本文關鍵詞：機電集成壓電諧波傳動系統(tǒng)研究　出處：《燕山大學》2016年博士論文　論文類型：學位論文

  更多相關文章： 機電集成 壓電諧波傳動 輸出轉(zhuǎn)矩 自由振動 固有頻率 受迫振動 非線性動力學 混沌振動

【摘要】：機電集成壓電諧波傳動系統(tǒng)是一個集壓電驅(qū)動、諧波傳動和活齒傳動于一體的新型傳動裝置,該傳動系統(tǒng)克服了傳統(tǒng)摩擦式壓電電機易磨損、壽命短以及非接觸式壓電電機輸出轉(zhuǎn)矩小的缺點,具有響應速度快、壽命長、低速大轉(zhuǎn)矩、無電磁干擾等優(yōu)點,在航空航天、生物醫(yī)學、精密定位和微型機器人等尖端技術領域具有廣泛的應用前景。本文分析了機電集成壓電諧波傳動系統(tǒng)的工作原理。建立了該種傳動系統(tǒng)的機電耦合靜力學方程,分析了活齒傳動系統(tǒng)的工作過程及受力隨轉(zhuǎn)角的變化規(guī)律以及系統(tǒng)輸出轉(zhuǎn)矩隨電壓等參數(shù)的變化規(guī)律。研究發(fā)現(xiàn):輸出轉(zhuǎn)矩以一特定角度為周期發(fā)生周期性波動。在壓電學、連續(xù)體振動理論和離散體振動理論的基礎上,建立了機電集成壓電諧波傳動系統(tǒng)機電耦合動力學模型,推導了機電耦合自由振動方程,求解了系統(tǒng)的固有頻率和模態(tài)振型。揭示了系統(tǒng)參數(shù)對耦合固有頻率的影響規(guī)律。分析了不同模態(tài)下系統(tǒng)耦合對固有頻率的影響規(guī)律。研究發(fā)現(xiàn):系統(tǒng)耦合使得驅(qū)動部分相近模態(tài)固有頻率和傳動部分全振動模態(tài)下的固有頻率均發(fā)生了變化。針對驅(qū)動部分、傳動部分以及整體耦合三種情況,建立了機電集成壓電諧波傳動系統(tǒng)在壓電激勵下的受迫振動分析方程組。討論了驅(qū)動參數(shù)和傳動參數(shù)對系統(tǒng)耦合受迫振動的影響規(guī)律。研究發(fā)現(xiàn):驅(qū)動部分參數(shù)和傳動部分參數(shù)對系統(tǒng)受迫振動的影響主要表現(xiàn)在改變受迫振動振幅上�？紤]壓電陶瓷存在的非線性壓電效應和活齒嚙合齒數(shù)變化引起的非線性效應,建立了機電集成壓電諧波傳動系統(tǒng)驅(qū)動部分和傳動部分的非線性動力學模型和方程,采用林滋泰德-龐加萊法推導了弱非線性自由振動和接近共振時受迫振動的非線性近似解,采用攝動法推導了遠離共振時受迫振動的非線性近似解。給出了系統(tǒng)的幅頻特性、位移響應及其參數(shù)影響。研究發(fā)現(xiàn):壓電非線性效應和嚙合齒數(shù)變化引起的非線性對耦合系統(tǒng)的影響顯著,活齒嚙合齒數(shù)對非線性的影響較大。研究了系統(tǒng)參數(shù)對機電集成壓電諧波傳動系統(tǒng)混沌振動的影響,給出了參數(shù)變化時系統(tǒng)混沌振動的分岔圖,當分岔參數(shù)取恒定值時,通過時域圖、相圖、龐加萊映射圖和功率譜圖判斷了混沌運動的發(fā)生情況,揭示了混沌振動產(chǎn)生的條件。設計并研制了機電集成壓電諧波傳動系統(tǒng)的樣機,利用測試系統(tǒng)測得在電壓峰峰值為150V時,樣機的最大轉(zhuǎn)矩為0.383Nm;利用錘擊振動測試系統(tǒng)對樣機的固有頻率進行測試,試驗結(jié)果與理論分析最大誤差為12.47%,驗證了理論分析的正確性。
[Abstract]:Electromechanical integrated piezoelectric harmonic drive system is a new type of piezoelectric driving transmission, harmonic drive and the oscillating tooth drive in one device, the transmission system overcomes the traditional friction type piezoelectric motor is easy to wear, short life and non contact pressure electric motor output torque small shortcomings, has the advantages of fast response, long life, low speed and high torque, no electromagnetic interference, and has wide application prospect in aerospace, biomedical, precision positioning and micro robots and other cutting-edge technology. The working principle of the electromechanical integrated piezoelectric harmonic drive system is analyzed in this paper. The electromechanical coupling static equation of the transmission system is established, and the working process of the movable teeth transmission system and the variation law of the force with the rotation angle are analyzed, as well as the variation rule of the output torque of the system with voltage and other parameters. It is found that the output torque takes a periodic fluctuation at a particular angle. On the basis of piezoelectricity, continuum vibration theory and dispersion vibration theory, the electromechanical coupling dynamic model of electromechanical integrated piezoelectric harmonic drive system is established, and the electromechanical coupling free vibration equation is derived, and the natural frequencies and mode shapes of the system are solved. The influence of the system parameters on the natural frequency of the coupling is revealed. The influence of the system coupling on the natural frequency under different modes is analyzed. It is found that the system coupling makes the natural frequencies of the driving part of the similar modes and the full vibration modes of the transmission part change. For the three cases of driving part, transmission part and integral coupling, the forced vibration analysis equations of electromechanical integrated piezoelectric harmonic drive system under piezoelectric excitation are established. The influence of driving parameters and transmission parameters on the coupled forced vibration of the system is discussed. It is found that the influence of the driving parameters and the driving parameters on the forced vibration of the system is mainly manifested in the change of the amplitude of the forced vibration. Considering the nonlinear effect caused by piezoelectric ceramics have nonlinear piezoelectric effect and tooth meshing tooth number changes, establish the electromechanical integrated piezoelectric harmonic drive system driven nonlinear dynamics model and equations of part and the transmission part, using linzitaide Poincare method to deduce the weakly nonlinear free vibration and the forced vibration of nonlinear near resonance the approximate solution, the perturbation method is derived from nonlinear forced vibration resonance approximation. The amplitude frequency characteristic, the displacement response and the influence of the parameters are given. It is found that the nonlinearity caused by the nonlinear effect of piezoelectric and the number of mesh teeth has a significant impact on the coupling system. The number of teeth engaged in movable teeth has great influence on the nonlinearity. Study on the influence of system parameters on the chaotic vibration of electromechanical integrated piezoelectric harmonic drive system, the bifurcation diagram of chaotic vibration system is presented. The variation of parameters, when the bifurcation parameter from a constant value, through the time domain diagram, phase diagram, Poincare map and the power spectrum of the chaotic motion of the judgment, reveals the chaotic vibration condition. The prototype design and development of the electromechanical integrated piezoelectric harmonic drive system, the test system is measured at the peak voltage is 150V, the maximum torque of the prototype is 0.383Nm; using hammer vibration test system natural frequencies of the prototype test, analysis of test results and the theoretical error is 12.47%, validate the theory analysis.
【學位授予單位】：燕山大學
【學位級別】：博士
【學位授予年份】：2016
【分類號】：TH139

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