本文選題：精密指向機(jī)構(gòu)　切入點(diǎn)：柔索傳動(dòng)　出處：《國(guó)防科學(xué)技術(shù)大學(xué)》2013年博士論文　論文類型：學(xué)位論文

【摘要】：精密指向機(jī)構(gòu)作為光電偵察與火控、精確制導(dǎo)武器、高分辨率對(duì)地觀測(cè)、機(jī)器人等系統(tǒng)的重要組成部分,正在朝著高精度、高帶寬、輕量化、靈巧型的方向發(fā)展。精密指向機(jī)構(gòu)作為一類典型的伺服系統(tǒng),主要由驅(qū)動(dòng)電機(jī)、機(jī)械傳動(dòng)和執(zhí)行機(jī)構(gòu)等構(gòu)成,其中機(jī)械傳動(dòng)特性對(duì)精密指向機(jī)構(gòu)的指向精度、工作帶寬以及結(jié)構(gòu)緊湊性等具有重要影響。傳統(tǒng)齒輪傳動(dòng)、鏈傳動(dòng)以及帶傳動(dòng)等傳動(dòng)方式由于存在固有的間隙、摩擦等非線性因素,制約了精密指向機(jī)構(gòu)伺服性能的進(jìn)一步提高,迫切需要探索具有更高傳動(dòng)精度和響應(yīng)特性的新型傳動(dòng)方式。與傳統(tǒng)的齒輪、鏈、帶等傳動(dòng)方式相比,精密柔索傳動(dòng)具有高精度、低空回、無(wú)摩擦、無(wú)需潤(rùn)滑、結(jié)構(gòu)緊湊的特點(diǎn),在精密指向機(jī)構(gòu)中具有良好的應(yīng)用前景。本文通過(guò)深入地研究精密柔索傳動(dòng)的工作機(jī)理、機(jī)構(gòu)設(shè)計(jì)、特性分析、性能仿真以及典型應(yīng)用等問(wèn)題,初步形成精密柔索傳動(dòng)機(jī)構(gòu)設(shè)計(jì)與特性分析的方法,為精密柔索傳動(dòng)技術(shù)在新一代高精度、輕量化精密指向機(jī)構(gòu)中的應(yīng)用提供技術(shù)支持。論文的研究工作主要包含以下幾個(gè)部分:1、針對(duì)機(jī)械傳動(dòng)對(duì)伺服性能的影響問(wèn)題,研究了傳動(dòng)剛度、傳動(dòng)空回以及傳動(dòng)摩擦等非線性因素對(duì)伺服系統(tǒng)的控制精度、工作帶寬、穩(wěn)定性能等的影響機(jī)理,通過(guò)分析改善伺服性能的技術(shù)途徑,闡明了開(kāi)展新型傳動(dòng)方式研究的必要性。2、針對(duì)柔索傳動(dòng)的工作機(jī)理與設(shè)計(jì)問(wèn)題,研究了柔索傳動(dòng)的典型構(gòu)型、工作特點(diǎn)、傳動(dòng)機(jī)理以及關(guān)鍵設(shè)計(jì)問(wèn)題。通過(guò)分析柔索傳動(dòng)中繩輪相互作用機(jī)理,分析了彎曲剛度以及非線性摩擦等因素對(duì)傳動(dòng)方程的影響;提出了一種基于橫向一致性、繩槽匹配以及同繩異槽纏繞三原則的無(wú)干涉柔索傳動(dòng)繩槽設(shè)計(jì)方法,可從原理上避免傳動(dòng)過(guò)程中的刮擦和磨損問(wèn)題;在進(jìn)一步分析柔索傳動(dòng)的典型失效形式的基礎(chǔ)上,較系統(tǒng)地提出了柔索傳動(dòng)設(shè)計(jì)的準(zhǔn)則與一般步驟。3、針對(duì)類直齒輪型柔索傳動(dòng)系統(tǒng),推導(dǎo)了包括傳動(dòng)力矩、傳動(dòng)空回、傳動(dòng)剛度、縱向振動(dòng)固有頻率、橫向振動(dòng)固有頻率五方面關(guān)鍵傳動(dòng)特性的理論公式;分析了預(yù)緊力、傳動(dòng)包角、摩擦系數(shù)、彎曲剛度、繩輪直徑等主要設(shè)計(jì)參數(shù)與傳動(dòng)特性之間的關(guān)系;通過(guò)對(duì)鋼絲繩拉伸模量、繩輪摩擦系數(shù)、柔索傳動(dòng)空回等特性進(jìn)行測(cè)試,驗(yàn)證了理論分析結(jié)果的正確性,初步形成了柔索傳動(dòng)機(jī)構(gòu)特性分析的方法,為開(kāi)展柔索傳動(dòng)系統(tǒng)的設(shè)計(jì)提供了理論依據(jù)。4、針對(duì)復(fù)雜柔索傳動(dòng)機(jī)構(gòu)難以采用數(shù)學(xué)解析方法進(jìn)行分析的問(wèn)題,研究了基于多體動(dòng)力學(xué)軟件Recurdyn的柔索傳動(dòng)特性仿真方法。分析了采用相對(duì)節(jié)點(diǎn)法進(jìn)行鋼絲繩剛?cè)峄旌辖５姆椒?提出了采用多微段軸套力模擬鋼絲繩、采用剛性接觸模擬繩輪相互作用的柔索傳動(dòng)仿真分析方法,可以對(duì)其傳動(dòng)力矩和傳動(dòng)精度特性進(jìn)行仿真,所作工作為復(fù)雜柔索傳動(dòng)機(jī)構(gòu)特性分析提供了一種有效的仿真手段。5、針對(duì)某型輕量化光電吊艙嚴(yán)格的尺寸、重量以及精度要求,以所研究的柔索傳動(dòng)設(shè)計(jì)與特性分析方法為指導(dǎo),提出了一種基于柔索傳動(dòng)的超輕型光電吊艙設(shè)計(jì)方案,詳細(xì)研究了超輕型光電吊艙設(shè)計(jì)的過(guò)程與關(guān)鍵參數(shù)確定方法;通過(guò)研制實(shí)驗(yàn)樣機(jī),測(cè)試了其頻率響應(yīng)特性和位置隨動(dòng)誤差。結(jié)果表明基于柔索傳動(dòng)技術(shù)的超輕型光電吊艙的位置隨動(dòng)精度優(yōu)于0.5mrad,實(shí)現(xiàn)了預(yù)期的設(shè)計(jì)目標(biāo)。6、針對(duì)某型導(dǎo)引頭大離軸角、小型化的設(shè)計(jì)要求,以所研究的柔索傳動(dòng)設(shè)計(jì)與特性分析方法為指導(dǎo),對(duì)一種基于類直齒輪和類錐齒輪復(fù)合的差動(dòng)型柔索傳動(dòng)導(dǎo)引頭設(shè)計(jì)方案進(jìn)行了深入研究;分析了差動(dòng)型柔索傳動(dòng)導(dǎo)引頭機(jī)構(gòu)的結(jié)構(gòu)構(gòu)型、傳動(dòng)系統(tǒng)設(shè)計(jì)、動(dòng)力學(xué)耦合與特性仿真等問(wèn)題,制作了試驗(yàn)樣機(jī),對(duì)樣機(jī)的測(cè)試表明,所設(shè)計(jì)差動(dòng)型柔索傳動(dòng)導(dǎo)引頭可較好的滿足大離軸角、輕量化等要求,也進(jìn)一步驗(yàn)證了所研究方法的有效性。
[Abstract]:Precise pointing mechanism as photoelectric reconnaissance and fire control, precision guided weapons, high-resolution earth observation, an important part of robot system, is developed with high precision, high bandwidth, lightweight, compact and precise direction. Pointing mechanism as a typical servo system is mainly composed of a drive motor, a mechanical transmission and actuator, the mechanical transmission characteristics of the precision pointing mechanism pointing accuracy, has an important influence on working bandwidth and compact structure. The traditional gear drive, chain drive and belt drive way due to its inherent clearance, friction and other nonlinear factors that restrict the further improvement of the performance of the servo precision pointing mechanism, urgent to explore new type of transmission mode has higher transmission accuracy and response characteristics. With the traditional gear chain, compared with transmission, cable transmission with high precision Precision, low back, no friction, no lubrication, the characteristics of compact structure, has a good application prospect in precision pointing mechanism. Through in-depth study of the working mechanism, precision cable transmission mechanism design, performance analysis, performance simulation and typical application problems, the initial formation of method design and characteristics analysis of transmission the precise mechanism of cable, cable transmission technology in a new generation of high precision for precision soft, lightweight application in precision pointing mechanism to provide technical support. The research work of this thesis mainly includes the following parts: 1, aiming at the problem of mechanical transmission on the servo performance, the transmission stiffness, control precision, air transmission back and drive the nonlinear factors of the servo system working bandwidth, the influence mechanism of stable performance, technical approach to improve the servo performance through the analysis, elaborated on the development of new transmission mode The necessity of.2, according to the working mechanism of cable transmission and design problems, typical configuration, cable transmission work characteristics, transmission mechanism and key design problems. Through the analysis of cable transmission rope wheel interaction mechanism, the effect of bending stiffness and nonlinear friction on the transmission equation is proposed; a horizontal consistency based on groove matching and interference free cable rope groove design method with different slot transmission rope winding three principle, can in principle to avoid scratching the transmission process and wear problems; based on further analysis of typical cable transmission failure form, is proposed cable transmission design criteria and general steps of.3, according to the kind of spur gear type cable transmission system is deduced including transmission torque, transmission space, transmission stiffness, longitudinal vibration, lateral vibration inherent frequency five The theoretical formula of key transmission characteristics; analysis of preload, transmission angle, friction coefficient, bending stiffness, the relationship between the rope wheel diameter of the main design parameters and the transmission characteristics of the wire rope tensile modulus; the rope wheel, friction coefficient, cable transmission backlash characteristics were tested to verify the results of theoretical analysis, the initial formation of the method of characteristic analysis of transmission mechanism of the flexible cable, provides a theoretical basis for the design of.4 cable transmission system, aiming at the complicated cable transmission mechanism to analyze the problem by using mathematical method, the simulation method of transmission characteristics of multi-body dynamics software Recurdyn based on the analysis of the cable. The method of steel wire rope rigid flexible model using the relative node method, proposes a multi micro segment sleeve simulation of wire rope, rope wheel contact simulation interaction simulation using rigid cable transmission Analysis method can be used to simulate the transmission torque characteristics and the transmission accuracy, the work provides an effective means for the simulation of.5 complex cable characteristic analysis of transmission mechanism for a certain type of lightweight optical pod strict size, weight and accuracy requirements, based on the analysis and design method of cable transmission characteristics as a guide, put forward a kind of flexible cable transmission and ultra light optoelectronic pod design which based on a detailed study of the process and the key parameters of the ultra light photoelectric pod design determination method; by developing experimental prototype, the frequency response and random position error test. Based on the results of ultra light optoelectronic pod position of cable transmission technology with dynamic accuracy is better than 0.5mrad,.6 is expected to achieve the design goal, for a certain type of seeker big off-axis angle, the design requirements of miniaturization, based on the cable and transmission design The analysis method as a guide, a kind of differential type flexible spur gear and bevel gear transmission cable composite seeker design scheme based on in-depth research; configuration of differential type cable transmission seeker mechanism is analyzed, the design of the drive system, coupled with the characteristics of dynamics simulation, a prototype that shows that the testing of the prototype, the design of differential type cable transmission seeker can better meet the requirements of large off-axis angle, light weight, but also show the validity of this method.

【學(xué)位授予單位】：國(guó)防科學(xué)技術(shù)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2013
【分類號(hào)】：TH132

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