载荷分流式增速行星齿轮传动机构动态性能研究
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摘要
随着能源短缺和生态环境的日益恶化,人们普遍认识到了风力发电技术的重要性。行星齿轮传动具有结构紧凑,体积小、传动效率高和传动比大等优点,被广泛的应用在风力发电机设备中。风电行星齿轮被用于增速传动,其承受的载荷非常复杂,是风力发电机组故障率最高的部件之一。在运行的可靠性等方面,国产的风电行星齿轮传动系统与国外一流产品相比还有较大的差距,为了降低其故障率,提高其工作寿命和可靠性,有必要对行星齿轮传动的动态性能进行深入研究。本文提出了载荷分流式增速行星齿轮传动机构,采用理论分析方法,有限元方法和实验方法对行星齿轮传动系统的动态性能进行了研究。论文的主要的研究内容包括：
提出一种风电增速箱用载荷分流式两级行星轮系传动机构,并对该机构的运动学进行研究。该新型机构是由简单行星轮系和差动行星轮系组成,第一级行星轮系的行星架和太阳轮分别与第二级行星轮系的内齿圈和行星架相连接,两级行星轮系可以同时承担叶片的扭矩,该机构可以实现载荷分流。应用转化机构法推导了该新型增速传动机构的运动学方程和总传动比方程。对比分析各级行星轮系的行星排特性参数对行星轮系的构件转速的影响。研究表明传动比随着两级行星排特性参数的增加而增大；增大行星排特性参数能减小第一级行星轮系和第二级行星轮系的行星齿轮的转速,同时能增大第一级行星轮系和第二级行星轮系太阳轮的转速,有利于更好的实现增速的要求。
对载荷分流式增速行星齿轮传动系统的第一级行星轮系的行星齿轮副瞬态啮合过程进行有限元研究。利用三维建模软件Proe的参数化功能,并依托其装配模块进行组装,建立了的载荷分流式两级行星轮系与一级平行轴增速行星齿轮传动系统的三维简图。在此基础上,以载荷分流式增速行星齿轮传动机构的第一级行星轮系的行星齿轮副为研究对象,建立其有限元模型,为了确保接触分析收敛,将整个模拟过程拆分为多个分析步来进行,对其初始条件和边界条件进行了分析,并对有限元模型进行了校核,分析行星齿轮副接触面和非接触面的等效应力的规律。
研究温差对载荷分流式增速行星齿轮传动机构第一级行星轮系的行星齿轮副动态特性的影响。建立齿轮的有限元模型,然后将有限元模型分割成两个不同的区域；利用有限元软件温度场预定义功能对分割的区域设置不同的温度,实现了温差的近似模拟；进而分析了温差与齿轮齿廓的齿顶,节圆和齿根节点应力的关系；应用所提出的温差模拟方法对行星轮系的瞬态接触特性进行研究。
建立载荷分流式两级行星轮系和一级平行轴齿轮的增速传动系统的动力学模型,推导该传动系统的动力学微分方程。利用该行星齿轮传动系统的有关物理参数求解该系统的特征方程,研究载荷分流式增速行星齿轮传动系统的固有特性。根据振型的特点归纳总结出了该传动系统八种典型振动模式,并分析了各振动模式的规律特点。
研究级间耦合刚度对载荷分流式增速行星齿轮传动系统的固有特性的影响。研究表明级间耦合振动模式所对应的固有频率随着级间耦合刚度增加而增大,但载荷分流式增速行星齿轮传动系统的振动模式的类型并不发生改变。采用数值积分的方法求解了载荷分流式增速行星齿轮传动系统的动力学方程,获得该传动系统的动态响应,推导该传动系统的均载系数表达式,分析该传动系统的均载特性。
建立行星齿轮传动系统的模拟实验台,该模拟实验台能够检测传动系统的转速、扭矩和功率,可以实现调速和加载。根据模态分析技术对行星齿轮传动系统进行模态实验研究。模态实验研究表明,理论分析的啮合频率与模态实验获得的行星传动系统的低阶固有频率具有明显的差异,故不会发生传动系统的啮合共振现象。采用理论分析和实验验证相结合的方法,对行星齿轮传动系统的动态响应信号的频域特性进行分析。研究表明行星齿轮传动系统的动态信号的频率成分非常丰富,峰值信号对应的频率与行星轮系的啮合频率、各构件的特征频率和行星架的旋转频率有关。
本课题得到国家自然科学基金(51175299)、山东省自然科学基金(ZR2010EM012)和山东大学研究生自主创新基金(yzc10117)的支持。
The importance of wind power generation technology is widely recognized with increasing deterioration of the ecological environment and energy shortage. Planetary gear train is widely used in wind turbine owing to their advantages such as little space required, large ratio of transmission and high efficiency. Wind power planetary gear is used in the growth of the transmission and has high failure rate, which is under a complex load. The technology of planetary gear train is improved, but the gap between domestic wind power planetary gear transmission system and those of the other countries is still large. It is necessary to research on the dynamic characteristics of planetary gear train to reduce the failure rate of wind power growth gearbox and enhance its life and reliability. A load-split spee-growth planetary gear train is proposed and the danamic characteristics of the transmission system is analyzed by adopting the method of theoretical analysis, finite element method and experimental method. The contents of the study are as follows:
A load-split two-stage planetary gear train for wind turbine gearbox was studied, which was composed of simple planetary gear train and the differential planetary gear train. The kinematics of the transmission mechanism was analyzed. The carrier and the sun gear of the first-stage planetary gear train were provided to link up the ring gear and the carrier of the second-stage planetary gear train separately to form the transmission mechanism, which was used to withstand simultaneously the torque of blade. The kinematics equation of each component and transmission ratio equation were deduced based on the mechanism inversion method. The influence of characteristic parameter on rotational speed of the planetary gear train was analyzed. It was shown that the transmission ratio and the rotational speed of sun gear were increased and the rotational speed of planetary gear was decreased by increasing characteristic parameter of planetary gear train.
The contact process of the first planetary gear pairs was studied according to the transient dynamic finite element method. The solid model of multi-stage transmission system made up of the two-stage planetary gear train and one-stage parallel-shaft gear train was built by using the parameterization function of Proe software. The finite element model of the first-stage planetary gear pairs was built. In order to ensure the convergence of contact analysis, the entire simulation process was divided into multiple analysis steps. Boundary conditions and load were analyzed. The result was checked. The equivalent stress law of contact and non contact surfaces of planetary gear pairs was studied.
The influence of temperature difference on the first-stage planetary gear train was studied. The finite element model of gear was established and divided into two districts. The temperature of each district was set using temperature field pre-defined function in Abaqus to introduce the temperature difference, which could be used to simulate the temperature difference. The relationship between temperature difference and equivalent stress of addendum, pitch circle and dedendum of the gear was analyzed. The influence of temperature difference on equivalent stress of addendum, pitch circle and dedendum of internal and external meshing planetary gear tooth profile was analyzed.
The dynamic model of load-split speed-growth planetary gear train was presented using lumped-parameter method and dynamic differential equations were established. The natural frequencies and vibration modes of the system were obtained through solution of the associated eigenvalue problem by using the related parameters. Based on the properties of the transmission system, the vibration modes of the system were classified into eight categories and the characteristics of vibration modes were analyzed.
The influence of the coupling stiffness between the first stage and the second stage on the natural characteristics was studied. It was shown that the natural frequencies of coupling vibration mode could be changed by controlling the coupling stiffness. The frequencies increased with the increase of the coupling stiffness. The coupling stiffness didn't affect the type of vibration modes. The natural frequencies of coupling vibration mode could be controlled by changing the coupling stiffness between the first-stage carrier and the second-stage ring gear or between the first-stage sun gear and the second-stage carrier. The analysis was helpful in reducing the system vibration scope and avoiding resonating. Load sharing characteristic of the system was researched. The dynamic equations of the load-split speed-growth gear train were solved by using numerical integration method. The dynamic responses of the system were obtained and the uniform loading coefficient expressions of the system were deduced.
The experimental platform of planetary gear train was established, which could detect the rotation speed, torque and power of the planetary gear train. An experimental mode technique was applied to study the dynamic characteristics of planetary gear train. The results indicated that meshing frequencies and the low order natural frequencies of planetary gear train had an obvious difference. The planetary gear meshing resonance phenomenon could not occur. The frequency characteristics of the dynamic response of the planetary gear train was analyzed by using the method of theoretical analysis and experimental verification. It was shown that frequency of the planetary gear train were abundant, which was relevant for the meshing frequencies, the characteristic frequencies and rotating frequency of the planetary gear train.
The author gratefully acknowledges the support of the Chinese National Science Foundation (No.51175299), the Shandong Provincial Natural Science Foundation, China (No.ZR2010EM012) and the Graduate Independent Innovation Foundation of Shandong University (No. yzc10117).
提出一种风电增速箱用载荷分流式两级行星轮系传动机构,并对该机构的运动学进行研究。该新型机构是由简单行星轮系和差动行星轮系组成,第一级行星轮系的行星架和太阳轮分别与第二级行星轮系的内齿圈和行星架相连接,两级行星轮系可以同时承担叶片的扭矩,该机构可以实现载荷分流。应用转化机构法推导了该新型增速传动机构的运动学方程和总传动比方程。对比分析各级行星轮系的行星排特性参数对行星轮系的构件转速的影响。研究表明传动比随着两级行星排特性参数的增加而增大；增大行星排特性参数能减小第一级行星轮系和第二级行星轮系的行星齿轮的转速,同时能增大第一级行星轮系和第二级行星轮系太阳轮的转速,有利于更好的实现增速的要求。
对载荷分流式增速行星齿轮传动系统的第一级行星轮系的行星齿轮副瞬态啮合过程进行有限元研究。利用三维建模软件Proe的参数化功能,并依托其装配模块进行组装,建立了的载荷分流式两级行星轮系与一级平行轴增速行星齿轮传动系统的三维简图。在此基础上,以载荷分流式增速行星齿轮传动机构的第一级行星轮系的行星齿轮副为研究对象,建立其有限元模型,为了确保接触分析收敛,将整个模拟过程拆分为多个分析步来进行,对其初始条件和边界条件进行了分析,并对有限元模型进行了校核,分析行星齿轮副接触面和非接触面的等效应力的规律。
研究温差对载荷分流式增速行星齿轮传动机构第一级行星轮系的行星齿轮副动态特性的影响。建立齿轮的有限元模型,然后将有限元模型分割成两个不同的区域；利用有限元软件温度场预定义功能对分割的区域设置不同的温度,实现了温差的近似模拟；进而分析了温差与齿轮齿廓的齿顶,节圆和齿根节点应力的关系；应用所提出的温差模拟方法对行星轮系的瞬态接触特性进行研究。
建立载荷分流式两级行星轮系和一级平行轴齿轮的增速传动系统的动力学模型,推导该传动系统的动力学微分方程。利用该行星齿轮传动系统的有关物理参数求解该系统的特征方程,研究载荷分流式增速行星齿轮传动系统的固有特性。根据振型的特点归纳总结出了该传动系统八种典型振动模式,并分析了各振动模式的规律特点。
研究级间耦合刚度对载荷分流式增速行星齿轮传动系统的固有特性的影响。研究表明级间耦合振动模式所对应的固有频率随着级间耦合刚度增加而增大,但载荷分流式增速行星齿轮传动系统的振动模式的类型并不发生改变。采用数值积分的方法求解了载荷分流式增速行星齿轮传动系统的动力学方程,获得该传动系统的动态响应,推导该传动系统的均载系数表达式,分析该传动系统的均载特性。
建立行星齿轮传动系统的模拟实验台,该模拟实验台能够检测传动系统的转速、扭矩和功率,可以实现调速和加载。根据模态分析技术对行星齿轮传动系统进行模态实验研究。模态实验研究表明,理论分析的啮合频率与模态实验获得的行星传动系统的低阶固有频率具有明显的差异,故不会发生传动系统的啮合共振现象。采用理论分析和实验验证相结合的方法,对行星齿轮传动系统的动态响应信号的频域特性进行分析。研究表明行星齿轮传动系统的动态信号的频率成分非常丰富,峰值信号对应的频率与行星轮系的啮合频率、各构件的特征频率和行星架的旋转频率有关。
本课题得到国家自然科学基金(51175299)、山东省自然科学基金(ZR2010EM012)和山东大学研究生自主创新基金(yzc10117)的支持。
The importance of wind power generation technology is widely recognized with increasing deterioration of the ecological environment and energy shortage. Planetary gear train is widely used in wind turbine owing to their advantages such as little space required, large ratio of transmission and high efficiency. Wind power planetary gear is used in the growth of the transmission and has high failure rate, which is under a complex load. The technology of planetary gear train is improved, but the gap between domestic wind power planetary gear transmission system and those of the other countries is still large. It is necessary to research on the dynamic characteristics of planetary gear train to reduce the failure rate of wind power growth gearbox and enhance its life and reliability. A load-split spee-growth planetary gear train is proposed and the danamic characteristics of the transmission system is analyzed by adopting the method of theoretical analysis, finite element method and experimental method. The contents of the study are as follows:
A load-split two-stage planetary gear train for wind turbine gearbox was studied, which was composed of simple planetary gear train and the differential planetary gear train. The kinematics of the transmission mechanism was analyzed. The carrier and the sun gear of the first-stage planetary gear train were provided to link up the ring gear and the carrier of the second-stage planetary gear train separately to form the transmission mechanism, which was used to withstand simultaneously the torque of blade. The kinematics equation of each component and transmission ratio equation were deduced based on the mechanism inversion method. The influence of characteristic parameter on rotational speed of the planetary gear train was analyzed. It was shown that the transmission ratio and the rotational speed of sun gear were increased and the rotational speed of planetary gear was decreased by increasing characteristic parameter of planetary gear train.
The contact process of the first planetary gear pairs was studied according to the transient dynamic finite element method. The solid model of multi-stage transmission system made up of the two-stage planetary gear train and one-stage parallel-shaft gear train was built by using the parameterization function of Proe software. The finite element model of the first-stage planetary gear pairs was built. In order to ensure the convergence of contact analysis, the entire simulation process was divided into multiple analysis steps. Boundary conditions and load were analyzed. The result was checked. The equivalent stress law of contact and non contact surfaces of planetary gear pairs was studied.
The influence of temperature difference on the first-stage planetary gear train was studied. The finite element model of gear was established and divided into two districts. The temperature of each district was set using temperature field pre-defined function in Abaqus to introduce the temperature difference, which could be used to simulate the temperature difference. The relationship between temperature difference and equivalent stress of addendum, pitch circle and dedendum of the gear was analyzed. The influence of temperature difference on equivalent stress of addendum, pitch circle and dedendum of internal and external meshing planetary gear tooth profile was analyzed.
The dynamic model of load-split speed-growth planetary gear train was presented using lumped-parameter method and dynamic differential equations were established. The natural frequencies and vibration modes of the system were obtained through solution of the associated eigenvalue problem by using the related parameters. Based on the properties of the transmission system, the vibration modes of the system were classified into eight categories and the characteristics of vibration modes were analyzed.
The influence of the coupling stiffness between the first stage and the second stage on the natural characteristics was studied. It was shown that the natural frequencies of coupling vibration mode could be changed by controlling the coupling stiffness. The frequencies increased with the increase of the coupling stiffness. The coupling stiffness didn't affect the type of vibration modes. The natural frequencies of coupling vibration mode could be controlled by changing the coupling stiffness between the first-stage carrier and the second-stage ring gear or between the first-stage sun gear and the second-stage carrier. The analysis was helpful in reducing the system vibration scope and avoiding resonating. Load sharing characteristic of the system was researched. The dynamic equations of the load-split speed-growth gear train were solved by using numerical integration method. The dynamic responses of the system were obtained and the uniform loading coefficient expressions of the system were deduced.
The experimental platform of planetary gear train was established, which could detect the rotation speed, torque and power of the planetary gear train. An experimental mode technique was applied to study the dynamic characteristics of planetary gear train. The results indicated that meshing frequencies and the low order natural frequencies of planetary gear train had an obvious difference. The planetary gear meshing resonance phenomenon could not occur. The frequency characteristics of the dynamic response of the planetary gear train was analyzed by using the method of theoretical analysis and experimental verification. It was shown that frequency of the planetary gear train were abundant, which was relevant for the meshing frequencies, the characteristic frequencies and rotating frequency of the planetary gear train.
The author gratefully acknowledges the support of the Chinese National Science Foundation (No.51175299), the Shandong Provincial Natural Science Foundation, China (No.ZR2010EM012) and the Graduate Independent Innovation Foundation of Shandong University (No. yzc10117).
引文
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