空间双激振器同轴反向回转振动系统自同步特性研究

Self-synchronization of coaxial and reverse rotating vibration system with two motors

为了解决平面振动自同步模型无法适配复杂工况的问题,对双机驱动的同轴线反向回转振动系统的自同步特性进行了分析和研究。首先,分析了系统的受力情况,搭建了该系统的运动学模型,并应用Lagrange方程得出了系统的运动微分方程,利用平均法处理了电机转子的转速及相位,进一步计算得到了其稳态响应;然后,利用Hamilton原理分析了振动系统的稳态方程,经计算推导出了转子实现同步和稳定的两大条件;讨论了系统主要的结构参数和工作参数变化对系统同步性和稳定性的影响;最后,根据计算得出的数据,利用MATLAB搭建了力学模型,并借助Simulink对模型进行了仿真,验证了振动系统实现自同步的稳定性与可行性。研究结果表明:两电机在稳定工况下可以保持在同一转速,相对相位差不发生变化,稳定在2 rad左右;同时,当对系统内一台电机进行断电重连的操作时,该电机仍可以在25 s内达到正常工作电机的转速,两电机转子相位差依旧维持在2.5 rad附近,垂直振动轨迹只发生±0.04 m的偏移。该研究填补了空间振动系统缺少反向回转模型同步理论的情况,可以为类似振动同步研究打下基础。

Aiming at the problem that the plane vibration self-synchronization model could not adapt to complex working conditions.The self-synchronization characteristics of the coaxial reverse rotation vibration system driven by two machines was analyzed and studied.Firstly,the force condition of the system was analyzed,the kinematics model of the system was built,the differential equation of motion of the system was obtained by using Lagrange equation,the speed and phase of the motor rotor were processed by using the average method,and the steady-state response was further calculated.Then,the steady-state equation of the vibration system was analyzed by using Hamilton principle,and two conditions for the synchronization and stability of the rotor were derived.The influence of the main structural parameters and working parameters of the system on the synchronization and stability of the system was discussed.Finally,according to the calculated data,the mechanical model was built by MATLAB and simulated by Simulink to verify the stability and feasibility of the self-synchronization of the vibration system.The experimental results show that the two motors can keep the same speed under stable working conditions,and the relative phase difference does not change,which is stable at about 2 rads.At the same time,when a motor in the system is disconnected and reconnected,the motor can still reach the speed of the normal working motor within 25 s,and the phase difference between the rotors of the two motors is still maintained around 2.5 rads,and the vertical vibration track is only offset by±0.04 m.It fills the lack of the theory of reverse rotation in the vibration system of space structures,and lays a foundation for the study of similar vibration synchronization.