输入转速不一致对机电短程截割传动耦合轮系动态特性的影响
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摘要
为解决采煤机截割部摇臂箱体变形导致传动系统失效的问题,提出了由多台电动机、耦合轮系和行星轮系构成的机电短程截割传动系统。耦合轮系汇集多台电机的动力,其动态性能影响系统的承载能力和使用寿命。分析了引起耦合轮系输入转速波动且不一致的原因,在输入转速波动且相位差恒定的情况下,通过仿真研究了输入转速不一致对耦合轮系动态特性的影响规律。机电短程传动系统中的制造装配误差、多台电机转速响应的差异等因素可使耦合轮系输入转速波动且不一致。输入转速波动且不一致使耦合轮系的动态啮合力出现低频波动,且各个传动路线中的动态啮合力的相位不同;随输入转速不一致程度的增加,动态啮合力波动幅度增加。动态啮合力的低频波动使得作用在主动齿轮上的载荷出现低频波动,影响主动齿轮的切向和径向振动加速度;输入转速不一致程度由0增加至0. 005时,切向振动加速度增大11. 89 m/s~2,径向振动加速度增大7. 07 m/s~2,输入转速不一致对切向振动加速度的影响更大。进行了机电短程传动系统的动态特性实验,耦合轮系存在输入转速波动且不一致的现象,测得的耦合轮系输入轴振动加速度的时域特征与仿真结果的相近,振动加速度幅值谱的主要频率成分与仿真结果的相似,验证了仿真结果的合理性。
A compacted cutting powertrain consisting of multiple motors,a torque coupled gear train and a planetary gear train was proposed to avoid the influence of longwall shearers' ranging arm deformation.Dynamic behavior of the torque coupled gear train affects the load carrying capacity and service life of the powertrain. Causes of inconsistent fluctuant input speeds in the torque coupled gear train were analyzed. Effects of the inconsistent input speeds on the dynamic behavior of the gear train were studied through simulating. Manufacturing and assembly errors in the powertrain and different responses from multiple motors can cause inconsistent fluctuant input speeds.Inconsistent fluctuant input speeds make the dynamic meshing forces in the torque coupled gear train to fluctuate.The phase of the dynamic meshing force of each transmission path is different from each other.The inconsistent input speeds also affect the pinion vibration acceleration in the torque coupled gear train.When the inconsistent degree of input speeds increases from 0 to0.005,the tangential and radial vibration accelerations increase by 11.89 and 7.07 m/s~2,respectively.The inconsistent input speeds have a greater impact on the tangential vibration acceleration.Some dynamic behaviors of the torque coupled gear train were verified by an experiment.There exist inconsistent fluctuant input speeds in the gear train.Features of the input shaft vibration acceleration acquired by the experiment are similar with those acquired by simulation in the time and frequency domains.
A compacted cutting powertrain consisting of multiple motors,a torque coupled gear train and a planetary gear train was proposed to avoid the influence of longwall shearers' ranging arm deformation.Dynamic behavior of the torque coupled gear train affects the load carrying capacity and service life of the powertrain. Causes of inconsistent fluctuant input speeds in the torque coupled gear train were analyzed. Effects of the inconsistent input speeds on the dynamic behavior of the gear train were studied through simulating. Manufacturing and assembly errors in the powertrain and different responses from multiple motors can cause inconsistent fluctuant input speeds.Inconsistent fluctuant input speeds make the dynamic meshing forces in the torque coupled gear train to fluctuate.The phase of the dynamic meshing force of each transmission path is different from each other.The inconsistent input speeds also affect the pinion vibration acceleration in the torque coupled gear train.When the inconsistent degree of input speeds increases from 0 to0.005,the tangential and radial vibration accelerations increase by 11.89 and 7.07 m/s~2,respectively.The inconsistent input speeds have a greater impact on the tangential vibration acceleration.Some dynamic behaviors of the torque coupled gear train were verified by an experiment.There exist inconsistent fluctuant input speeds in the gear train.Features of the input shaft vibration acceleration acquired by the experiment are similar with those acquired by simulation in the time and frequency domains.
引文
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[23]崔亚辉,刘占生,叶建槐.齿轮—转子耦合系统的动态响应及齿侧间隙对振幅跳跃特性的影响[J].机械工程学报,2009,45(7):7-15.CUI Yahui,LIU Zhansheng,YE Jianhuai. Dynamic response of geared rotor system and the effect of clearance on jump characteristics of amplitude[J].Journal of Mechanical Engineering,2009,45(7):7-15.
[24]翟洪飞,朱才朝,宋朝省,等.大功率风电齿轮箱系统耦合动态特性研究[J].振动与冲击,2017,36(8):97-104.ZHAI Hongfei,ZHU Caichao,SONG Chaosheng,et al. Dynamic characteristics of a high-power wind turbine gearbox coupled system[J].Journal of Vibration and Shock,2017,36(8):97-104.
[2] WANG Jinhua,YU Bin,KANG Hongpu,et al.Key technologies and equipment for a fully mechanized top-coal caving operation with a large mining height at ultra-thick coal seams[J]. International Journal of Coal Science&Technology,2015,2(2):97-161.
[3]孙冬野,李明,舒锐志,等.采煤机截割部动力传动装置[P].中国专利:ZL 2014 1 0728258.3,2016-08-17.
[4] SHU Ruizhi,WEI Jing,QIN Datong,et al.Influence of motor fault on synchronization and dynamic characteristics of a multi-motor driving system[J]. Journal of Advanced Mechanical Design,Systems,and Manufacturing,2018,12(1):1-23.
[5] WEI Jing,SHU Ruizhi,QIN Datong,et al. Study of synchronization characteristics of a multi-source driving transmission system under an impact load[J]. International Journal of Precision Engineering and Manufacturing,2016,17(9):1157-1174.
[6] ZHANG Hao,WANG Meiling,HAN Qingkai,et al.Dynamic behaviors of the cutterhead driving system in tunneling boring machine with impact[J]. Proceedings of the Institution of Mechanical Engineers,Part C:Journal of Mechanical Engineering Science,2016,230(14):2427-2437.
[7] LI Xianhong,YU Haibin,WANG Jin,et al.Dynamic modeling and analysis of shield TBM cutterhead driving system[J]. Journal of Dynamic Systems,Measurement,and Control,2010,132(4):1-14.
[8] LI Xianhong,YU Haibin,YUAN Mingzhe,et al.Study on the linear dynamic model of shield TBM cutterhead driving system[A].IECON 2011-37th Annual Conference on IEEE Industrial Electronics Society[C].Melbourne:IEEE,2011:3864-3871.
[9] LI Xianhong,YU Haibin,ZENG Peng,et al. Dynamic two-dimensional nonlinear vibration modeling and analysis for shield TBM cutterhead driving system[J]. Transactions of the Canadian Society for Mechanical Engineering,2014,38(4):417-463.
[10] LI Xianhong,YU Haibin,YUAN Mingzhe,et al. Research on dynamic models and performances of shield tunnel boring machine cutterhead driving system[J].Advances in Mechanical Engineering,2013,5:1-29.
[11] SUN Wei,MA Honghui,SONG Xueguan,et al. Modeling and dynamic analysis of cutterhead driving system in tunnel boring machine[J].Shock and Vibration,2017(2017):1-12.
[12] ZHANG K Z,YU H D,ZENG X X,et al.Numerical simulation of instability conditions in multiple pinion drives[J]. Proceedings of the Institution of Mechanical Engineers,Part C:Journal of Mechanical Engineering Science,2011,225(6):1319-1327.
[13] WEI Jing,SUN Qinchao,SUN Wei,et al.Load sharing characteristic of multiple pinions driving in tunneling boring machine[J].Chinese Journal of Mechanical Engineering,2013,26(3):532-540.
[14] WEI Jing,SUN Qinchao,SUN Wei,et al. Dynamic analysis and load-sharing characteristic of multiple pinion drives in tunnel boring machine[J]. Journal of Mechanical Science and Technology,2013,27(5):1385-1392.
[15] LI Ming,YANG Yang,HU Minghui,et al.Influence of motor control characteristics on load sharing behavior of torque coupling gear set[J].Journal of Vibro Engineering,2016,18(7):4539-4549.
[16] YANG Yang,LI Ming,HU Minghui,et al.Influence of controllable parameters on load sharing behavior of torque coupling gear set[J].Mechanism and Machine Theory,2018,121:286-298.
[17] SHU Ruizhi,LIU Zhenjun,LIU Changzhao,et al. Load sharing characteristic analysis of short driving system in the long-wall shearer[J]. Journal of Vibro Engineering,2015,17(7):3572-3585.
[18] YU Haidong,EBERHARD Peter,ZHAO Yong,et al.Sharing behavior of load transmission on gear pair systems actuated by parallel arrangements of multiple pinions[J].Mechanism and Machine Theory,2013,65:58-70.
[19]袁镭,余海东,丁晟,等.基于几何耦合模型的多齿轮系统载荷均匀性分析[J].上海交通大学学报,2013,47(5):687-691.YUAN Lei,YU Haidong,DING Sheng,et al.Analysis on load-sharing behavior of multiple gear system with geometric coupled model[J].Journal of Shanghai Jiaotong University,2013,47(5):687-691.
[20] KAHRAMAN Ahmet. Load sharing characteristics of planetary transmissions[J].Mechanism and Machine Theory,1994,29(8):1151-1165.
[21] ASHINO R,NAGASE M,VAILLANCOURT R.Behind and beyond the matlab ODE suite[J].Computers and Mathematics with Applications,2000,40(4):491-512.
[22]葛帅帅,秦大同,胡明辉.突变工况下滚筒式采煤机调速控制策略研究[J].煤炭学报,2015,40(11):2569-2578.GE Shuaishuai,QIN Datong,HU Minghui.Research on drum shearer speed control strategies under impact conditions[J]. Journal of China Coal Society,2015,40(11):2569-2578.
[23]崔亚辉,刘占生,叶建槐.齿轮—转子耦合系统的动态响应及齿侧间隙对振幅跳跃特性的影响[J].机械工程学报,2009,45(7):7-15.CUI Yahui,LIU Zhansheng,YE Jianhuai. Dynamic response of geared rotor system and the effect of clearance on jump characteristics of amplitude[J].Journal of Mechanical Engineering,2009,45(7):7-15.
[24]翟洪飞,朱才朝,宋朝省,等.大功率风电齿轮箱系统耦合动态特性研究[J].振动与冲击,2017,36(8):97-104.ZHAI Hongfei,ZHU Caichao,SONG Chaosheng,et al. Dynamic characteristics of a high-power wind turbine gearbox coupled system[J].Journal of Vibration and Shock,2017,36(8):97-104.
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