两自由度可控连杆机构系统机电耦联动态方程及其响应

ELECTROMECHANICAL COUPLING EQUATION AND RESPONSES OF THE 2-DOF CONTROLLABLE LINKAGE MECHNISME SYSTEM

针对控制电动机转子偏心时不均匀气隙磁场,分析其实际运行状态的机电耦合关系,建立以电机横振、扭振为节点位移的伺服电机单元,应用有限单元法建立含电机电磁参数和弹性连杆机构结构参数的系统非线性机电耦合动力学模型。通过对算例的数值计算,得出系统弹性振动固有频率和弹性位移响应随时间的变化曲线。结果表明,电机对机构弹性位移的影响不可忽视。文中的工作为此类系统进行动态优化设计提供一定理论依据,也为研究此系统动态特性打下一定的基础。

Based on the air-gap field of non-uniform airspace of controllable motors caused by the eccentricity of rotor, the servomotor element, which defined the transverse vibration and torsional vibration of the controllable motors as its nodal displacement, was established. And the electromechanical coupling relation in the real nmning state of motor was also analyzed. Then, an electromechanical coupling dynamic model of the system, which including electromagnetic parameters of the controllable motors and structural parameters of the elastic linkages, was established by the finite element method. Through the numerical calculation, the curves of elastodynamic natural frequency and responses vary with the time were obtained. The results indicate that the effect of motor on the elastic displacement couldn＇ t be neglected. This study provides theoretical direction for the dynamic optimization design of such kind of mechanism, and also is the base to some extent for ftLrther study on the dynanlic characteristics of system.