摘要
迟滞刚度是谐波齿轮传动的固有属性。传统谐波齿轮传动动力学建模时,是将刚度考虑为定刚度或分段定刚度,这样的简化会导致动力学模型精度降低。考虑谐波传动刚度的非线性迟滞特性,提出了一种基于遗传特性的新型谐波齿轮传动迟滞刚度模型,其特点是传动刚度的大小与系统所经历过的状态有关。基于实验数据,利用粒子群算法进行了模型参数辨识。以某型号谐波减速器为实验对象,进行了加载/卸载性能测试。拟合结果表明,所建立的非线性迟滞刚度模型与实验数据高度吻合,相比传统模型,精度大大提高。
Hysteresis stiffness is an inherent property of harmonic gear drive.In the traditional dynamic modeling of harmonic gear drive,the stiffness is considered as fixed stiffness or piecewise fixed stiffness,which will lead to reduction of the accuracy of the dynamic model.Considering the nonlinear hysteretic characteristics of harmonic drive stiffness,a new hysteretic stiffness model of harmonic gear drive based on genetic characteristics is proposed.The characteristic of the model is that the transmission stiffness is related to the state experienced by the system.Based on the experimental data,particle swarm optimization algorithm is used to identify the model parameters.Taking a certain type of harmonic reducer as the experimental object,the load/unload performance of a harmonic reducer is tested.The fitting results show that the nonlinear hysteretic stiffness model is in good agreement with the experimental data,and the accuracy is greatly improved compared with the traditional model.
作者
邱临风
陈满意
宋港
张杰
杨燃
张瀚
Qiu Linfeng;Chen Manyi;Song Gang;Zhang Jie;Yang Ran;Zhang Han(School of Mechanical and Electronic Engineering,Wuhan University of Technology,Wuhan 430070,China;Shaoxing Institute for Advanced Research,Wuhan University of Technology,Shaoxing 312000,China;Zhejiang Laifual Drive Co.,Ltd.,Shaoxing 312000,China)
出处
《机械传动》
北大核心
2022年第4期37-41,54,共6页
Journal of Mechanical Transmission
基金
浙江省2020年度重点研发计划项目(2020C01070)。
关键词
谐波齿轮传动
迟滞刚度模型
粒子群算法
Harmonic gear drive
Hysteresis stiffness model
Particle swarm optimization algorithm
