Simulation observation method for dynamic characteristics of backlash in gear transmission

Abstract

The invention discloses a simulation observation method for dynamic characteristics of a backlash in gear transmission. The method comprises the following steps: defining a nonlinear backlash characteristic function according to dead zone characteristics in gear transmission; performing periodic continuation on a preset square wave function to obtain variable torsional rigidity; establishing a gear transmission model according to the backlash characteristic function and the variable torsional rigidity; the input torque of the gear transmission model is obtained in a closed-loop input mode, simulation initialization setting is conducted on the gear transmission model, and dynamic characteristics of the backlash are observed through simulation. The input torque of the gear transmission model is obtained through closed-loop control of the motion parameters, the initial backlash input is set, the dynamic characteristics of the backlash are observed through simulation, and the problem that the input characteristics of gear transmission in a real mechanical system cannot be simulated through open-loop input is solved.

Description

Technical Field

[0001] The present invention relates to the field of modeling and simulation, and more specifically, to a simulation observation method for dynamic characteristics of tooth clearance in gear transmission. Background Art

[0002] Gear transmission is widely used in engineering due to its strong load-bearing capacity, accurate transmission ratio, high efficiency and other characteristics. Considering the compensation of manufacturing and installation errors, adapting to environmental thermal expansion and facilitating lubrication, it is necessary to set a reasonable tooth clearance in the gear transmission. Generally, the gear transmission link includes a gear pair composed of two meshing gears, usually driven directly by a motor or driven by a motor with a reducer, the small gear meshes with the large gear, and the large gear carries the load to achieve the required movement.

[0003] However, there is little research on the dynamic characteristics of tooth clearance in gear transmission in engineering. Generally, the allowable boundary of tooth clearance is proposed for gear pairs based on experience and calculation data combined with engineering indicators. Through processing and manufacturing processes, the tooth clearance is controlled within this boundary, and the tooth clearance influencing factors are no longer considered in the subsequent stage. With the improvement of the integration degree and index requirements of mechanical equipment, the nonlinear characteristics of tooth clearance have become a key factor restricting the performance of equipment, so it is necessary to study the dynamic characteristics of tooth clearance.

[0004] Modeling and simulating gear transmission is a common method to study the characteristics of tooth clearance. Modeling for the purpose of simulation generally includes two types: physical modeling and theoretical modeling. At present, the research on modeling and simulation of gear transmission in engineering is mainly based on physical modeling, that is, building a digital physical model of gear transmission, and analyzing the dynamic response characteristics of the transmission model containing tooth clearance through finite element analysis and multi-body dynamics calculation, so as to obtain the dynamic characteristics of tooth clearance. This type of method has a large amount of modeling engineering, and the simulation calculation requires high-performance computers and consumes a lot of computing resources. The simulation is time-consuming and inefficient. Secondly, the input of the simulation is generally open-loop input such as constant value input or set function input, which is difficult to simulate the input characteristics of the gear transmission in the real mechanical system. Summary of the invention

[0005] The present invention provides a simulation observation method for the dynamic characteristics of tooth gap in gear transmission, so as to overcome the current technical status of complex modeling methods for gear transmission and solve the problem of simulation observation of the dynamic characteristics of transmission tooth gap in engineering.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] The first aspect of the present invention provides a simulation observation method for dynamic characteristics of tooth clearance in a gear transmission, the method comprising:

[0008] Define the nonlinear backlash characteristic function according to the dead zone characteristics in the gear transmission;

[0009] The preset square wave function is periodically extended to obtain variable torsional stiffness;

[0010] Establishing a gear transmission model according to the backlash characteristic function and the variable torsional stiffness;

[0011] The input torque of the gear transmission model is obtained by means of closed-loop input, the gear transmission model is simulated and initialized, and the dynamic characteristics of the tooth gap are observed through simulation.

[0012] Optionally, the gear transmission is a transmission between a first gear and a second gear included in the gear pair.

[0013] The maximum backlash of the gear transmission is the range of motion of the second gear when the first gear is fixed;

[0014] The gap between the first gear and the second gear is the dynamic backlash of the gear transmission.

[0015] Optionally, the tooth clearance characteristic function X(·) is

[0016]

[0017] Among them, n is the input of the backlash characteristic function, i is the gear pair reduction ratio, Δ m is the maximum backlash of the gear transmission, i*Δ m It is the dead zone characteristic of gear transmission.

[0018] Optionally, the step of periodically extending the preset square wave function to obtain the variable torsional stiffness includes the square wave function f(t) being:

[0019]

[0020] Among them, t is time, K1 and K2 are constants, T is period, h is coefficient, 0 <h<1,0<K1<K2;

[0021] The square wave function is periodically extended forward with T as the period to obtain variable torsional stiffness.

[0022] Optionally, the gear transmission model is used to obtain a first difference between an input torque and an engagement torque, the input torque being the torque of the first gear, the engagement torque being the product of a backlash characteristic function and a variable torsional stiffness, and the first difference is integrated to obtain a first gear angle;

[0023] The output torque of the gear transmission model is obtained according to the product of the meshing torque and the reduction ratio. The output torque of the gear transmission model is the torque of the second gear. The torque of the second gear is integrated to obtain the second gear angle. The second difference between the first gear angle and the second gear angle is obtained, and the second difference is used as the input of the tooth clearance characteristic function.

[0024] Optionally, the step of obtaining the input torque of the gear transmission model by closed-loop input includes:

[0025] A third difference between a preset angle signal and the second gear angle is obtained, and the third difference is sent to a controller. The output torque adjusted by the controller is used as the input torque of the gear transmission model.

[0026] Optionally, the initialization setting of the simulation of the gear transmission model and observing the dynamic characteristics of the tooth gap through simulation includes

[0027] Initialize the dynamic backlash, convert the initialized dynamic backlash to the first gear end, and perform summation correction on the first gear angle;

[0028] A fourth difference between the summed and corrected first gear angle and the second gear angle is obtained, and the fourth difference is converted to the second gear end as an observation output.

[0029] Optionally, the method further comprises

[0030] The conversion between the first gear end and the second gear end is achieved through the gear pair reduction ratio.

[0031] A second aspect of the present invention provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect of the present invention when executing the program.

[0032] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect of the present invention.

[0033] The beneficial effects of the present invention are as follows:

[0034] The present invention models the gear transmission model in the gear transmission through the tooth clearance characteristic function and the variable torsional stiffness, obtains the input torque of the gear transmission model through the closed-loop input of the motion parameters, initializes the gear transmission model, and then observes the dynamic characteristics of the tooth clearance through simulation, thus solving the problem that the open-loop input cannot simulate the input characteristics of the gear transmission in the real mechanical system. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0036] Figure 1 A flow chart showing a method for simulation observation of dynamic characteristics of tooth backlash in a gear transmission according to the present invention;

[0037] FIG2( a ) shows a schematic diagram of a gear pair in an embodiment of the present invention;

[0038] FIG2( b ) is a schematic diagram showing a dynamic backlash in an embodiment of the present invention;

[0039] Figure 3 A schematic diagram showing a method of periodically extending a preset square wave function to obtain a variable torsional stiffness in an embodiment of the present invention;

[0040] Figure 4 A schematic diagram showing a gear transmission model in an embodiment of the present invention;

[0041] Figure 5 A schematic diagram showing the initialization setting and observation of dynamic backlash in an embodiment of the present invention;

[0042] Figure 6 A schematic diagram showing the method of obtaining the input torque of the gear transmission model by an angle closed loop method in an embodiment of the present invention;

[0043] Figure 7 A schematic diagram showing simulation observation results of dynamic characteristics of tooth gap in an embodiment of the present invention;

[0044] Figure 8 A schematic diagram showing the structure of a computer device according to a second embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to more clearly illustrate the present invention, the present invention is further described below in conjunction with preferred embodiments and accompanying drawings. Similar components in the accompanying drawings are represented by the same reference numerals. It should be understood by those skilled in the art that the content specifically described below is illustrative rather than restrictive, and should not be used to limit the scope of protection of the present invention.

[0046] Figure 1 A flowchart of a method for simulating and observing the dynamic characteristics of tooth clearance in a gear transmission provided by the present invention, the method comprising:

[0047] Define the nonlinear backlash characteristic function according to the dead zone characteristics in the gear transmission;

[0048] Define the maximum backlash and dynamic backlash of gear pairs in gear transmission;

[0049] The gear pair includes a first gear and a second gear. The first gear meshes with the second gear. The gear transmission is the transmission between the first gear and the second gear included in the gear pair. The maximum backlash of the gear transmission is the movement range of the second gear when the first gear is fixed. The clearance between the first gear and the second gear is the dynamic backlash of the gear transmission. Assume that the first gear is the driving gear and the second gear is the driven gear. Among them, the first gear is the small gear in the gear pair, and the second gear is the large gear in the gear pair. In the movement direction of the large gear, the clearance between the small gear and the large gear is the dynamic backlash Δ; when one of the gears in the gear pair is fixed, the movement range that the other gear can freely move is the maximum backlash Δ m , for a designed gear pair, the maximum backlash Δ m is an inherent index of the gear pair and is a determined parameter.

[0050] The backlash characteristic function X(·) is

[0051]

[0052] where n is the input of the backlash characteristic function, i is the gear pair reduction ratio, Δ m is the maximum backlash of the gear transmission, and i*Δ m is the dead zone characteristic of the gear transmission.

[0053] Perform periodic extension on the preset square wave function to obtain a variable torsional stiffness;

[0054] The preset square wave function f(t) is

[0055]

[0056] where t is time, K1 and K2 are constants, T is the period, h is a coefficient, 0 < h < 1, 0 < K1 < K2; K1, K2, T, and h are all configurable. On this basis, perform periodic positive extension on the preset square wave function f(t) with T as the period to obtain a variable torsional stiffness.

[0057] Establish a gear transmission model based on the backlash characteristic function and the variable torsional stiffness;

[0058] The input in the gear transmission model is the torque of the driving gear, and the output is the torque of the driven gear. According to the fact that the small gear in the gear pair is the driving gear and the large gear is the driven gear, that is, in the gear transmission model, the torque of the small gear is used as the input torque of the gear transmission model, and the torque of the large gear is used as the output torque of the gear transmission model;

[0059] The meshing torque is obtained by multiplying the backlash characteristic function and the variable torsional stiffness, and the first difference between the input torque and the meshing torque is obtained. The difference is applied to the rotational inertia of the small gear, and the small gear angle is obtained by integrating it twice, that is, the first gear angle; the output torque is applied to the rotational inertia of the large gear, and the large gear angle is obtained by integrating it twice, that is, the second gear angle;

[0060] The large gear angle is converted to the small gear end by multiplying the second gear angle by the gear pair reduction ratio, and the second difference between the small gear angle and the large gear angle is obtained. The second difference is used as the input of the tooth clearance characteristic function, and the meshing torque is obtained by multiplying the tooth clearance characteristic function by the variable torsional stiffness. The output torque of the gear transmission model is obtained by multiplying the meshing torque by the gear pair reduction ratio.

[0061] For a designed gear pair, the pinion moment of inertia and the gear moment of inertia are inherent indicators of the gear pair and are definite parameters.

[0062] The input torque of the gear transmission model is obtained by closed-loop input, the simulation initialization setting of the gear transmission model is performed, and the dynamic characteristics of the tooth gap are observed through simulation;

[0063] A third difference between the preset angle signal and the second gear angle is obtained, the third difference is sent to the controller, the third difference is adjusted by the controller, and the adjusted output torque is used as the input torque of the gear transmission model.

[0064] The input of the controller is the difference between the desired angle and the actual angle of the system. The controller uses algorithms such as Proportional Integration Differentiation (PID) to adjust the output (i.e., the pinion torque input) according to the angular deviation, eliminate or reduce the control error, and achieve rapid response and stable operation of the system.

[0065] Initialize the dynamic backlash, increase the initial backlash input, convert the initial backlash input to the small gear end by multiplying the initial backlash input by the reduction ratio, and perform summation correction on the small gear angle; after converting the large gear angle to the small gear end, obtain the fourth difference between the small gear angle and the large gear angle after summation correction, divide the fourth difference by the reduction ratio, and convert to the large gear end as the observation output. The small gear end is the first gear end, and the large gear end is the second gear end.

[0066] The present invention observes the dynamic backlash characteristics through a closed-loop input mode, thereby solving the problem that the open-loop input cannot simulate the input characteristics of the gear transmission in the real mechanical system.

[0067] In a specific embodiment, FIG. 2(a) is a schematic diagram of a gear pair in this embodiment, which is composed of two gears of different sizes meshing with each other. Generally, the small gear is set as the driving wheel and the large gear is set as the driven wheel. In the direction of movement of the large gear, the gap between the small gear and the large gear is a dynamic backlash Δ. FIG. 2(b) is a schematic diagram of the dynamic backlash in this embodiment; the maximum range of the dynamic backlash Δ is the maximum backlash Δ m , that is, when one gear in the gear pair is fixed, the maximum range of free movement of the other gear that can move freely is the maximum backlash Δ m .

[0068] Dynamic backlash Δ and maximum backlash Δ in this embodiment m The maximum backlash Δ is measured at the angle of the large gear end. m It is an inherent indicator of the gear pair.

[0069] According to the dead zone characteristics in gear transmission, the nonlinear backlash characteristic function is defined.

[0070] The backlash characteristic function X(·) is:

[0071]

[0072] Among them, n is the input of the backlash characteristic function, i is the gear pair reduction ratio, Δ m is the maximum backlash of the gear transmission, i*Δ m It is the dead zone characteristic of gear transmission.

[0073] For the gear pair designed in this embodiment, the reduction ratio is an inherent indicator of the gear pair.

[0074] The preset square wave function is periodically extended to obtain variable torsional stiffness;

[0075] Figure 3 Schematic diagram of variable torsional stiffness K(·) obtained by periodically extending the preset square wave function f(t) in this embodiment,

[0076] The preset square wave function is

[0077] Among them, t is time, K1 and K2 are constants, T is period, h is coefficient, 0 <h<1,0<K1<K2;

[0078] The square wave function is periodically extended forward with T as the period to obtain the variable torsional stiffness K(·).

[0079] The gear transmission model is established according to the backlash characteristic function and variable torsional stiffness;

[0080] Figure 4Schematic diagram of the gear transmission model in this embodiment. The input torque of the gear transmission model is the torque of the driving wheel, and the output torque is the torque of the driven wheel. In this embodiment, the input torque A of the gear transmission model is the torque of the small gear, and the output torque B is the torque of the large gear. The difference between the input torque A and the meshing torque acts on the rotational inertia J1 of the small gear end. After two integrations, the small gear angle ( is the integral operator); the output torque B acts on the moment of inertia J2 at the large gear end, and the large gear angle is obtained after two integrations. The large gear angle is multiplied by the reduction ratio i and converted to the small gear end; the difference between the small gear angle and the large gear angle is obtained, and the difference is used as the input of the tooth clearance characteristic function X(·). The product of the output of the tooth clearance characteristic function X(·) and the variable torsional stiffness K(·) is the meshing torque at the small gear end. The meshing torque multiplied by the reduction ratio i and converted to the large gear end is the output torque B of the gear transmission model.

[0081] For the gear pair designed in this embodiment, the moment of inertia J1 of the small gear end and the moment of inertia J2 of the large gear end are inherent indicators of the gear pair.

[0082] Figure 5 This is a schematic diagram of the dynamic backlash initialization setting and observation setting in this embodiment.

[0083] Increase the initial backlash input C, the initial backlash input C range is [0,Δ m ], the initial backlash is converted to the small gear end by multiplying the initial backlash C and the gear pair reduction ratio i, the small gear angle is summed and corrected, and the difference between the corrected small gear angle and the large gear angle is obtained. The backlash characteristic is obtained by the difference, and the backlash characteristic is converted to the large gear end by dividing the backlash characteristic by the reduction ratio i, which is used as the observation output D of the backlash characteristic.

[0084] Figure 6 Schematic diagram of obtaining the input torque of the gear transmission model through an angle closed loop method in this embodiment,

[0085] In this embodiment, the angle input E is set as a step signal of 30°, which is input to the controller after being subtracted from the large gear angle. The controller receives the difference between the expected angle and the actual angle, and uses the PID algorithm to adjust the input torque A of the small gear end according to the angle deviation, thereby reducing the control error and achieving rapid response and stable operation of the system; wherein, the expected angle is 30° and the actual angle is the large gear angle. After obtaining the input torque A in an angle closed loop manner, the initial tooth gap C is initialized, and the initial tooth gap is converted to the small gear end by multiplying the initial tooth gap C by the reduction ratio i, and the small gear angle is summed and corrected. The corrected small gear angle is subtracted from the large gear angle to obtain the tooth gap feature, and the tooth gap feature is divided by the reduction ratio i to be converted to the large gear end as the observation output D of the tooth gap feature.

[0086] In this embodiment, the initial backlash input C is set to 1.25', and the maximum backlash Δ m 2', reduction ratio i = 688, K1 = 1 × 106, K2 = 1.2 × 106, period T = 1S, h = 0.5, small gear moment of inertia J1 = 20kg.m2, large gear moment of inertia J2 = 60000kg.m2, simulation time t = 60s. Simulate the gear transmission model according to the set parameters. Figure 7 The dynamic characteristics of the tooth clearance obtained by closed-loop simulation observation results. The drastic adjustment characteristics of the dynamic tooth clearance in the initial stage of the meshing motion of the gear pair and the periodic oscillation characteristics of the dynamic tooth clearance in the stable stage of the meshing motion are consistent with the theoretical analysis and actual phenomena, solving the problem that the open-loop input cannot simulate the input characteristics of the gear transmission in the real mechanical system.

[0087] Another embodiment of the present invention, as Figure 8 As shown, this embodiment provides a computer device, which may specifically include a processor and a memory arranged to store computer executable instructions, wherein when the executable instructions are executed, the processor executes the steps in any of the above method embodiments. It is understandable that Figure 8 The computer device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0088] like Figure 8 As shown, the computer device 12 is in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0089] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0090] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0091] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 8 not shown, usually called a "hard drive"). Although Figure 8 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0092] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in the memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0093] The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), one or more devices that enable a user to interact with the computer device 12, and / or any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed through an input / output (I / O) interface 22. Furthermore, the computer device 12 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter 20. Figure 8 As shown, the network adapter 20 communicates with other modules of the computer device 12 via the bus 18. It should be understood that although Figure 8 Not shown, other hardware and / or software modules may be used in conjunction with computer device 12, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0094] The processor unit 16 executes the programs stored in the system memory 28 to perform various functional applications and data processing, such as implementing the method provided in the first embodiment of the present invention.

[0095] Another embodiment of the present invention provides a computer-readable storage medium on which is stored a processing program for a simulation observation method of dynamic characteristics of tooth clearance in a gear transmission, and when the program is executed by a processor, the method described in the first embodiment is implemented.

[0096] In practical applications, the computer-readable storage medium can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present embodiment, the computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0097] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0098] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0099] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0100] In the description of the present invention, it should be noted that the terms "upper", "lower", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0101] It should also be noted that, in the description of the present invention, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0102] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the implementation methods here. All obvious changes or modifications derived from the technical solution of the present invention are still within the protection scope of the present invention.

Claims

1. A simulation observation method for dynamic characteristics of tooth clearance in gear transmission, characterized in that: The method includes Define the nonlinear backlash characteristic function according to the dead zone characteristics in the gear transmission; The preset square wave function is periodically extended to obtain variable torsional stiffness; Establishing a gear transmission model according to the backlash characteristic function and the variable torsional stiffness; The input torque of the gear transmission model is obtained by means of closed-loop input, the gear transmission model is simulated and initialized, and the dynamic characteristics of the tooth gap are observed through simulation.

2. The method according to claim 1, characterized in that The gear transmission is the transmission between the first gear and the second gear included in the gear pair. The maximum backlash of the gear transmission is the range of motion of the second gear when the first gear is fixed; The gap between the first gear and the second gear is the dynamic backlash of the gear transmission.

3. The method according to claim 1, characterized in that The tooth clearance characteristic function X(·) is Among them, n is the input of the backlash characteristic function, i is the gear pair reduction ratio, Δ m is the maximum backlash of the gear transmission, i*Δ m It is the dead zone characteristic of gear transmission.

4. The method according to claim 1, characterized in that: The step of periodically extending the preset square wave function to obtain the variable torsional stiffness includes: The square wave function f(t) is Among them, t is time, K1 and K2 are constants, T is period, h is coefficient, 0 <h<1,0<K1<K2; The square wave function is periodically extended forward with T as the period to obtain variable torsional stiffness.

5. The method according to claim 2, characterized in that: The gear transmission model is used to obtain a first difference between an input torque and an engagement torque, wherein the input torque is the torque of the first gear, and the engagement torque is the product of a backlash characteristic function and a variable torsional stiffness, and the first difference is integrated to obtain a first gear angle; The output torque of the gear transmission model is obtained according to the product of the meshing torque and the reduction ratio. The output torque of the gear transmission model is the torque of the second gear. The torque of the second gear is integrated to obtain the second gear angle. The second difference between the first gear angle and the second gear angle is obtained, and the second difference is used as the input of the tooth clearance characteristic function.

6. The method according to claim 1, characterized in that The method of obtaining the input torque of the gear transmission model by closed-loop input includes: A third difference between a preset angle signal and the second gear angle is obtained, and the third difference is sent to a controller. The output torque adjusted by the controller is used as the input torque of the gear transmission model.

7. The method according to claim 1, characterized in that The initialization setting of the simulation of the gear transmission model and observing the dynamic characteristics of the tooth gap through simulation include: Initialize the dynamic backlash, convert the initialized dynamic backlash to the first gear end, and perform summation correction on the first gear angle; A fourth difference between the summed and corrected first gear angle and the second gear angle is obtained, and the fourth difference is converted to the second gear end as an observation output.

8. The method according to claim 7, characterized in that The method further comprises The conversion between the first gear end and the second gear end is achieved through the gear pair reduction ratio.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 8 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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