四级行星混合减速器Adams和Matlab联合动力学仿真

Co-dynamic Simulation of Adams and Matlab for Four-stage Planetary Hybrid Reducer

由于多级行星齿轮减速器结构复杂,不易进行性能检测。根据几何关系建立三维装配模型,基于齿轮齿面接触理论和动力学分析,构建Adams虚拟样机与Matlab的联合控制仿真模型,采用基于指数收敛观测器补偿的PID控制,实现直流伺服电机-减速器系统的调节。通过对混合减速器取样构件的角速度、角加速度及接触应力等参数的时域和频域特性分析,验证该联合控制机制的高精度、强抗干扰能力等优点,为此类系统的结构性设计和动态分析提供参考。

To deal with the difficulty in conducting performance tests of the multi-stage planetary gear reducer due to its complex structure,a three-dimensional assembly model was established in line with geometric relations.Based on gear tooth surface contact theory and dynamic analysis,a joint control simulation model of Adams virtual prototype and Matlab was constructed,and PID control based on exponential convergence observer compensation was used to realize DC servo motor-deceleration.Through the analysis of the time and frequency domain characteristics of the angular velocity,angular acceleration and contact stress of the sampled components of the hybrid reducer,the high precision and strong anti-interference ability of the joint control mechanism has been verified,which provides the reference for the structural design and dynamic analysis of the same system.