消隙齿轮伺服系统动力学建模与频率特性

消隙齿轮广泛应用于航天精密伺服机构领域,具有高精度、高响应速度和高稳定性的要求,故需对其频率特性进行研究。依据两质量系统建模方法,建立了消隙齿轮伺服系统包含线性和非线性两部分的动力学模型。以普通直齿轮分段死区模型为基础,建立了消隙齿轮分段死区模型,给出了模型中等效传递刚度的计算方法,特别是消隙扭簧扭转刚度的计算方法。利用数值仿真分析方法,对所建立的消隙齿轮伺服系统动力学模型进行了仿真分析,给出了传动轴刚度、静态间隙和扭簧刚度对系统谐振特性的不同影响结果。结果表明:静态间隙与扭簧刚度是影响消隙齿轮伺服系统谐振频率的重要因素。

Dynamics modeling and frequency characteristic of anti-backlash gear servo system

Anti-backlash gear is widely used in the aerospace precision servo mechanism, which has the requirements of high precision, high response speed and high stability, so it is important to research its frequency characteristic. Based on the method of modeling of two-mass system, the dynamics model which includes the linear and nonlinear parts of anti-backlash gear servo system is built. The segment dead zone model of anti-backlash gear is established based on the segment dead zone model of spur gear. The formula which can calculate the equivalent stiffness of anti-backlash gear is deduced, especially including the formula of stiffness of anti-backlash spring. The influences of shaft stiffness, static backlash and anti-backlash spring stiffness on response frequency are analyzed by the method of numerical simulation. The results show that static backlash and anti-backlash spring stiffness are important factors.