Gear dynamics modeling method considering meshing position change influence

Abstract

The invention relates to the technical field of mechanical dynamics, and discloses a gear dynamics modeling method considering meshing position change influence. A gear meshing stiffness model adopted by the gear dynamics modeling method does not simplify the meshing stiffness between a driving gear and a driven gear into the meshing stiffness which equivalently acts on a node and is fixed in spatial position and only variable in amplitude, but truly considers the change of an instantaneous meshing position between gear teeth of the driving gear; that is to say, the adopted gear meshing rigidity model not only considers the change of the rigidity amplitude in the time dimension, but also considers the change of the rigidity position in the space dimension, and the gear meshing rigidity model is more in line with the actual meshing state of the gear.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical dynamics, and in particular to a gear dynamics modeling method taking into account the influence of meshing position changes. Background Art

[0002] Gears are commonly used transmission components in aerospace, transportation, mechanical manufacturing and other fields. The dynamic behavior of gears mainly depends on the alternating meshing between gear teeth. Establishing a gear dynamics model that can accurately reflect the actual meshing state of gears is the key to the dynamic analysis and evaluation of gear transmission systems.

[0003] At present, most common gear dynamics models simplify the alternating meshing behavior between gear teeth into time-varying meshing stiffness. The time-varying meshing stiffness of gears is often treated as the stiffness with amplitude varying with time acting at the meshing node. The influence of changes in the gear meshing position is generally not considered, and the corresponding gear dynamics model also does not consider the influence of changes in the gear meshing position.

[0004] In response to the development trend of high power density of gears, lightweight and heavy-duty gears are increasingly widely used. The lightweight and thin-walled characteristics and heavy-duty bearing characteristics of lightweight and heavy-duty gears lead to complex vibration characteristics and obvious elastic vibration characteristics, which results in the traditional gear dynamics modeling method that does not consider the change of meshing position being unable to meet the needs of dynamic behavior analysis and evaluation of lightweight and heavy-duty gears. Therefore, it is urgent to establish a gear dynamics modeling method that considers the influence of meshing position changes to meet the needs of dynamic behavior analysis and evaluation of lightweight and heavy-duty gears. Summary of the invention

[0005] In view of the problem that the gear dynamics model in the prior art cannot well meet the needs of dynamics behavior analysis and evaluation of lightweight and heavy-loaded gears, the present invention provides a gear dynamics modeling method that takes into account the influence of meshing position changes.

[0006] In order to solve the above technical problems, the present invention is solved by the following technical solutions:

[0007] A gear dynamics modeling method considering the influence of meshing position change, the method comprising:

[0008] The time-varying meshing stiffness K of the i-th pair of meshing teeth is calculated using the local tangent method of the force and deformation curve at the instantaneous meshing position. mi (t), the calculation formula is as follows:

[0009]

[0010] Where t is the time variable, F is the total meshing force between all meshing teeth of the gear pair, and F i (·) is the meshing force between the i-th pair of meshing gear teeth, ΔF is the small increment of the meshing force, ei (·) is the transmission error between the i-th pair of meshing gear teeth.

[0011] Calculate the time-varying meshing stiffness k of the i-th pair of meshing teeth mi (t) The instantaneous meshing deformation Δ between the master and driven wheels corresponding to each other at each moment mi (t), the calculation formula is as follows:

[0012]

[0013] Among them, t is the time variable, θ is the angle variable, and u p,ci and v p,cii are the radial and tangential deformations of the root circle of the driving gear teeth at the instantaneous meshing position angle of the i-th pair of meshing teeth, respectively, and u g,ci and v g,ci are the radial and tangential deformations of the root circle of the driven gear at the instantaneous meshing position angle of the i-th pair of meshing teeth, θ p,ci( t) and θ g,ci (t) are the instantaneous meshing position angles of the i-th pair of meshing teeth of the driving wheel and the driven wheel, α is the theoretical pressure angle, Γ p,ci (t) and Γ g,ci (t) is the radial distance from the instantaneous meshing position of the i-th pair of meshing teeth of the driving wheel and the driven wheel to the root circle, R p,r and R g,r are the root circle radii of the driving wheel and the driven wheel respectively;

[0014] Using Hamilton's principle, the kinetic energy, potential energy, elastic support strain energy, meshing potential energy and virtual work done by external forces of the driving and driven wheels are calculated to obtain the gear dynamics control equation considering the influence of meshing position changes.

[0015]

[0016] Where t is the time variable, M is the mass operator, G is the gyroscopic effect operator, C is the centripetal effect operator, K is the stiffness operator that does not include the meshing stiffness effect, and K m (t) is the meshing stiffness operator considering the influence of meshing position change, Ω is the speed of the driving wheel, q is the column vector of degrees of freedom of the driving and driven wheels, and F is the column vector of the excitation force;

[0017] Solve the above equation and its corresponding eigenvalue problem to obtain the gear dynamic behavior including modal characteristics and vibration response characteristics considering the influence of meshing position changes.

[0018] As a preferred method, the calculation formula of the total meshing force F between all meshing teeth of the gear pair is as follows:

[0019]

[0020] Where, T g is the load torque on the driven wheel, R g,b is the base circle radius of the driven wheel.

[0021] As a preferred embodiment: the radial distance Γ from the instantaneous meshing position of the i-th pair of meshing gear teeth of the driving and driven gears to the root circle p,ci (t) and Γ g,ci The calculation formula of (t) is as follows:

[0022]

[0023] Among them, t is the time variable, R p,b and R g,b are the base circle radii of the driving wheel and the driven wheel respectively, R p,r and R g,r are the root circle radius of the driving wheel and the driven wheel respectively, θ p,ci (t) and θ g,ci (t) are the instantaneous meshing position angles of the driving wheel and the driven wheel, and α is the theoretical pressure angle.

[0024] Preferably: the dynamic model includes a driving wheel dynamic model, a driven wheel dynamic model and a meshing stiffness model considering the influence of meshing position change;

[0025] The dynamic model of the driving wheel includes the radial deformation u p , tangential deformation v p and axial deformation w p ; The dynamic model of the driven wheel includes the radial deformation u g , tangential deformation v g and axial deformation w g ;

[0026] The meshing stiffness model considering the influence of meshing position change includes the instantaneous meshing position angle θ of the driving gear of the i-th pair of meshing teeth: p,ci (t) and the instantaneous meshing position angle θ of the driven gear g,ci (t) and the time-varying meshing stiffness K of the i-th pair of meshing teeth mi (t).

[0027] As a preferred embodiment: the instantaneous meshing position angle of the driving wheel is θ p,ci (t) is the angle of the radial line of the instantaneous meshing position of the ith pair of meshing teeth of the driving wheel relative to the axis connecting the driving and driven wheels. When the radial line is in the counterclockwise direction of the axis connecting the driving and driven wheels, θ p,ci (t) is positive, otherwise it is negative;

[0028] Instantaneous meshing position angle θ of the driven wheel g,ci(t) is the angle of the radial line of the instantaneous meshing position of the ith pair of meshing teeth of the driven wheel relative to the axis connecting the driving and driven wheels. When the radial line is in the counterclockwise direction of the axis connecting the driving and driven wheels, θ g,ci (t) is positive, otherwise it is negative;

[0029] Time-varying mesh stiffness K of the i-th pair of meshing teeth mi (t) is evenly distributed in the meshing tooth width direction; the time-varying meshing stiffness K of the i-th pair of meshing teeth mi (t) Calculated using the local tangent method of the force and deformation curve at the instantaneous meshing position.

[0030] In order to solve the above technical problems, the present invention also provides an electronic device, which includes a memory and a processor, wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement a gear dynamics modeling method that considers the influence of changes in meshing position as described.

[0031] In order to solve the above technical problems, the present invention also provides a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a computer, implements any one of the gear dynamics modeling methods considering the influence of meshing position changes. Due to the adoption of the above technical solutions, the present invention has significant technical effects:

[0032] The gear dynamics modeling method of the present invention takes into account the influence of the instantaneous meshing position change of the gear teeth, and can more realistically reflect the internal meshing characteristics of heavy-loaded lightweight gears, thereby obtaining a more accurate prediction of dynamic behavior.

[0033] The gear meshing stiffness model adopted by the gear dynamics modeling method of the present invention no longer simplifies the meshing stiffness between the master and driven wheels into an equivalent meshing stiffness with a fixed spatial position at the node and only a variable amplitude. Instead, it truly considers the change in the instantaneous meshing position between the driving wheel teeth. That is, the gear meshing stiffness model adopted considers both the change in the stiffness amplitude in the time dimension and the change in the stiffness position in the spatial dimension. The gear meshing stiffness model is more in line with the actual meshing state of the gear. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 The present invention is a gear dynamics model that takes into account the influence of meshing position changes;

[0035] Figure 2 The present invention is a comparison diagram of the meshing stiffness of gears considering the influence of meshing position changes and the meshing stiffness of traditional gears;

[0036] Figure 3The present invention is a comparison diagram of the gear radial deformation response under the influence of meshing position change and the gear radial deformation response without considering the influence of meshing position change;

[0037] Figure 4 The present invention is a comparison diagram of the gear axial deformation response under the influence of meshing position change and the gear axial deformation response under the influence of meshing position change not considered. DETAILED DESCRIPTION

[0038] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0039] Example 1

[0040] A gear dynamics modeling method considering the influence of meshing position change, the method comprising:

[0041] The time-varying meshing stiffness K of the i-th pair of meshing teeth is calculated using the local tangent method of the force and deformation curve at the instantaneous meshing position. mi (t), the calculation formula is as follows:

[0042]

[0043] Where t is the time variable, F is the total meshing force between all meshing teeth of the gear pair, and F i (·) is the meshing force between the i-th pair of meshing gear teeth, ΔF is the small increment of the meshing force, e i (·) is the transmission error between the i-th pair of meshing gear teeth.

[0044] Calculate the time-varying meshing stiffness K of the i-th pair of meshing teeth mi (t) The instantaneous meshing deformation Δ between the master and driven wheels corresponding to each other at each moment mi (t), the calculation formula is as follows:

[0045]

[0046] Among them, t is the time variable, θ is the angle variable, and u p,ci and v p,cii are the radial and tangential deformations of the root circle of the driving gear teeth at the instantaneous meshing position angle of the i-th pair of meshing teeth, respectively, and u g,ci and v g,ci are the radial and tangential deformations of the root circle of the driven gear at the instantaneous meshing position angle of the i-th pair of meshing teeth, θ p,ci (t) and θ g,ci (t) are the instantaneous meshing position angles of the i-th pair of meshing teeth of the driving wheel and the driven wheel, α is the theoretical pressure angle, Γ p,ci (t) and Δ g,ci(t) is the radial distance from the instantaneous meshing position of the i-th pair of meshing teeth of the driving wheel and the driven wheel to the root circle, R p,r and R g,r are the root circle radii of the driving wheel and the driven wheel respectively;

[0047] Using Hamilton's principle, the kinetic energy, potential energy, elastic support strain energy, meshing potential energy and virtual work done by external forces of the driving and driven wheels are calculated to obtain the gear dynamics control equation considering the influence of meshing position changes.

[0048]

[0049] Where t is the time variable, M is the mass operator, G is the gyroscopic effect operator, C is the centripetal effect operator, K is the stiffness operator that does not include the meshing stiffness effect, and K m (t) is the meshing stiffness operator considering the influence of meshing position change, Ω is the speed of the driving wheel, q is the column vector of degrees of freedom of the driving and driven wheels, and F is the column vector of the excitation force;

[0050] Solve the above equation and its corresponding eigenvalue problem to obtain the gear dynamic behavior including modal characteristics and vibration response characteristics considering the influence of meshing position changes.

[0051] The calculation formula for the total meshing force F between all meshing teeth of a gear pair is as follows:

[0052]

[0053] Among them, T g is the load torque on the driven wheel, R g,b is the base circle radius of the driven wheel.

[0054] As a preferred embodiment: the radial distance Γ from the instantaneous meshing position of the i-th pair of meshing gear teeth of the driving and driven gears to the root circle p,ci (t) and Γ g,ci The calculation formula of (t) is as follows:

[0055]

[0056] Among them, t is the time variable, R p,b and R g,b are the base circle radii of the driving wheel and the driven wheel respectively, R p,r and R g,r are the root circle radius of the driving wheel and the driven wheel respectively, θ p,ci (t) and θ g,ci (t) are the instantaneous meshing position angles of the driving wheel and the driven wheel, and α is the theoretical pressure angle.

[0057] Preferably: the dynamic model includes a driving wheel dynamic model, a driven wheel dynamic model and a meshing stiffness model considering the influence of meshing position change;

[0058] The dynamic model of the driving wheel includes the radial deformation u p , tangential deformation v p and axial deformation w p ; The dynamic model of the driven wheel includes the radial deformation u g , tangential deformation v g and axial deformation w g ;

[0059] The meshing stiffness model considering the influence of meshing position change includes the instantaneous meshing position angle θ of the driving gear of the i-th pair of meshing teeth: p,ci (t) and the instantaneous meshing position angle θ of the driven gear g,ci (t) and the time-varying meshing stiffness K of the i-th pair of meshing teeth mi (t).

[0060] Driving wheel instantaneous meshing position angle θ p,ci (t) is the angle of the radial line of the instantaneous meshing position of the ith pair of meshing teeth of the driving wheel relative to the axis connecting the driving and driven wheels. When the radial line is in the counterclockwise direction of the axis connecting the driving and driven wheels, θ p,ci (t) is positive, otherwise it is negative;

[0061] Instantaneous meshing position angle θ of the driven wheel g,ci (t) is the angle of the radial line of the instantaneous meshing position of the ith pair of meshing teeth of the driven wheel relative to the axis connecting the driving and driven wheels. When the radial line is in the counterclockwise direction of the axis connecting the driving and driven wheels, θ g,ci (t) is positive, otherwise it is negative;

[0062] Time-varying mesh stiffness K of the i-th pair of meshing teeth mi (t) is evenly distributed in the meshing tooth width direction; the time-varying meshing stiffness K of the i-th pair of meshing teeth mi (t) Calculated using the local tangent method of the force and deformation curve at the instantaneous meshing position.

[0063] Example 2

[0064] Based on Example 1, this embodiment is an electronic device, which includes a memory and a processor, wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement a gear dynamics modeling method that considers the influence of changes in meshing position as described.

[0065] Example 3

[0066] Based on the above embodiments, this embodiment is a computer-readable storage medium storing a computer program, and when the computer program is executed by a computer, it implements any one of the gear dynamics modeling methods considering the influence of meshing position changes.

[0067] Example 4

[0068] Based on the above embodiments, this embodiment combines Figure 1 The gear dynamics modeling method considering the influence of meshing position change of the present invention is applied to a gear pair with a contact ratio greater than 1 and less than 2. The gear dynamics modeling method considering the influence of meshing position change includes a driving wheel dynamics model, a driven wheel dynamics model and a meshing stiffness model considering the influence of meshing position change. The driving wheel dynamics model considers the three-dimensional deformation of the driving wheel, including the radial deformation u p , tangential deformation v p and axial deformation w p ; The driven wheel dynamics model considers the three-dimensional deformation of the driven wheel, including the radial deformation u g , tangential deformation v g and axial deformation w g .

[0069] The meshing stiffness model considering the influence of meshing position change includes: the instantaneous meshing position angle θ of the driving wheel of the first pair of meshing gear teeth p,c1 (t) and the instantaneous meshing position angle θ of the driven wheel g,c1 (t), the time-varying meshing stiffness k of the first pair of meshing teeth m1 (t), the instantaneous meshing position angle θ of the driving wheel of the second pair of meshing teeth p,c2 (t) and the instantaneous meshing position angle θ of the driven wheel g,c2 (t), the time-varying meshing stiffness k of the second pair of meshing teeth m2 (t). Time-varying mesh stiffness k m1 (t) and k m2 (t) is evenly distributed in the meshing tooth width direction. Taking the first pair of meshing gear teeth as an example, the instantaneous meshing position angle θ p,c1 (t) and θ g,c1 (t) are the angles of the radial lines of the driving wheel and the driven wheel at the instantaneous meshing position of the first pair of meshing gear teeth relative to the line connecting the axes of the driving and driven wheels.

[0070] Combination Figure 2 , Figure 3 and Figure 4 The gear dynamics modeling method based on the above dynamic model considering the influence of meshing position change is applied to the gear pair with a contact ratio greater than 1 and less than 2, including the following specific steps:

[0071] Step 1: Calculate the time-varying meshing stiffness K of the first pair of meshing teeth using the local tangent method of the force and deformation curve at the instantaneous meshing position m1 (t) and the time-varying meshing stiffness K of the second pair of meshing teeth m2 (t), the calculation formula is as follows:

[0072]

[0073] Where t is the time variable, F is the total meshing force between all meshing gear teeth of the gear pair (determined by the driven wheel load torque divided by the driven wheel base circle radius), and F 1 (·) and F 2 (·) are the meshing forces between the first and second pairs of meshing gear teeth, ΔF is a small increment of the meshing force, e 1 (·) and e 2 (·) are the transmission errors between the first and second pairs of meshing gear teeth, respectively.

[0074] The time-varying meshing stiffness calculated by the above formula considering the influence of meshing position change is compared with the traditional stiffness. Figure 2 shown.

[0075] Step 2: Calculate the time-varying mesh stiffness K of the first and second pairs of meshing teeth m1 (t) and K m2 (t) The instantaneous meshing deformation Δ between the master and driven wheels corresponding to each other at each moment m1 (t) and Δ m2 (t), the calculation formula is as follows:

[0076]

[0077] Among them, t is the time variable, θ is the angle variable, and u p,c1 and u p,c2 are the radial deformation of the root circle of the driving gear teeth at the instantaneous meshing position angle of the first and second pairs of meshing gear teeth, v p,c1 and v p,c2 are the tangential deformation of the root circle of the driving gear teeth at the instantaneous meshing position angle of the first and second pairs of meshing gear teeth, u g,c1 and u g,c2 are the radial deformation of the root circle of the driven gear at the instantaneous meshing position angle of the first and second pairs of meshing teeth, v g,c1 and vg, c2 are the tangential deformation of the root circle of the driven gear at the instantaneous meshing position angle of the first and second pairs of meshing teeth, θ p,c1 (t) and θ p,c2 (t) are the instantaneous meshing position angles of the driving gear of the first and second pairs of meshing gear teeth, θ g,c1 (t) and θ g,c2(t) are the instantaneous meshing position angles of the driven gear of the first and second pairs of meshing gear teeth, α is the theoretical pressure angle, Γ p,c1 (t) and Γ p,c2 (t) is the radial distance from the instantaneous meshing position of the driving wheel to the root circle of the driving wheel teeth of the first and second pairs of meshing gear teeth, Γ g,c1 (t) and Γ g,c2 (t) is the radial distance from the instantaneous meshing position of the driven gear to the root circle of the driven gear teeth of the first and second pairs of meshing gear teeth, R p,r and R p,r are the root circle radii of the driving wheel and the driven wheel respectively. p,c1 (t),Γ p,c2 (t),Γ g,c1 (t) and Γ g,c2 The calculation formula of (t) is as follows:

[0078]

[0079] Among them, t is the time variable, R p,b and R g,b are the base circle radii of the driving wheel and the driven wheel respectively, R p,r and R g,r are the root circle radius of the driving wheel and the driven wheel respectively, θ p,c1 (t) and θ p,c2 (t) are the instantaneous meshing position angles of the driving gear of the first and second pairs of meshing gear teeth, θ p,c1 (t) and θ p,c2 (t) are the instantaneous meshing position angles of the driven gear of the first and second pairs of meshing gear teeth, respectively, and α is the theoretical pressure angle.

[0080] Step 3: Using Hamilton's principle, calculate the kinetic energy, potential energy, elastic support strain energy, meshing potential energy and virtual work done by external forces of the driving wheel and the driven wheel, and obtain the gear dynamics control equation considering the influence of meshing position change, as follows

[0081]

[0082] Where t is the time variable, M is the mass operator, G is the gyroscopic effect operator, C is the centripetal effect operator, K is the stiffness operator that does not include the meshing stiffness effect, and K m (t) is the meshing stiffness operator considering the influence of meshing position change, Ω is the speed of the driving wheel, q is the column vector of degrees of freedom of the driving and driven wheels, and F is the column vector of the excitation force;

[0083] By solving the above equation and its corresponding eigenvalue problem, we can obtain the gear dynamic behavior including modal characteristics and vibration response characteristics taking into account the influence of meshing position changes.

[0084] The radial deformation and axial deformation results of heavy-loaded lightweight gears obtained by the modeling method of the present invention and the traditional modeling method are compared. Figure 3 and Figure 4 As shown in the figure, it can be seen that for heavy-loaded lightweight gears, the response obtained by the traditional modeling method omits some important resonance responses, while the gear dynamics modeling method proposed in the present invention takes into account the influence of the instantaneous meshing position change of the gear teeth, and can more realistically reflect the internal meshing characteristics of heavy-loaded lightweight gears, thereby obtaining more accurate dynamic behavior.

Claims

1. A gear dynamics modeling method considering the influence of meshing position change, the method comprising: The time-varying meshing stiffness K of the i-th pair of meshing teeth is calculated using the local tangent method of the force and deformation curve at the instantaneous meshing position. mi (t), the calculation formula is as follows: Where t is the time variable, F is the total meshing force between all meshing teeth of the gear pair, and F i (·) is the meshing force between the i-th pair of meshing gear teeth, ΔF is the small increment of the meshing force, e i (·) is the transmission error between the i-th pair of meshing gear teeth. Calculate the time-varying meshing stiffness K of the i-th pair of meshing teeth mi (t) The instantaneous meshing deformation Δ between the master and driven wheels corresponding to each other at each moment mi (t), the calculation formula is as follows: Among them, t is the time variable, θ is the angle variable, and u p,ci and v p,cii are the radial and tangential deformations of the root circle of the driving gear at the instantaneous meshing position angle of the i-th pair of meshing teeth, respectively, and u g,ci and v g,ci are the radial and tangential deformations of the root circle of the driven gear at the instantaneous meshing position angle of the i-th pair of meshing teeth, θ p,ci (t) and θ g,ci (t) are the instantaneous meshing position angles of the i-th pair of meshing teeth of the driving wheel and the driven wheel, α is the theoretical pressure angle, Γ p,ci (t) and Γ g,ci (t) is the radial distance from the instantaneous meshing position of the i-th pair of meshing teeth of the driving wheel and the driven wheel to the root circle, R p,r and R g,r are the root circle radii of the driving wheel and the driven wheel respectively; Using Hamilton's principle, the kinetic energy, potential energy, elastic support strain energy, meshing potential energy and virtual work done by external forces of the driving and driven wheels are calculated to obtain the gear dynamics control equation considering the influence of meshing position changes. Where t is the time variable, M is the mass operator, G is the gyroscopic effect operator, C is the centripetal effect operator, K is the stiffness operator that does not include the meshing stiffness effect, and K m (t) is the meshing stiffness operator considering the influence of meshing position change, Ω is the speed of the driving wheel, q is the column vector of degrees of freedom of the driving and driven wheels, and F is the column vector of the excitation force; Solve the above equation and its corresponding eigenvalue problem to obtain the gear dynamic behavior including modal characteristics and vibration response characteristics considering the influence of meshing position changes.

2. A gear dynamics modeling method considering the influence of meshing position change according to claim 1, characterized in that: The calculation formula for the total meshing force F between all meshing teeth of a gear pair is as follows: Where, T g is the load torque on the driven wheel, R g,b is the base circle radius of the driven wheel.

3. A gear dynamics modeling method considering the influence of meshing position change according to claim 1, characterized in that: The radial distance Γ from the instantaneous meshing position of the i-th pair of meshing teeth of the driving and driven gears to the root circle p,ci (t) and Γ g,ci The calculation formula of (t) is as follows: Among them, t is the time variable, R p,b and R g,b are the base circle radii of the driving wheel and the driven wheel respectively, R p,r and R g,r are the root circle radius of the driving wheel and the driven wheel respectively, θ p,ci (t) and θ g,ci (t) are the instantaneous meshing position angles of the driving wheel and the driven wheel, and α is the theoretical pressure angle.

4. A gear dynamics modeling method considering the influence of meshing position change according to claim 1, characterized in that: The dynamic model includes the driving wheel dynamic model, the driven wheel dynamic model and the meshing stiffness model considering the influence of meshing position change; The dynamic model of the driving wheel includes the radial deformation u p , tangential deformation v p and axial deformation w p ; The dynamic model of the driven wheel includes the radial deformation u g , tangential deformation v g and axial deformation w g ; The meshing stiffness model considering the influence of meshing position change includes the instantaneous meshing position angle θ of the driving gear of the i-th pair of meshing gear teeth: p,ci (t) and the instantaneous meshing position angle θ of the driven gear g,ci (t) and the time-varying meshing stiffness K of the i-th pair of meshing teeth mi (t).

5. A gear dynamics modeling method considering the influence of meshing position change according to claim 4, characterized in that: Driving wheel instantaneous meshing position angle θ p,ci (t) is the angle of the radial line of the instantaneous meshing position of the i-th pair of meshing gear teeth of the driving wheel relative to the axis connecting the driving and driven wheels. When the radial line is in the counterclockwise direction of the axis connecting the driving and driven wheels, θ p,ci (t) is positive, otherwise it is negative; Instantaneous meshing position angle θ of the driven wheel g,ci (t) is the angle of the radial line of the instantaneous meshing position of the ith pair of meshing teeth of the driven wheel relative to the axis connecting the driving and driven wheels. When the radial line is in the counterclockwise direction of the axis connecting the driving and driven wheels, θ g,ci (t) is positive, otherwise it is negative; Time-varying mesh stiffness K of the i-th pair of meshing teeth mi (t) is evenly distributed in the meshing tooth width direction; the time-varying meshing stiffness K of the i-th pair of meshing teeth mi (t) Calculated using the local tangent method of the force and deformation curve at the instantaneous meshing position.

6. An electronic device, characterized in that: It comprises a memory and a processor, wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement a gear dynamics modeling method that considers the influence of meshing position changes as described in any one of claims 1-5.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a computer, a gear dynamics modeling method considering the influence of meshing position changes as described in any one of claims 1 to 5 is implemented.

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