【摘要】：隨著電子設(shè)備的日益更新及電氣化技術(shù)的迅猛發(fā)展，伺服電機(jī)的工作性能得到了極大的提高，電動(dòng)舵機(jī)伺服機(jī)構(gòu)開(kāi)始在某些領(lǐng)域取代了傳動(dòng)的氣動(dòng)伺服和液壓伺服機(jī)構(gòu)。目前，國(guó)內(nèi)外的眾多研究工作關(guān)注于對(duì)伺服機(jī)構(gòu)控制系統(tǒng)的設(shè)計(jì)與研究，而對(duì)伺服機(jī)構(gòu)本身的動(dòng)力學(xué)特性的研究確極為有限。本文基于建立的電動(dòng)舵機(jī)伺服機(jī)構(gòu)三維模型，首先從剛體動(dòng)力學(xué)的角度分析其運(yùn)動(dòng)學(xué)特性，以此為基礎(chǔ)對(duì)考慮彈性條件下伺服機(jī)構(gòu)各組成部分的靜剛度和動(dòng)剛度特性作一定研究，同時(shí)還初步探討了行星滾柱絲杠的運(yùn)動(dòng)特性。 首先，對(duì)伺服機(jī)構(gòu)中的核心部件行星滾柱絲杠單獨(dú)進(jìn)行運(yùn)動(dòng)特性分析，建立了行星滾柱絲杠的簡(jiǎn)化三維模型，分別從軸向和扭轉(zhuǎn)方向研究其相應(yīng)的剛度特性。對(duì)于軸向運(yùn)動(dòng)，通過(guò)直接剛度法將行星滾柱絲杠處理成一個(gè)特殊的彈簧連接系統(tǒng)，通過(guò)彈簧剛度等效替代螺紋嚙合中所涉及到的多種剛度，由絲杠所受的軸向載荷逐步推導(dǎo)得到彈簧節(jié)點(diǎn)位移的分布，以此計(jì)算絲杠各部件的軸向變形，并與有限元結(jié)果比較，驗(yàn)證推導(dǎo)過(guò)程的正確性。對(duì)于扭轉(zhuǎn)運(yùn)動(dòng)，則考慮了預(yù)緊力和絲杠載荷對(duì)行星滾柱絲杠扭轉(zhuǎn)剛度的影響規(guī)律。 建立電動(dòng)舵機(jī)伺服機(jī)構(gòu)整體的三維模型，忽略伺服機(jī)構(gòu)各部件的彈性，從剛體動(dòng)力學(xué)的角度分析其運(yùn)動(dòng)特性，分別得到電機(jī)軸、上支耳、搖臂、舵板及下支耳的運(yùn)動(dòng)規(guī)律，并對(duì)舵軸、上支耳與搖臂連接處和下支耳座進(jìn)行受力分析，給出其支反力及支反力矩的變化規(guī)律。 基于多體動(dòng)力學(xué)仿真得到的運(yùn)動(dòng)學(xué)結(jié)果，考慮部件的彈性，對(duì)伺服機(jī)構(gòu)的各組成部分的靜剛度特性計(jì)算，包括電機(jī)軸-鍵-絲杠系統(tǒng)、導(dǎo)向機(jī)構(gòu)和上支耳螺紋連接機(jī)構(gòu)，重點(diǎn)對(duì)間隙、預(yù)轉(zhuǎn)角等非線性因素對(duì)各部分靜剛度特性的影響規(guī)律進(jìn)行研究。以此為基礎(chǔ)，進(jìn)一步研究了動(dòng)態(tài)載荷條件下，伺服機(jī)構(gòu)各部分的動(dòng)剛度特性，給出了其前三階模態(tài)振型和相應(yīng)的固有頻率，同樣也歸納得到間隙對(duì)動(dòng)剛度特性的影響規(guī)律。結(jié)果表明：過(guò)盈量對(duì)電機(jī)軸-鍵-絲杠系統(tǒng)的剛度特性影響更大，在較小范圍內(nèi)，過(guò)盈量能增加其扭轉(zhuǎn)靜剛度和扭轉(zhuǎn)動(dòng)剛度，，超過(guò)一定范圍之后進(jìn)一步增加過(guò)盈量并不能顯著提高剛度數(shù)值，而間隙對(duì)扭轉(zhuǎn)剛度的影響相對(duì)較小，預(yù)轉(zhuǎn)角在小范圍內(nèi)對(duì)導(dǎo)向機(jī)構(gòu)的扭轉(zhuǎn)剛度影響非常微小。動(dòng)剛度的變化規(guī)律與機(jī)構(gòu)所承受的定載荷有較大關(guān)系。
[Abstract]:With the updating of electronic equipment and the rapid development of electrification technology, the performance of servo motor has been greatly improved. The servo mechanism of electric steering gear has begun to replace the pneumatic servo and hydraulic servo mechanism of transmission in some fields. At present, many researches at home and abroad focus on the design and research of servo mechanism control system, but the research on the dynamic characteristics of servo mechanism is very limited. In this paper, based on the 3D model of the servo mechanism of the electric steering gear, the kinematics characteristics of the servo mechanism are analyzed from the point of view of the dynamics of the rigid body. On this basis, the static and dynamic stiffness characteristics of each component of the servo mechanism under elastic conditions are studied. At the same time, the kinematic characteristics of the planetary roller lead screw are preliminarily discussed. Firstly, the motion characteristics of the planetary roller screw, the core component of the servo mechanism, are analyzed separately, and the simplified three-dimensional model of the planetary roller screw is established. The stiffness characteristics of the planetary roller screw are studied from the axial direction and the torsional direction, respectively. For axial motion, the planetary roller lead screw is treated as a special spring connection system by direct stiffness method, and the spring stiffness is equivalent to replace the various stiffness involved in thread meshing. The displacement distribution of spring joint is derived from the axial load of the lead screw step by step. The axial deformation of the parts of the lead screw is calculated and compared with the finite element results to verify the correctness of the derivation process. For torsional motion, the influence of pretightening force and lead screw load on torsional stiffness of planetary roller lead screw is considered. The three-dimensional model of the whole servo mechanism of the electric steering gear is established, and the elasticity of the components of the servo mechanism is ignored. The motion characteristics of the servo mechanism are analyzed from the point of view of rigid body dynamics, and the motion rules of the motor shaft, the upper supporting ear, the rocker arm, the rudder plate and the lower branch ear are obtained, respectively. The force of the rudder shaft, the joint of the upper ear and the rocker arm and the lower branch ear seat are analyzed, and the law of the change of the supporting reaction force and the supporting reverse moment are given. Based on the kinematics results obtained from the multi-body dynamics simulation, the static stiffness characteristics of each component of the servo mechanism are calculated considering the elasticity of the components, including the shaft-key-lead screw system, the guide mechanism and the upper supporting thread connection mechanism. The influence of nonlinear factors, such as clearance and prerotation angle, on the static stiffness characteristics of each part is studied. On this basis, the dynamic stiffness characteristics of each part of the servo mechanism under dynamic load conditions are further studied. The first three modes and corresponding natural frequencies are given, and the influence of clearance on the dynamic stiffness characteristics is also summarized. The results show that the interference amount has a greater effect on the stiffness characteristics of the shaft-key-lead screw system. In a small range, the interference can increase the torsional static stiffness and torsional dynamic stiffness. Further increasing the interference beyond a certain range can not significantly increase the stiffness value, but the influence of clearance on torsional stiffness is relatively small, and the influence of pre-rotation angle on torsional stiffness of guide mechanism is very small in a small range. The variation of dynamic stiffness is related to the constant load of the mechanism.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類(lèi)號(hào)】：TM383.4

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