双自由度舵机传动机构运动学仿真

Kinematics Simulation of Transmission Mechanism of Double DOF Steering Gear

超高速水下航行器在航行过程中工况复杂,速度跨度大,舵效变化大,常规舵机无法满足操舵要求,而双自由度舵机可以改善操舵性能。文章以该舵机的传动机构作为研究对象,利用UG软件建立三维实体模型,并将其导入到ADAMS软件建立基于多体接触理论的机械仿真模型,仿真得到各级齿轮转速与啮合力。仿真结果表明转速相对误差小于1%,啮合力相对误差小于6%,验证了仿真模型的正确性。仿真结果可为传动机构的优化设计提供参考。

The working conditions of ultra-high-speed undersea vehicles become complicated during navigation,when the speed span is large and the steering changes significantly.Conventional steering gear cannot meet steering requirements,whereas a double-degree-of-freedom steering gear can improve the steering performance.This study considers the transmission mechanism of a steering gear as a research object.Specifically,the study uses UG software to establish a three-dimensional solid model and then imports it into ADAMS software to establish a mechanical simulation model based on the multi-body contact theory.A simulation is then conducted to obtain the gear speed and meshing force.Simulation results show that the relative errors of speed and meshing force are less than 1%and less than 6%,respectively,and the accuracy of the simulation model is verified.The simulation results provide a reference for design optimization of transmission mechanisms.