双速卷扬机多流传动系统动力学建模及动态性能分析
摘要
本文来源于国家自然科学基金重点项目“机械流体传动的节能及新型传动方式的基础性研究”中的子课题“高效多流传动系统的设计理论和方法的研究”，主要是从设计理论和方法的角度分析机械传动系统的节能问题，多流传动系统已广泛应用于大型机械装备，如履带牵引车、直升机、水泥磨机、起重机、风力发电机及工程机械、冶金等行业之中。由于这些传动系统具有多输入和多输出的特点，结构多采用功率分流和功率合流的形式，这使系统内部功率流程十分复杂，并伴有循环功率的产生及系统输入功率变为负载功率的现象，使传动系统的能耗增加，同时，为了协调好各动力源的相互关系，以充分发挥各自效能达到节能的目的，还需要对系统进行准确而有效的分析设计，因此探索一种简便、准确并具有普遍意义的多流复杂传动系统功率流程的设计理论和分析方法是十分必要的，为设计高效、节能、优质的多流传动系统提供技术保障，该研究具有重要的理论和实际意义，具有工程实用价值。
双速减扬机减速器是德国卓轮(Zollem)公司20世纪九十年代中期开发的新一代节能、环保型卷扬机产品，是功率汇流式和分流封闭式的复合行星传动，它既具有差动行星齿轮传动的特点，又具有封闭行星齿轮传动的优势，同时具有传动比大、承载能力强、高效率、低噪声、寿命长、重量轻、结构紧凑、可实现超小型化及变速功能等优点，是一种典型的多流传动系统，是新一代节能、环保的新产品，具有广泛的用途。但该产品价格较高，国内工程机械行业对双速卷扬机产品的原理、性能等认识不够，目前在国内工程机械行业中应用较少，且没有厂家生产，双速卷扬机主要用于高空作业，故对卷扬机减速器系统的动态性能要求较高，因此研究高效节能多流传动，特别是从理论和实验两个方面对双速减速器进行系统动力学研究是十分必要的，也具有工程实用价值。本文主要从系统的角度，全面阐述双速卷扬机减速器的传动特性、动力学建模及动态性能。
双速卷扬机减速器是由一个差动传动和一个封闭传动组成的多流传动装置。本文从运动学角度分析了双速卷扬减速器的传动原理和设计计算方法，通过实例分析进一步阐明该传动的性能和特点。
由功率键合图理论及方法，首次分别建立了双速卷扬机减速器传动系统及行星减速器在几种特定工况条件下的动力学模型，以及考虑了支承弹性的传动系统耦合振动键合图模型，推导出传动系统的状态方程，并进行了动力学的仿真分析，研究了几种典型工况条件下的系统内部变化规律及关系，采用控制理论方法，对该系统进行了稳定性分析，通过系统参数变化分析揭示了它们对系统动态特性的影响。
重庆大学博士学位论文
本文对双速卷扬机减速器中的关键部件一单级行星减速器进行分析，包括行星
齿轮传动的啮合频率变化率分析，行星齿轮传动模态分析，双速减速器传动系统各
轴的动载荷以及动力学参数的合理选择等几个方面，进一步阐明传动的特性及动态
性能。
本文结合现代设计技术，探讨了基于nern幻网的以速卷扬机传动系统设计方
法。
为了验证理论的正确性，设计了双速减速器传动实验装置，改进了现有实验台、
实现了多通道数据采集扭转振动以及系统振动。从而较全面揭示了行星减速器系统
的动态特性及传动性能，并与理论结果对比，其变化趋势一致、变化规律基本相同。
进而验证了双速减速器的键合图模型的正确性，也表明了本文所用的方法是有效
的。
This dissertation stems from the project "Study on high efficient multi-flow transmission system" which is sub-project of the Natural Science Foundation Key Project "Fundamental study on energy saving of mechanical/fluid transmission and new transmission methods", which mainly analyzes the energy saving issue of mechanical transmission system from the point of view of design theory and method. Multi-flow transmission systems have been widely applied to large mechanical equipment such as creeper truck, helicopter, cement grinder, hoist, wind electricity generator, construction machinery and metallurgy industry. Since these transmission systems are characterized by multi-input and multi-output, the structures adopted are power distributing and power combining, which complicate the internal power flowing processes. The systems are often accompanied by circulating power generation and input power being transferred to load power, which increases energy consumption. Meanwhile, to coordinate the relationship among
various input power so that the power can be brought into full play to save energy, an accurate and efficient analysis and design on the system is needed. It is essential to explore a simple, accurate and generally suitable design theory and method for complicated multi-flow transmission system, which will provide technology support for high efficiency, energy saving and top quality multi-flow transmission system design. Therefore, the research has important theoretical and practical significance as well as engineering application value.
Double speed hoist reducer developed by Zollern Co. Ltd. of Germany in the middle 90's of 20th century is a new generation of energy saving and environment protecting hoist product. It is a compound planetary transmission with power distributing and combining, so it has the properties of both differential and closed planetary gearing. It is a typical multi-flow transmission system with large transmission ratio, great load carrying capacity, high efficiency, low noise, long life, light weight, compact construction, possible super-small volume and changeable speed. It deserves wide applications being a new generation of energy saving and environment protecting product, which can be used as alternatives of common reducer. Since the price of such product is high, and its theory and properties are not understood quite well in engineering machinery industry at home, it is few used and there is no manufacturing factory to produce this kind of reducer at home. Double speed hoist reducer is mainly used in high altitu
de lift operation, so good dynamic
properties is demanded for hoist reducer. It is indispensable and with practical value to study the dynamic characters of double speed reducer in theory and experiment. This dissertation systematically elaborates the transmission features, dynamic modeling and dynamic properties of double speed hoist reducer.
Double speed hoist reducer is a multi-flow transmission device composed of one differential gearing and one closed gearing. From the point of view of motion, the gearing theory, design and calculation method of double speed hoist reducer are analyzed. An example of analyzing and calculation is given to illustrate the performances and features of this reducer.
With the theory and method of power bonding figure, a bonding figure model with coupling vibration is established for the first time at home for double speed hoist reducer transmission system and planetary reducer at certain working condition and considering elastic supporting. The state equation of the system is developed and dynamic simulation analysis is carried out. The internal changing law and relationship of the system at several typical working conditions are studied. Using controlling theory and method, the stability of the system is analyzed. The effect on system dynamic property is revealed via analysis of system parametric variation.
The key part of double speed hoist reducer named single stage planetary reducer is analyzed in detae. Meshing frequency va
双速减扬机减速器是德国卓轮(Zollem)公司20世纪九十年代中期开发的新一代节能、环保型卷扬机产品，是功率汇流式和分流封闭式的复合行星传动，它既具有差动行星齿轮传动的特点，又具有封闭行星齿轮传动的优势，同时具有传动比大、承载能力强、高效率、低噪声、寿命长、重量轻、结构紧凑、可实现超小型化及变速功能等优点，是一种典型的多流传动系统，是新一代节能、环保的新产品，具有广泛的用途。但该产品价格较高，国内工程机械行业对双速卷扬机产品的原理、性能等认识不够，目前在国内工程机械行业中应用较少，且没有厂家生产，双速卷扬机主要用于高空作业，故对卷扬机减速器系统的动态性能要求较高，因此研究高效节能多流传动，特别是从理论和实验两个方面对双速减速器进行系统动力学研究是十分必要的，也具有工程实用价值。本文主要从系统的角度，全面阐述双速卷扬机减速器的传动特性、动力学建模及动态性能。
双速卷扬机减速器是由一个差动传动和一个封闭传动组成的多流传动装置。本文从运动学角度分析了双速卷扬减速器的传动原理和设计计算方法，通过实例分析进一步阐明该传动的性能和特点。
由功率键合图理论及方法，首次分别建立了双速卷扬机减速器传动系统及行星减速器在几种特定工况条件下的动力学模型，以及考虑了支承弹性的传动系统耦合振动键合图模型，推导出传动系统的状态方程，并进行了动力学的仿真分析，研究了几种典型工况条件下的系统内部变化规律及关系，采用控制理论方法，对该系统进行了稳定性分析，通过系统参数变化分析揭示了它们对系统动态特性的影响。
重庆大学博士学位论文
本文对双速卷扬机减速器中的关键部件一单级行星减速器进行分析，包括行星
齿轮传动的啮合频率变化率分析，行星齿轮传动模态分析，双速减速器传动系统各
轴的动载荷以及动力学参数的合理选择等几个方面，进一步阐明传动的特性及动态
性能。
本文结合现代设计技术，探讨了基于nern幻网的以速卷扬机传动系统设计方
法。
为了验证理论的正确性，设计了双速减速器传动实验装置，改进了现有实验台、
实现了多通道数据采集扭转振动以及系统振动。从而较全面揭示了行星减速器系统
的动态特性及传动性能，并与理论结果对比，其变化趋势一致、变化规律基本相同。
进而验证了双速减速器的键合图模型的正确性，也表明了本文所用的方法是有效
的。
This dissertation stems from the project "Study on high efficient multi-flow transmission system" which is sub-project of the Natural Science Foundation Key Project "Fundamental study on energy saving of mechanical/fluid transmission and new transmission methods", which mainly analyzes the energy saving issue of mechanical transmission system from the point of view of design theory and method. Multi-flow transmission systems have been widely applied to large mechanical equipment such as creeper truck, helicopter, cement grinder, hoist, wind electricity generator, construction machinery and metallurgy industry. Since these transmission systems are characterized by multi-input and multi-output, the structures adopted are power distributing and power combining, which complicate the internal power flowing processes. The systems are often accompanied by circulating power generation and input power being transferred to load power, which increases energy consumption. Meanwhile, to coordinate the relationship among
various input power so that the power can be brought into full play to save energy, an accurate and efficient analysis and design on the system is needed. It is essential to explore a simple, accurate and generally suitable design theory and method for complicated multi-flow transmission system, which will provide technology support for high efficiency, energy saving and top quality multi-flow transmission system design. Therefore, the research has important theoretical and practical significance as well as engineering application value.
Double speed hoist reducer developed by Zollern Co. Ltd. of Germany in the middle 90's of 20th century is a new generation of energy saving and environment protecting hoist product. It is a compound planetary transmission with power distributing and combining, so it has the properties of both differential and closed planetary gearing. It is a typical multi-flow transmission system with large transmission ratio, great load carrying capacity, high efficiency, low noise, long life, light weight, compact construction, possible super-small volume and changeable speed. It deserves wide applications being a new generation of energy saving and environment protecting product, which can be used as alternatives of common reducer. Since the price of such product is high, and its theory and properties are not understood quite well in engineering machinery industry at home, it is few used and there is no manufacturing factory to produce this kind of reducer at home. Double speed hoist reducer is mainly used in high altitu
de lift operation, so good dynamic
properties is demanded for hoist reducer. It is indispensable and with practical value to study the dynamic characters of double speed reducer in theory and experiment. This dissertation systematically elaborates the transmission features, dynamic modeling and dynamic properties of double speed hoist reducer.
Double speed hoist reducer is a multi-flow transmission device composed of one differential gearing and one closed gearing. From the point of view of motion, the gearing theory, design and calculation method of double speed hoist reducer are analyzed. An example of analyzing and calculation is given to illustrate the performances and features of this reducer.
With the theory and method of power bonding figure, a bonding figure model with coupling vibration is established for the first time at home for double speed hoist reducer transmission system and planetary reducer at certain working condition and considering elastic supporting. The state equation of the system is developed and dynamic simulation analysis is carried out. The internal changing law and relationship of the system at several typical working conditions are studied. Using controlling theory and method, the stability of the system is analyzed. The effect on system dynamic property is revealed via analysis of system parametric variation.
The key part of double speed hoist reducer named single stage planetary reducer is analyzed in detae. Meshing frequency va
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