多齿侧间隙传动系统非线性特性研究

摘要

舵机系统是典型的机械传动系统，传动过程中的部件间隙对系统动力学特性有很大影响。针对多级齿轮和丝杠螺母组合的舵机系统，建立含有齿侧间隙和内部激励误差的平动－扭转运动动力学方程，采用谐波平衡法分析系统的固有频率及周期运动幅频响应，利用数值方法求解、分析传递误差、碰撞和分岔与混沌运动现象，并分析讨论了多间隙和单间隙对系统动力学特性的影响差别。该分析成果可以为舵机系统结构和操作参数的优化设计、提高传动效率和平稳性提供参考。%A steering Gear system plays an important role in various transmission systems.Here,the dynamic behavior of a steering gear system with several backlashes was studied.Firstly,the equations of motion of a 3-DOF dimensionless system were established.Then the harmonic balance method was used to analyze the natural frequencies and amplitude-frequency responses of the system.Secondly,the system was also numerically solved with Runge-Kutta method and bifurcation,chaos and other complex dynamic phenomena were analyzed.Finally,influences of gear backlashes on dynamic features of the system were analyzed.The results indicated that both the operating parameters and the structural parameters of the steering gear system can be designed optimally to avoid undesirable dynamic motions and realize better mechanical properties.