合位置机构各部件的应力分布规律,发现行星轮齿及行星轮齿与行星轮体的接合位置是系统在力学性能上的薄弱环节。
利用拉格朗日状态函数推导出传动系统的数学模型和运动方程,分析了系统的能量分布。研究了环面蜗杆的表面磁势分布,利用分解磁感应强度的方法,把空间问题化解成平面问题,求解了系统各相的自感和互感,给出了两者的变化规律。推导出在变频器恒转矩控制下的端口电压方程,推导了系统的电枢损耗、铁芯损耗以及机械损耗的计算公式,推导出系统的效率表达式,研究了系统效率的影响因素及影响规律。
设计并研制出行星架固定式机电集成超环面传动系统样机。给出了传动系统的加工方案,研究了传动系统的关键制造技术。分析了加工中产生误差的原因,并对产生的加工误差进行了理论分析。进行了样机的传动比实验。验证了传动原理的正确性。
The purpose of this dissertation is to develop a novel complex drive system: the electromechanical integrated toroidal drive which integrates drive, motor, with control. This driver has some advantages such as: compact structure, large torque, speed-control, quick response and so on. So it certainly has a promising future. Therefore, the study on the design theory and machining technology is significant. In this dissertation, the design of worm coil, the displacement analysis of stator teeth, the efficiency of the system are deeply studied, which are shown as follows:
The operation principle of electromechanical integrated toroidal drive is given, and the space track function of stator and worm teeth is induced. The speed ratio and the parameter choice of this system are discussed. Under different mesh situation, the relationship between the regularity of the winding for the armature and the main parameters of the helix angle is emphatically introduced. Followed by the expression of the output torque and the analysis of the change law of the output torque along with the system parameters, the distribution of the planet wheel is given.
According to the principle of the space coordinate transformation, the relationship between the displacement in the stator’s local coordination system and that in the base coordination is worked out. The equations of stator teeth’s potential energy, whose section energy is used by the integral element, is presented. The displacement expression of the stator’s teeth is presented according to the minimum energy method. The distribution law of the stator teeth in different mesh position and the displacement change along with the system parameters are analyzed. Moreover, the displacement distribution in the section of the stator teeth is carried out. The displacement simulation of the stator teeth is performed using ANSYS software and the theoretical analysis is illustrated.
The model of the system is established with Pro/E software, and the finite element analysis for this model is performed. The stress distribution of these components is presented with different mesh position. The distribution law of the stress along with the mesh position is discussed. In the view of mechanical properties, it is found that the planet’s teeth are the weak component .
With Lagrange state function, the mathematical model, motion equation, the energy distribution and the expression of the system efficiency are obtained. The distribution of surface magnetic potential is analyzed. With the method of disassemble magnetic induction intensity, the spatial problem is transformed into the two-dimensional problem, based on which the self-inductance, mutual-inductance and the distribution law for the angle change of the rotor are given. The voltage equation of the frequency converter under the constant torque is induced. As such, the formula of the system armature loss, the core loss and the mechanical loss are derived. The influence factor and the influence of them on the efficiency are studied.
The prototypes are designed and manufactured. The processing scheme is given and the key manufacturing technique of this drive system is studied in detail. The factors which could possibly lead to errors in the manufacture is discussed and theoretically analyzed. Furthermore, a few initial solutions for the problems above mentioned are proposed as well. The experiment for the speed ratio is done which demonstrated the correctness of the drive principle.
引文
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