机电集成静电谐波微传动动态特性和静电悬浮研究

发布时间：2017-12-31 05:01

本文关键词：机电集成静电谐波微传动动态特性和静电悬浮研究　出处：《燕山大学》2012年硕士论文　论文类型：学位论文

【摘要】：机电集成静电谐波传动是一种集控制、驱动和传动功能于一体的新型广义复合传动。该传动的主要组件包括一个可以在静电力下变形的微柔轮和施加旋转电压的电极。当在柔轮与相对的电极之间顺序施加旋转电压时，柔轮会发生周期性变形，从而导致柔轮和定子之间静电作用部位周期性变化，进而驱动柔轮和支撑轴旋转，实现低速大扭矩的动力输出。该传动把谐波传动、控制技术和静电驱动技术融于一体，，并且运转平稳、传动比大、效率高，具有广阔的应用前景。本文建立了考虑非均布载荷时机电集成静电谐波传动的机电耦合静力学模型，推导了柔轮径向位移方程和输出扭矩方程，得出了柔轮径向位移和输出扭矩随系统参数变化的规律。结果表明，非均布载荷对柔轮径向位移和输出扭矩的影响不可忽略。利用机电耦合动力学方程，研究了柔轮固有频率和振动模态的影响因素和影响规律。利用模态叠加法，给出了机电集成静电谐波微型传动系统在电压扰动下的强迫响应方程。运用该方程，研究了非均布载荷条件下系统的强迫响应及其随系统参数的变化规律。结果表明，在某些情况下非均布载荷对柔轮振动的影响较为明显。采用PID控制方法对柔轮进行静电悬浮控制，减小了机电集成静电谐波微传动柔轮支撑的摩擦阻力，保证了柔轮和电极的同轴度，从而大大降低了电机的启动力矩。完成了柔轮静电悬浮控制系统的数学建模，确定了PID控制系统的控制参数，对比分析了开环与闭环控制系统的控制性能；建立了柔轮静电悬浮控制系统的Simulink仿真模型，模拟了阶跃工作电压激励下的静电悬浮控制过程。结果表明，采用PID控制器可以达到静电悬浮的预期效果。
[Abstract]:The invention relates to an electromechanical integrated electrostatic harmonic drive , which is a novel generalized compound transmission integrating control , driving and transmission functions . The electromechanical coupling statics model of electro - mechanical integrated electrostatic harmonic drive taking into account the non - uniform load is established , the radial displacement equation and the output torque equation of the flexspline are deduced , and the law of the radial displacement and output torque of the flexspline varies with the parameters of the system . The results show that the influence of the non - uniform load on the radial displacement and output torque of the flexspline is not negligible . Based on the electromechanical coupling dynamics equation , the influence factors and the influence law of the natural frequency and the vibration mode of the flexspline are studied . The forced response equation of the electromechanical integrated electrostatic harmonic micro - drive system under voltage disturbance is given by using the modal superposition method . The forced response of the system under the condition of non - uniform load and its changing law with the system parameters are studied by using the equation . The results show that the influence of the non - uniform load on the vibration of the flexspline is more obvious under certain circumstances . By adopting the PID control method , the static suspension control of the flexible wheel is adopted , the friction resistance of the electromechanical integrated electrostatic harmonic micro - transmission flexible wheel support is reduced , the coaxial degree of the flexible wheel and the electrode is ensured , and the starting torque of the motor is greatly reduced . The mathematical modeling of the flexible - wheel electrostatic levitation control system is completed , the control parameters of the PID control system are determined , the control performance of the open - loop and closed - loop control system is analyzed , the Simulink simulation model of the flexible - wheel electrostatic suspension control system is established , and the static suspension control process under the excitation of the step operating voltage is simulated .

【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH132.43

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