单环路行星传动理论与试验研究
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摘要
本文以单环路行星传动系统为研究对象,从理论分析、软件仿真、试验研究等方面,对其进行了系统、全面的研究分析,为单环路系统的设计开发提供了有价值的设计依据与方法指导。
首先对单环路行星传动系统稳态性能进行了全面深入地理论分析,得到了系统的传动比表达式、功率流向判别条件、不同功率流向下系统的效率表达式、系统的自锁条件以及系统参数对传动性能的影响趋势。并在理论分析的基础之上,提出了单环路行星传动系统的设计准则,为单环路行星传动系统的设计开发提供了理论依据。
采用SolidWorks与ADAMS联合建立单环路行星传动系统的仿真模型,并进行了仿真分析,验证了理论稳态分析的正确性,为设计阶段该理论的应用提供了依据。
考虑轴系弹性,采用集中质量模型,分别建立了XP型和PX型单环路行星传动系统的动力学模型,分析了在具体结构参数下系统的输出时域响应,并对两种系统在相同参数和激励条件下的时域响应结果进行了比较分析,为单环路行星传动系统的选型提供了方法和依据。
在上述工作的基础上,为了考察本文所提理论和方法的正确性,在轮系组合及结构分析试验台上进行了相应的试验研究,通过对实际试验装置的测试和分析,结果显示出与理论分析具有很好的一致性,从而验证了本文理论分析的正确性。
In this paper, single-loop planetary transmission system as the research object, from the theoretical analysis, software simulation, experimental research in the field, has carried on systematic and comprehensive research and analysis and provided the valuable design basis and methodological guidance for the design and development of single-loop systems.
At first, carried on the comprehensive in-depth theoretical analysis for single-loop planetary transmission system steady-state performance and have obtained the system's transmission ratio expression, the power flow to determine the conditions, the expression of efficiency of the system under different power flow, the system's self-locking conditions as well as the system parameters on the transmission properties of the trend. Based on theoretical analysis, has proposed the single-loop planetary transmission system's design criteria and for the single-loop design planetary transmission system provides the theory basis.
Uses SolidWorks and ADAMS establishes the single-loop planetary drive system simulation model and has carried on the simulation analysis, confirmed the correctness of the theoretical of steady-state analysis,and provides the basis for the design stage the theory's application.
To consider flexible shaft, using the lumped mass model, has set up XP and PX single-loop planetary drive system dynamics model, the analysis parameters in the specificstructure of the system output time domain response, has carried on the comparative analysis to two kinds of systems under the same parameters and incentives the time domain response, provides the method and basis for the single-loop planetary drive system's shaping.
On the basis of the above-mentioned work, in order to inspect this paper to propose the theory and method accuracy, has conducted the corresponding experimental test in the gear train combinations and in the structure analysis laboratory bench, through to the full-scale test and the analysis, demonstrated finally has the very good uniformity with the theoretical analysis, thus has confirmed this article theoretical analysis accuracy.
首先对单环路行星传动系统稳态性能进行了全面深入地理论分析,得到了系统的传动比表达式、功率流向判别条件、不同功率流向下系统的效率表达式、系统的自锁条件以及系统参数对传动性能的影响趋势。并在理论分析的基础之上,提出了单环路行星传动系统的设计准则,为单环路行星传动系统的设计开发提供了理论依据。
采用SolidWorks与ADAMS联合建立单环路行星传动系统的仿真模型,并进行了仿真分析,验证了理论稳态分析的正确性,为设计阶段该理论的应用提供了依据。
考虑轴系弹性,采用集中质量模型,分别建立了XP型和PX型单环路行星传动系统的动力学模型,分析了在具体结构参数下系统的输出时域响应,并对两种系统在相同参数和激励条件下的时域响应结果进行了比较分析,为单环路行星传动系统的选型提供了方法和依据。
在上述工作的基础上,为了考察本文所提理论和方法的正确性,在轮系组合及结构分析试验台上进行了相应的试验研究,通过对实际试验装置的测试和分析,结果显示出与理论分析具有很好的一致性,从而验证了本文理论分析的正确性。
In this paper, single-loop planetary transmission system as the research object, from the theoretical analysis, software simulation, experimental research in the field, has carried on systematic and comprehensive research and analysis and provided the valuable design basis and methodological guidance for the design and development of single-loop systems.
At first, carried on the comprehensive in-depth theoretical analysis for single-loop planetary transmission system steady-state performance and have obtained the system's transmission ratio expression, the power flow to determine the conditions, the expression of efficiency of the system under different power flow, the system's self-locking conditions as well as the system parameters on the transmission properties of the trend. Based on theoretical analysis, has proposed the single-loop planetary transmission system's design criteria and for the single-loop design planetary transmission system provides the theory basis.
Uses SolidWorks and ADAMS establishes the single-loop planetary drive system simulation model and has carried on the simulation analysis, confirmed the correctness of the theoretical of steady-state analysis,and provides the basis for the design stage the theory's application.
To consider flexible shaft, using the lumped mass model, has set up XP and PX single-loop planetary drive system dynamics model, the analysis parameters in the specificstructure of the system output time domain response, has carried on the comparative analysis to two kinds of systems under the same parameters and incentives the time domain response, provides the method and basis for the single-loop planetary drive system's shaping.
On the basis of the above-mentioned work, in order to inspect this paper to propose the theory and method accuracy, has conducted the corresponding experimental test in the gear train combinations and in the structure analysis laboratory bench, through to the full-scale test and the analysis, demonstrated finally has the very good uniformity with the theoretical analysis, thus has confirmed this article theoretical analysis accuracy.
引文
[1]孙恒,陈作模.机械原理[M].高等教育出版社,2000
[2]蒲良贵,纪名刚.机械设计[M].高等教育出版社,2006
[3]北京齿轮厂教育科,齿轮传动原理[M].北京齿轮厂教育科,1975
[4]潘先知.齿轮传动的基本知识[M].机械工业出版社,1953
[5]饶振纲.行星齿轮传动设计[M].化学工业出版社,2003
[6]杨廷栋等.渐开线齿轮行星传动[M].成都科技大学出版社,1986
[7]饶振纲.行星传动机构设计[M].国防工业出版社,1994
[8]马从谦等.渐开线行星齿轮传动设计[M].机械工业出版社,1987
[9]邹本有,李蛟.关于封闭式差动轮系传动比计算的一种简便方法[J].机械设计与制造,1994(4)：26-27
[10]张琳.行星轮系传动比的表格计算法[J].机械传动,1998,22(2)：46-47
[11]渐开线齿轮行星传动的设计与制造编委会.渐开线齿轮行星传动的设计与制造[M].北京：机械工业出版社,2002
[12]符炜.复数矢量法在周转轮系传动比计算中的应用[J].机械科学与技术,2000,19(2)：261
[13]Cho.Sungtae,Ahn,Kukhyun.Lee,Jan Moo.Proceedings of the Institution of Mschanical Engineers [J]. Journal of Automobiles Engineering,2006. Vol.220 Issue:1445-1454
[14]王述彦.行星轮系效率及自锁分析[J].机械科学与技术,2002,19(1)：60-61
[15]桂乃磐,郭惠昕.2K-H型封闭差动轮系效率算法的比较研究[J].机械设计,2001,29(3)：29-31
[16]饶振纲编著,行星传动机构设计[M].国防工业出版社,1994
[17]卢存光,段钦华,杨实如.封闭式行星传动功率流分析与啮合效率计算[J].机械传动,2002,26(2)：36-39
[18]苏志霄,薛隆泉,崔亚辉,郗向儒,杨华成.封闭式行星轮系传动效率计算的结点功率法[J].机械科学与技术,1996 15(5)：735-739
[19]崔亚辉,阮忠唐,曹惟庆.封闭差动行星传动研究[J].机械科学与技术,1998,17(1)：74-75
[20]朱绪力,滕桂荣,王育平,边力.封闭传动的功率流控制[J].矿山机械,2003,03：49
[21]史娱慈.封闭式差动轮系中形成封闭功率的原因的剖析[J].焦作工学院学报,1996,15(1)：38-43
[22]崔亚辉.功率分汇流行星传动的研究：[博士学位论文][D].西安：理工大学,1998
[23]Bahgat B M, etal On the Dynamic Gear Tooth Loading of Planetary Gearing as Affected by Bearing Clearances in High-Speed Machinery [J]. Journal of Mechanisms, Transmissions and Automation in Design, Transaction of the ASME,1985,107:430-436
[24]August A, Kasuba Rtorsional Vibration and dynamic Loads in a Basic Planetary Gear System [J]. Journal of Acoustics, Stress, and Reliability in Design Transation of the ASME 1986,108:348-253
[25]Parker R G A Physical Explanation for the Effectiveness of Planet Phasing to Suppress Planetary Gear Vibration [J]. Journal of Sound and Vibration,2000,236(4):561-573
[26]Parker R G Mesh Phasing for Epicyclic Geat Vibration [A]. Proceedings of the Intermational Conference on Mechanical Transmission[C]. Chongqing, P. R. China,2001,4:53-57
[27]Kahraman A. Load Sharing Characteristics of Planetary Transmission[J]. Mesh, Theory,1994,29(8): 1151-1165
[28]崔亚辉,马朝锋,刘晓琳,赵桐.封闭式行星传动的动力学分析[J].中国机械工程,2006
[29]袁茹,纪名刚.航空行星减速器的振动分析[J].航空动力学报,1995,10(4)：395-398
[30]张正元,谷燕.具有行星传动的机械传动系统的弹性动态建模[J].同济大学学报,1996,21(4)：427-432
[31]孙智民,沈允文,李素有.封闭行星齿轮传动系统的扭振特性研究[J].航空动力学报,2001,16(2)：163-166
[32]孙涛,沈允文.行星齿轮传动非线性动力学模型与方程[J].机械工程学报,2002,38(3)：6-9
[33]孙涛,沈允文.行星齿轮传动非线性动力学方程求解与动态特性分析[J].机械工程学报,200238(3)：10-15
[34]魏大盛,王延荣.行星轮系动态特性分析[J].航空动力学报.2003,18(3)：450-453
[35]黄晓春.行星齿轮传动机构的设计和应用[M].电子部第五十三研究所
[36]陈塞克,朱立学.行星齿轮传动装置的设计与开发进展[J].仲恺农业技术学院学报,2001,14(2)：51-56
[37]张会明.复合行星齿轮变速器的参数分析法[J].华东交通大学学报,2003,20(2)：1-5
[38]郑建荣.ADAMS-虚拟样机技术入门与提高[M].机械工业出版社,2002
[39]郭卫东.虚拟样机技术与ADAMS应用实例教程[M].北京：北京航空航天大学出版社,2008
[40]顾铭等.虚拟样机技术及其在ADAMS中的应用[J].成都电子机械高等专科学校学报,2005
[41]李增刚等.ADAMS入门详解与实例[M].北京：国防工业出版社,2008
[42]张策.机械动力学[M].高等教育出版社,2008
[43]赵巨才.理论力学[M].陕西科学技术出版社,2001
[44]刘鸿文.材料力学[M].高等教育出版社,2004
[45]苏金明.'mat lab实用教程[M].北京：电子工业出版社,2008
[46]杨叔子,杨克冲.机械工程控制基础[M].华中科技大学出版社,2005
[47]陈一心.推动“刚性问题”的研究——评介《刚性微分方程算法理论》[J],中华读书报,1999
[48]B.H.库德里亚夫采夫,K.H.基尔佳舍夫.行星齿轮传动手册[M].冶金工业出版社,1986
[49]Hsieh,Wen-Hsiang.An experimental Study on Cam-Controlled Planetary Geartrains [J].Mechanism & Machine Theory.May2006,Vol.421 Issue5:513-525
[50]Craig P. Lusk, Larry L. Howell. Design Space of Single-Loop Planar Folded Micro Mechanisms With Out-of-Plane Motion[J]. Journal of Mechanical Design. SEPTEMBER 2006, Vol.128,1092-1100
[2]蒲良贵,纪名刚.机械设计[M].高等教育出版社,2006
[3]北京齿轮厂教育科,齿轮传动原理[M].北京齿轮厂教育科,1975
[4]潘先知.齿轮传动的基本知识[M].机械工业出版社,1953
[5]饶振纲.行星齿轮传动设计[M].化学工业出版社,2003
[6]杨廷栋等.渐开线齿轮行星传动[M].成都科技大学出版社,1986
[7]饶振纲.行星传动机构设计[M].国防工业出版社,1994
[8]马从谦等.渐开线行星齿轮传动设计[M].机械工业出版社,1987
[9]邹本有,李蛟.关于封闭式差动轮系传动比计算的一种简便方法[J].机械设计与制造,1994(4)：26-27
[10]张琳.行星轮系传动比的表格计算法[J].机械传动,1998,22(2)：46-47
[11]渐开线齿轮行星传动的设计与制造编委会.渐开线齿轮行星传动的设计与制造[M].北京：机械工业出版社,2002
[12]符炜.复数矢量法在周转轮系传动比计算中的应用[J].机械科学与技术,2000,19(2)：261
[13]Cho.Sungtae,Ahn,Kukhyun.Lee,Jan Moo.Proceedings of the Institution of Mschanical Engineers [J]. Journal of Automobiles Engineering,2006. Vol.220 Issue:1445-1454
[14]王述彦.行星轮系效率及自锁分析[J].机械科学与技术,2002,19(1)：60-61
[15]桂乃磐,郭惠昕.2K-H型封闭差动轮系效率算法的比较研究[J].机械设计,2001,29(3)：29-31
[16]饶振纲编著,行星传动机构设计[M].国防工业出版社,1994
[17]卢存光,段钦华,杨实如.封闭式行星传动功率流分析与啮合效率计算[J].机械传动,2002,26(2)：36-39
[18]苏志霄,薛隆泉,崔亚辉,郗向儒,杨华成.封闭式行星轮系传动效率计算的结点功率法[J].机械科学与技术,1996 15(5)：735-739
[19]崔亚辉,阮忠唐,曹惟庆.封闭差动行星传动研究[J].机械科学与技术,1998,17(1)：74-75
[20]朱绪力,滕桂荣,王育平,边力.封闭传动的功率流控制[J].矿山机械,2003,03：49
[21]史娱慈.封闭式差动轮系中形成封闭功率的原因的剖析[J].焦作工学院学报,1996,15(1)：38-43
[22]崔亚辉.功率分汇流行星传动的研究：[博士学位论文][D].西安：理工大学,1998
[23]Bahgat B M, etal On the Dynamic Gear Tooth Loading of Planetary Gearing as Affected by Bearing Clearances in High-Speed Machinery [J]. Journal of Mechanisms, Transmissions and Automation in Design, Transaction of the ASME,1985,107:430-436
[24]August A, Kasuba Rtorsional Vibration and dynamic Loads in a Basic Planetary Gear System [J]. Journal of Acoustics, Stress, and Reliability in Design Transation of the ASME 1986,108:348-253
[25]Parker R G A Physical Explanation for the Effectiveness of Planet Phasing to Suppress Planetary Gear Vibration [J]. Journal of Sound and Vibration,2000,236(4):561-573
[26]Parker R G Mesh Phasing for Epicyclic Geat Vibration [A]. Proceedings of the Intermational Conference on Mechanical Transmission[C]. Chongqing, P. R. China,2001,4:53-57
[27]Kahraman A. Load Sharing Characteristics of Planetary Transmission[J]. Mesh, Theory,1994,29(8): 1151-1165
[28]崔亚辉,马朝锋,刘晓琳,赵桐.封闭式行星传动的动力学分析[J].中国机械工程,2006
[29]袁茹,纪名刚.航空行星减速器的振动分析[J].航空动力学报,1995,10(4)：395-398
[30]张正元,谷燕.具有行星传动的机械传动系统的弹性动态建模[J].同济大学学报,1996,21(4)：427-432
[31]孙智民,沈允文,李素有.封闭行星齿轮传动系统的扭振特性研究[J].航空动力学报,2001,16(2)：163-166
[32]孙涛,沈允文.行星齿轮传动非线性动力学模型与方程[J].机械工程学报,2002,38(3)：6-9
[33]孙涛,沈允文.行星齿轮传动非线性动力学方程求解与动态特性分析[J].机械工程学报,200238(3)：10-15
[34]魏大盛,王延荣.行星轮系动态特性分析[J].航空动力学报.2003,18(3)：450-453
[35]黄晓春.行星齿轮传动机构的设计和应用[M].电子部第五十三研究所
[36]陈塞克,朱立学.行星齿轮传动装置的设计与开发进展[J].仲恺农业技术学院学报,2001,14(2)：51-56
[37]张会明.复合行星齿轮变速器的参数分析法[J].华东交通大学学报,2003,20(2)：1-5
[38]郑建荣.ADAMS-虚拟样机技术入门与提高[M].机械工业出版社,2002
[39]郭卫东.虚拟样机技术与ADAMS应用实例教程[M].北京：北京航空航天大学出版社,2008
[40]顾铭等.虚拟样机技术及其在ADAMS中的应用[J].成都电子机械高等专科学校学报,2005
[41]李增刚等.ADAMS入门详解与实例[M].北京：国防工业出版社,2008
[42]张策.机械动力学[M].高等教育出版社,2008
[43]赵巨才.理论力学[M].陕西科学技术出版社,2001
[44]刘鸿文.材料力学[M].高等教育出版社,2004
[45]苏金明.'mat lab实用教程[M].北京：电子工业出版社,2008
[46]杨叔子,杨克冲.机械工程控制基础[M].华中科技大学出版社,2005
[47]陈一心.推动“刚性问题”的研究——评介《刚性微分方程算法理论》[J],中华读书报,1999
[48]B.H.库德里亚夫采夫,K.H.基尔佳舍夫.行星齿轮传动手册[M].冶金工业出版社,1986
[49]Hsieh,Wen-Hsiang.An experimental Study on Cam-Controlled Planetary Geartrains [J].Mechanism & Machine Theory.May2006,Vol.421 Issue5:513-525
[50]Craig P. Lusk, Larry L. Howell. Design Space of Single-Loop Planar Folded Micro Mechanisms With Out-of-Plane Motion[J]. Journal of Mechanical Design. SEPTEMBER 2006, Vol.128,1092-1100