小行星轮WWW型差速器的动力学分析与仿真  

Dynamic Analysis and Simulation of External Spur Gear Differential with Small Planetary Gears

作　　者：刘亭[1] 赵国平[1] 王春明[1] 黄玉平[1] 

机构地区：[1]北京精密机电控制设备研究所,北京100076

出　　处：《机械设计与制造》2015年第12期73-76,共4页Machinery Design & Manufacture

基　　金：国防科技工业民用专项科研技术研究项目-无刷伺服系统(YY-14-WSSFX);国家863计划-机电作动子系统关键技术攻关与研制(2012AA7060705)

摘　　要：机电伺服系统经常在零位附近频繁正反向加减速,通过牛顿定律方法和拉格朗日方法对小行星轮外啮合WWW型差速器(或称外啮合正齿轮差速器)分析了此种情况下的刚体动力学,用ADAMS进行了仿真。结果表明:齿轮之间的切向力、行星架和两套行星轮之间的作用力与两输入转矩和两输入角加速度有关;两个输入的角加速度与两个输入转矩和一个负载转矩有关;负载转矩与两输入转矩和两输入角加速度有关;若两输入转动惯量不同,则两个太阳轮和各自行星轮之间的力幅值不等;双路工作时折算到输入侧的转动惯量与单路工作时不同。ADAMS仿真结果与理论分析结果一致,证明了分析的正确性,结论可以应用于有角加速度的多余度机电作动系统中差速器的性能分析。In the electromechanical servo system, the acceleration and deceleration is very frequent around the zero point. The rigid-body dynamics of WWW kind of differential （also known as External Spur Gear Differential） composed with small planetary gears was analyzed theoretically in this condition. The dynamic simulations by ADAMS were presented. The analyses got the results as following. Firstly, the meshing forces at a tangent between gears and the interaction forces between the planet carrier and two sets of planetary gear axes were related to two input torques and two input-axis angular accelerated- speeds. Secondly, the angular accelerated-speeds of two input axes were related to two input torques and one output torque. Thirdly, the output torque was related to two input torques and two input-axis angular accelerated-speeds. Fourthly, the force amplitude between of ane sun gear and its planetary gear and the force amplitude of the other sun gear and its planetary gear were different because of different input-axis rotational inenica Lastly, the rotational inertia convened to the input-axis when the two inputs worked at the same time was different from the rotational inertia convened to the input-axis when only one input worked. The ADAMS simulation results were consistent with theoretical consequences. The analyses were proved to be correct. The results can be applied to performance analyses of the differential in redundant electromechanieal servo actuation systems in case of acceleration and deceleration.

关 键 词：外啮合WWW型差速器(外啮合正齿轮差速器) 刚体动力学 ADAMS仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TH112.3