磁流变传动理论与试验研究
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摘要
磁流变液(Magnetorheological Fluids,MRF)是一种新型智能材料。凭借优良的可控流变性能,磁流变液已经成为智能材料发展的一个重要分支,是当今世界智能材料与器件研究的热点之一,近年来受到国内外科学界的高度重视,纷纷投入大量人力物力用于磁流变液材料及器件的研究开发。由于磁流变技术独特的机-电耦合性能,使得它在传动工程领域的启动、制动、转矩调节、无级变速、过载保护等方面具有得天独厚的优势,因此在传动工程领域进行磁流变技术的研究和相关器件的开发具有广泛而深入的意义。本文结合磁流变材料及其器件的研究现状,对磁流变传动技术进行了深入系统的研究,分析了磁流变传动的设计理论及磁流变传动装置(Magnetorheological Transmission Device,MRTD)设计的相关技术,完成磁流变传动装置的各项性能分析,设计和研制了磁流变传动装置样机并进行了相关试验测试,以期实现磁流变传动技术的实用化,推动磁流变液在传动工程领域的应用发展。具体的研究内容如下:
①通过回顾磁流变材料和磁流变器件的研究现状,指出了目前磁流变技术中存在的主要问题,阐述了开展磁流变传动技术研究的必要性与重要性,介绍了本文将要开展的主要内容。
②磁流变效应与磁流变液性能研究。基于链化模型解释了磁流变效应机理,介绍了磁流变液的组成及制备方法,利用磁流变效应的机理来解释和分析了磁流变液各项性能及其影响因素。
③磁流变传动理论及磁流变传动装置设计。系统地研究阐述了磁流变传动理论,讨论了磁流变传动的定义、原理、特点、失效形式及对磁流变材料的要求;系统地研究分析了磁流变传动装置的设计理论,包括结构设计理论和磁学设计理论:阐述了磁流变传动装置的基本结构型式,分析了磁流变传动装置的工作原理,基于Bingham流体模型建立了传动装置传递转矩的计算模型,提出了磁流变传动装置磁学设计准则,对磁流变传动装置的磁路进行了分析与计算;在磁流变传动装置设计理论的基础上,结合原始设计参数,完成了磁流变传动装置的实例设计,确定了装置主要的结构参数和磁学参数,并对相关设计结果进行了讨论。
④磁流变传动装置性能的理论分析。研究了磁流变传动装置的传动性能特点,并对各项传动性能的影响因素进行了讨论;采用有限元方法对传动装置的磁路进行了仿真,得到了磁路中磁场的详细分布;基于Bingham流体模型及Navier-Stokes方程,建立了磁流变液在传动装置中流动的数学模型,分析了在稳态及瞬态情况下磁流变传动装置的流体动力学特性,包括传动装置中磁流变液的流场分布、流场中临界屈服面的形成和变化及传动装置传递转矩的变化;讨论了磁流变传动装置的动态响应特性,分析了传动装置的电磁回路响应时间和流变响应时间以及各自的影响因素;在传热学基础上对磁流变传动装置进行了热分析,讨论了磁流变传动装置的发热状况及装置中的热传递,并通过有限元仿真模拟了传动装置的温度场,得到了装置的整体温度分布,为传动装置的散热研究奠定了基础。
⑤磁流变传动装置采用新型热管散热的研究。阐述了发热对磁流变传动装置的危害和现今常用的散热方式及其局限;介绍了热管散热的优点,提出了采用热管对磁流变传动装置进行散热的新方案;根据磁流变传动装置的整体结构及主要发热区域的特点,设计了一种适用于该传动装置散热的新型热管形式——整体针翅回转热管(Integral pin-fin revolving heat pipe,PRHP),对该回转热管的工作原理、材料选择、轴向压强和温度分布、管内液膜分布、充液量、传热热阻、传热功率及传热极限进行了详细讨论与分析;加工了整体针翅回转热管实物,并通过热管的单管试验测试了该回转热管的性能特点,讨论了影响该回转热管散热性能的影响因素,验证了该回转热管工作的有效性;该回转热管还可广泛应用于旋转机械的散热。
⑥磁流变传动装置试验研究。在理论分析的基础上,设计并研制了磁流变传动装置样机,对磁流变传动装置的空转力矩、静特性、调节特性、恒转矩特性、传动效率、动态响应等传动性能进行了测试,同时对有、无整体针翅回转热管散热时磁流变传动装置的散热性能进行了对比试验,验证了磁流变传动装置传动性能的优越性及采用回转热管提高磁流变传动装置散热性能的有效性。
⑦总结了全文的研究内容,介绍了论文的创新之处,指出了还需作进一步深入研究的内容。
Magnetorheological fluid(MRF) is a new type of intelligent material. Due to the outstanding controllable rheological performance, MRF has become an important branch of intelligent material development and one of hot issue of intelligent material and intelligent device researches. In the last decades, MR technology is taken account by scientific field and is invested large quantity financial and human resource. MRF, with the unique electro-mechanical coupling performance, has a marvelous advantage in terms of starting, braking, torque regulating, continuously variable transmitting, overload protecting, etc. in the transmission engineering field, so it will brings a new revolution that researching on MR technology in the transmission engineering field. In this dissertation, in view of the process of MRF fluid and MR devices, the MR transmission technology has been studied systematically, the MR transmission theory has been explained, the overall design and various performance analysis about MR transmission device(MRTD) have been completed, the prototype of MRTD has been manufactured and some experiments about it has been done in order to achieve the commercialization of MR transmission technology and promote the application development of MRF in the transmission engineering field. The main research contents in this dissertation are as follows:
①Through the review of application prospect and development tendency of MRF and MR devices, the main defects of the studies on MR technology are pointed out, the necessity and importance of developing the MR transmission technology are introduced, the goal and contents of this dissertation are put forward briefly.
②The studies on MR effect and MRF performance. The MR effect mechanism is explained based on chain model, the factors, which influence the MR effect are analyzed according to the model above-mentioned.
③The MR transmission theory and the design of MRTD. The MR transmission theory is introduced detailedly, the working modes, characteristics and failure modes of MR transmission are discussed. The design theories of MRTD are studied systematically, including the strucuture design theory and the magnetic design theory: the working principle of MRTD is analyzed, the calculation model of transfer torque of MRTD is established based on Bingham liquid model, the magnetic design rule of MRTD is put forward and the magnetic circuit of MRTD is analyzed and calculated; According to the design theories above-mentioned, the prototype design of MRTD is completed, the main structure parameters and magnetic parameters are determined and some design results are also discussed.
④The theoretical studies on performances of MRTD. The factors, which influence the transmission performance of MRTD is analyzed. By means of finite element emulation, the magnetic field distribution of MRTD is obtained. On the basis of Bingham liquid model and Navier-Stokes equation, the mathematic flow model of MRF in the MRTD is established, the hydrodynamic performances of MRTD are studied under the steady state and the transient state, including the distribution of fluid field, the formation and variation of critical yield surface and the variation of transient transfer torque. The dynamic response performances of MRTD are discussed, the influence factors of electromagnetic circuit response time and rheological response time are analyzed respectively. The thermal analysis about MRTD is carried out referring to the heat transfer theory, the heat generation and heat transfer in MRTD are discussed, and the whole temperature field of MRTD is obtained based on finite element emulation.
⑤The heat dissipation studies on MRTD with new type of heat pipes. Due to the harm of heat generation for MRTD, a new heat dissipating scheme that took the integral pin-fin revolving heat pipe(PRHP) as the heat dissipating tool is put forward. The detail design and analysis about PRHP are done, including the working principle, the choice of materials, the pressure and temperature drop along the axial direction, the thermal resistance, the heat transfer power, the heat transfer limitation. The prototype of PRHP is processed and the performances of PRHP are tested through the single-tube experiment, the working effectiveness of PRHP has been proved.
⑥The experimental studies on MRTD. Based on the theoretical analysis, the prototype of MRTD is manufactured, the various transmission performances of it are tested, including the no-exciting torque, the transfer torque, the regulating performance, the constant-torque performance, the transmission efficiency, the dynamic response performance, etc. Simultaneously, the contrast experiments are done for heat dissipating capacity of MRTD with and without the PRHP. The advantages of transmission performance of MRTD and the feasibility of heat transfer by PRHP have been verified.
⑦Lastly, the dissertation is concluded, the main achievements of this dissertation are summed up and some problems should be deeply studied are pointed out.
①通过回顾磁流变材料和磁流变器件的研究现状,指出了目前磁流变技术中存在的主要问题,阐述了开展磁流变传动技术研究的必要性与重要性,介绍了本文将要开展的主要内容。
②磁流变效应与磁流变液性能研究。基于链化模型解释了磁流变效应机理,介绍了磁流变液的组成及制备方法,利用磁流变效应的机理来解释和分析了磁流变液各项性能及其影响因素。
③磁流变传动理论及磁流变传动装置设计。系统地研究阐述了磁流变传动理论,讨论了磁流变传动的定义、原理、特点、失效形式及对磁流变材料的要求;系统地研究分析了磁流变传动装置的设计理论,包括结构设计理论和磁学设计理论:阐述了磁流变传动装置的基本结构型式,分析了磁流变传动装置的工作原理,基于Bingham流体模型建立了传动装置传递转矩的计算模型,提出了磁流变传动装置磁学设计准则,对磁流变传动装置的磁路进行了分析与计算;在磁流变传动装置设计理论的基础上,结合原始设计参数,完成了磁流变传动装置的实例设计,确定了装置主要的结构参数和磁学参数,并对相关设计结果进行了讨论。
④磁流变传动装置性能的理论分析。研究了磁流变传动装置的传动性能特点,并对各项传动性能的影响因素进行了讨论;采用有限元方法对传动装置的磁路进行了仿真,得到了磁路中磁场的详细分布;基于Bingham流体模型及Navier-Stokes方程,建立了磁流变液在传动装置中流动的数学模型,分析了在稳态及瞬态情况下磁流变传动装置的流体动力学特性,包括传动装置中磁流变液的流场分布、流场中临界屈服面的形成和变化及传动装置传递转矩的变化;讨论了磁流变传动装置的动态响应特性,分析了传动装置的电磁回路响应时间和流变响应时间以及各自的影响因素;在传热学基础上对磁流变传动装置进行了热分析,讨论了磁流变传动装置的发热状况及装置中的热传递,并通过有限元仿真模拟了传动装置的温度场,得到了装置的整体温度分布,为传动装置的散热研究奠定了基础。
⑤磁流变传动装置采用新型热管散热的研究。阐述了发热对磁流变传动装置的危害和现今常用的散热方式及其局限;介绍了热管散热的优点,提出了采用热管对磁流变传动装置进行散热的新方案;根据磁流变传动装置的整体结构及主要发热区域的特点,设计了一种适用于该传动装置散热的新型热管形式——整体针翅回转热管(Integral pin-fin revolving heat pipe,PRHP),对该回转热管的工作原理、材料选择、轴向压强和温度分布、管内液膜分布、充液量、传热热阻、传热功率及传热极限进行了详细讨论与分析;加工了整体针翅回转热管实物,并通过热管的单管试验测试了该回转热管的性能特点,讨论了影响该回转热管散热性能的影响因素,验证了该回转热管工作的有效性;该回转热管还可广泛应用于旋转机械的散热。
⑥磁流变传动装置试验研究。在理论分析的基础上,设计并研制了磁流变传动装置样机,对磁流变传动装置的空转力矩、静特性、调节特性、恒转矩特性、传动效率、动态响应等传动性能进行了测试,同时对有、无整体针翅回转热管散热时磁流变传动装置的散热性能进行了对比试验,验证了磁流变传动装置传动性能的优越性及采用回转热管提高磁流变传动装置散热性能的有效性。
⑦总结了全文的研究内容,介绍了论文的创新之处,指出了还需作进一步深入研究的内容。
Magnetorheological fluid(MRF) is a new type of intelligent material. Due to the outstanding controllable rheological performance, MRF has become an important branch of intelligent material development and one of hot issue of intelligent material and intelligent device researches. In the last decades, MR technology is taken account by scientific field and is invested large quantity financial and human resource. MRF, with the unique electro-mechanical coupling performance, has a marvelous advantage in terms of starting, braking, torque regulating, continuously variable transmitting, overload protecting, etc. in the transmission engineering field, so it will brings a new revolution that researching on MR technology in the transmission engineering field. In this dissertation, in view of the process of MRF fluid and MR devices, the MR transmission technology has been studied systematically, the MR transmission theory has been explained, the overall design and various performance analysis about MR transmission device(MRTD) have been completed, the prototype of MRTD has been manufactured and some experiments about it has been done in order to achieve the commercialization of MR transmission technology and promote the application development of MRF in the transmission engineering field. The main research contents in this dissertation are as follows:
①Through the review of application prospect and development tendency of MRF and MR devices, the main defects of the studies on MR technology are pointed out, the necessity and importance of developing the MR transmission technology are introduced, the goal and contents of this dissertation are put forward briefly.
②The studies on MR effect and MRF performance. The MR effect mechanism is explained based on chain model, the factors, which influence the MR effect are analyzed according to the model above-mentioned.
③The MR transmission theory and the design of MRTD. The MR transmission theory is introduced detailedly, the working modes, characteristics and failure modes of MR transmission are discussed. The design theories of MRTD are studied systematically, including the strucuture design theory and the magnetic design theory: the working principle of MRTD is analyzed, the calculation model of transfer torque of MRTD is established based on Bingham liquid model, the magnetic design rule of MRTD is put forward and the magnetic circuit of MRTD is analyzed and calculated; According to the design theories above-mentioned, the prototype design of MRTD is completed, the main structure parameters and magnetic parameters are determined and some design results are also discussed.
④The theoretical studies on performances of MRTD. The factors, which influence the transmission performance of MRTD is analyzed. By means of finite element emulation, the magnetic field distribution of MRTD is obtained. On the basis of Bingham liquid model and Navier-Stokes equation, the mathematic flow model of MRF in the MRTD is established, the hydrodynamic performances of MRTD are studied under the steady state and the transient state, including the distribution of fluid field, the formation and variation of critical yield surface and the variation of transient transfer torque. The dynamic response performances of MRTD are discussed, the influence factors of electromagnetic circuit response time and rheological response time are analyzed respectively. The thermal analysis about MRTD is carried out referring to the heat transfer theory, the heat generation and heat transfer in MRTD are discussed, and the whole temperature field of MRTD is obtained based on finite element emulation.
⑤The heat dissipation studies on MRTD with new type of heat pipes. Due to the harm of heat generation for MRTD, a new heat dissipating scheme that took the integral pin-fin revolving heat pipe(PRHP) as the heat dissipating tool is put forward. The detail design and analysis about PRHP are done, including the working principle, the choice of materials, the pressure and temperature drop along the axial direction, the thermal resistance, the heat transfer power, the heat transfer limitation. The prototype of PRHP is processed and the performances of PRHP are tested through the single-tube experiment, the working effectiveness of PRHP has been proved.
⑥The experimental studies on MRTD. Based on the theoretical analysis, the prototype of MRTD is manufactured, the various transmission performances of it are tested, including the no-exciting torque, the transfer torque, the regulating performance, the constant-torque performance, the transmission efficiency, the dynamic response performance, etc. Simultaneously, the contrast experiments are done for heat dissipating capacity of MRTD with and without the PRHP. The advantages of transmission performance of MRTD and the feasibility of heat transfer by PRHP have been verified.
⑦Lastly, the dissertation is concluded, the main achievements of this dissertation are summed up and some problems should be deeply studied are pointed out.
引文
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