含多个间隙铰的舵机传动系统动力学特性研究

Research on Dynamic Characteristic of Rudder Transmission System with Multiple Clearance Joints

为了满足舵机传动系统中铰链小间隙、大力载和大接触区域的特点,建立了一种适用于大面积接触碰撞过程且考虑非线性变刚度系数和轴承轴向尺寸的法向接触力模型。通过在不同间隙尺寸、恢复因数、初始碰撞速度和轴承轴向尺寸等各种工况下的仿真分析,验证模型的适用范围。进一步通过ADAMS软件中用户自定义子程序接口,将该接触力模型通过编译、链接嵌入舵机传动系统的动力学模型中,仿真结果表明:多个间隙铰下的系统动态响应并非单个间隙下响应的简单叠加,其相互耦合作用加剧了系统的振荡及非线性特性。该研究为含间隙铰飞行器的结构优化及控制策略设计提供理论参考。

In order to meet the characteristics including small clearance,heavy load and large contact area of joints existed in rudder transmission system,a new normal contact force model is established,which is suitable for the large⁃area contact process and considers the coefficient of nonlinear variable stiffness as well as the axial length of bearing.The applicability of this model is verified by simulations under some conditions with different clearance size,restitution coefficient,initial collision speed and bearing′s axial length.Furthermore,through the user⁃defined subroutine interface in ADAMS software,this modified contact force model is compiled and linked into the dynamic model of the rudder transmission system.The simulation results show that the dynamic response of the system with multiple clearance joints is not a simple superposition of that with one single clearance,and the dynamic interaction between these joints intensifies the oscillation and nonlinear characteristics of the system.This study provides a the⁃oretical reference for the structural optimization and control strategy design of aircraft with clearance joints.