双马达驱动弹性圆柱负载的动力学分析

Dynamics of Dual-Motor-Drive Elastic Cylinder

为了考察双马达驱动系统输出力矩同步性对弹性负载变形与应力分布的影响,研究了简化的双力矩驱动弹性圆柱负载模型.基于连续弹性体的振动理论,建立双力矩驱动弹性圆柱负载的一维扭转振动方程,给出了弹性圆柱负载变形与剪应力的解析解.对解析解的分析表明,当输入力矩完全同步时,变形与剪应力中的奇数阶模态响应将被抑制;数值计算结果表明,当输入不相同的阶跃转矩时,负载的最大剪应力水平将显著增加.

In order to study the load deformation and stress distribution of the dual-drive system, a simplified dual-drive elastic cylinder system was researched. Based on the vibration theory of continuous elastic body, the single-dimension torsional vibration equation for dual-drive elastic cylinder was set up and its analytic solution was deduced. According to the form of the analytic solution, the odd-degree modal responses of cylinder＇s deformation and shear stress can be suppressed by reducing the difference between the two input torques. The further numerical simulation results show that the larger the difference between the two input torques with constant sum, the larger the maximum shear stress of the cylinder.