Gear transmission system dynamics modeling method with system error accumulation influence

Abstract

The invention relates to the technical field of mechanical dynamics, in particular to a gear transmission system dynamics modeling method with system error accumulation influence, which comprises the following steps: constructing an assembly size chain graph of a gear transmission system; establishing a corresponding Jacobian spinor model based on the assembly size chain graph; utilizing a Jacobian spinor model to obtain spinor of each gear node in the gear transmission system under the influence of the system accumulated error; dynamic errors of the gear pair in the normal meshing line direction of the gear transmission system under the influence of the accumulated errors are obtained; and obtaining a kinetic equation and solving to obtain the dynamic response of the gear transmission system. According to the method, the influence of accumulative errors generated by manufacturing and mounting in the gear transmission system on system response is considered, the combination of a dynamic model and a three-dimensional tolerance analysis technology is realized, the technical blank related to dynamic modeling of the current gear transmission system is filled, and a theoretical basis is provided for accurate analysis of dynamic characteristics of the gear transmission system.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical dynamics, and in particular to a method for dynamics modeling of a gear transmission system containing the cumulative influence of system errors. Background Art

[0002] Gear transmission is widely used in aviation, aerospace, and shipbuilding. With the continuous development of science and technology, in order to meet the more stringent performance requirements in the above-mentioned fields, national development has put forward higher requirements on the performance of gear transmission systems. How to more accurately predict and grasp the vibration response of the gear transmission system is very important for improving the performance of the gear transmission system. The cumulative effect of various manufacturing and installation errors in the system is closely related to the dynamic performance of the gear transmission system. They will change the relative posture of the meshing gear pairs through the cumulative effect, and ultimately affect the dynamic performance of the gear transmission system. Therefore, how to more accurately and realistically consider the cumulative error effects caused by various manufacturing and installation errors in the system in the dynamic model of the gear system is of great significance to the research and further improvement of the performance of the gear transmission system.

[0003] At present, there are two ways to consider the manufacturing and installation errors of components in the dynamics of gear transmission systems. The first is to artificially give the amplitude and phase angle of the manufacturing or installation error of a component, and use trigonometric functions to write the corresponding error excitation according to the theoretical speed of the component; the second is to calculate the corresponding error amplitude and phase through a two-dimensional dimension chain, and further write the corresponding error excitation in the form of trigonometric functions.

[0004] The existing transmission system error consideration method cannot express the impact of the cumulative error caused by the manufacturing and installation errors of the relevant components of the system, and the consideration of the form and position errors and the matching errors between components are also ignored, resulting in inaccurate dynamic response of the system. In addition, the existing methods have a single way of considering errors, ignoring the influence of axial errors when considering the influence of errors, and all express the errors by obtaining the error amplitude and phase and writing them as trigonometric functions. However, in theory, after the assembly of the system is completed, the cumulative error effect caused by the manufacturing and installation errors of the components in the system is only used as an initial motion position of the components in the system rather than the amplitude, resulting in inaccurate analysis and research on the dynamic performance of the system, which affects the subsequent research on the gear transmission system.

[0005] Therefore, it is necessary to provide a gear transmission system dynamics modeling method including the cumulative effect of system errors to solve the above problems. Summary of the invention

[0006] The present invention provides a gear transmission system dynamics modeling method including the cumulative influence of system errors to solve the existing problems.

[0007] A gear transmission system dynamics modeling method including the cumulative influence of system errors of the present invention adopts the following technical scheme, including: Construct the assembly dimension chain diagram of the gear transmission system; Establish the corresponding Jacobian screw model based on the assembly dimension chain diagram; Using the Jacobi spinor model, the spin of each gear node in the gear transmission system affected by the system cumulative error is obtained; According to the projection vector of each gear node position in the direction of the normal meshing line, the theoretical direction and theoretical speed of each gear, and the rotation of each gear node under the influence of the cumulative error of the gear transmission system, the dynamic error of the gear pair in the direction of the normal meshing line under the influence of the cumulative error of the gear transmission system is obtained; Based on the dynamic error, the dynamic equation of the gear transmission system affected by the cumulative error is constructed; And the dynamic response of the gear transmission system is obtained by solving the dynamic equations.

[0008] Preferably, the steps of constructing the assembly dimension chain diagram of the gear transmission system are: According to the assembly drawing of the gear transmission system assembly and the parts drawings of various related components, a dimension chain diagram reflecting the functional characteristics involved in various functional requirements in the gear transmission system assembly is established; Among them, the functional characteristics include: internal functional characteristics, connection functional characteristics and parallel functional characteristics.

[0009] Preferably, the steps of establishing the corresponding Jacobian spinor model are: According to the tolerance, size and position information of each local coordinate system of each functional feature in the assembly dimension chain diagram, the screw corresponding to each functional feature is determined; taking the posture deviation of each gear node relative to the theoretical position as the functional requirement, the corresponding Jacobian screw model is established.

[0010] Preferably, the expression of the Jacobian spinor model is:

[0011] In the formula, FR i Gear Node i Functional requirements of T FRi is the gear node in the gear transmission system affected by the system cumulative error i The spin of n i For functional requirements FR i The total number of functional features contained in; Gear Node i The functional requirements of Features The Jacobian matrix between the function requirements; Gear Node i The functional requirements of The local coordinate system of the functional feature x The axis's translation vector; Gear Node i The functional requirements of The local coordinate system of the functional feature y The axis's translation vector; Gear Node i The functional requirements of The local coordinate system of the functional feature z The axis's translation vector; Gear Node i The functional requirements of The function feature is around the local coordinate system where the function feature is located. x The axis rotation vector; Gear Node i The functional requirements of The function feature is around the local coordinate system where the function feature is located. y The axis rotation vector; Gear Node i The functional requirements of The function feature is around the local coordinate system where the function feature is located. z The axis rotation vector; i =( p , g ), p It is the active gear node; g is the driven gear node.

[0012] Preferably, the gear nodes in the gear transmission system affected by the system cumulative error obtained according to the Jacobi screw model i The rotation quantity is: the cumulative posture variable of each gear node position in the gear transmission system relative to the theoretical position under the influence of the system cumulative error.

[0013] Preferably, the step of obtaining the projection vector of each gear node position in the direction of the normal meshing line is: Taking the gear axis direction as the z-axis, the coordinate system of each gear node in the gear transmission system is established according to the right-hand rule; According to the basic parameters of the gear pair and the relative position relationship between the coordinate systems of each gear node, the projection vector of the translation coordinate of each gear node in the direction of the normal meshing line is obtained.

[0014] Preferably, the expression of the dynamic error of the gear pair in the normal meshing line direction under the cumulative error of the gear transmission system is:

[0015] In the formula, is the dynamic error in the normal meshing line direction of the gear pair under the cumulative error of the gear transmission system; The active gear node is subject to the cumulative error of the gear transmission system. x , y , z Homogeneous expression of the dynamic error of the direction; The driven gear node is subject to the cumulative error of the gear transmission system. x , y , z Homogeneous expression of the dynamic error of the direction; The active gear node is subject to the cumulative error of the gear transmission system. x , y , z Dynamic error of direction; The driven gear node is subject to the cumulative error of the gear transmission system. x , y , z Dynamic error of direction; is the attitude transformation matrix corresponding to the node of the active gear at time t; is the attitude transformation matrix corresponding to the node of the driven gear at time t; V p is the projection vector of the translation coordinate of the active gear node of the gear pair in the coordinate system corresponding to the active gear in the direction of the normal meshing line; V g is the projection vector of the translation coordinate of the driven gear node of the gear pair in the coordinate system corresponding to the driven gear in the direction of the normal meshing line; It is the homogeneous expression of the rotation amount generated by the accumulated error of the system at the node of the active gear in the gear transmission system; It is the homogeneous expression of the translation direction rotation of the node of the driven gear in the gear transmission system caused by the accumulated error of the system; i =( p , g ), p It is the active gear node; g is the driven gear node.

[0016] Preferably, the dynamic equation of the gear transmission system affected by the cumulative error is expressed as:

[0017] In the formula, is the system mass matrix; is the system damping matrix; is the system stiffness matrix; is the generalized coordinate vector of each node in the system; is the external load vector of the system; is the system cumulative error excitation force at the gear node caused by the system cumulative error; V p is the projection vector of the translation coordinate of the active gear node of the gear pair in the coordinate system corresponding to the active gear in the direction of the normal meshing line; V g It is the projection vector of the translation coordinate of the driven gear node of the gear pair in the coordinate system corresponding to the driven gear in the direction of the normal meshing line.

[0018] Preferably, the dynamic response of the gear transmission system is obtained by solving the dynamic equations using the Fourier series method.

[0019] A gear transmission system dynamics modeling system including the cumulative influence of system errors, comprising: Jacobi screw model building module, used to build the assembly dimension chain diagram of the gear transmission system; based on the assembly dimension chain diagram, the corresponding Jacobi screw model is established; A parameter acquisition module is used to obtain the spin of each gear node in the gear transmission system under the influence of the system cumulative error by using the Jacobi spin model; The dynamic error acquisition module is used to project the rotation of each gear node under the influence of the cumulative error of the gear transmission system to the direction of the gear pair meshing line according to the projection vector of each gear node position in the direction of the normal meshing line and the theoretical direction and theoretical speed of each gear, so as to obtain the dynamic error in the direction of the normal meshing line of the gear pair under the cumulative error of the gear transmission system; The dynamics module is used to construct the dynamics equation of the gear transmission system affected by the cumulative error based on the dynamic error; and to solve the dynamics equation to obtain the dynamic response of the gear transmission system.

[0020] The beneficial effects of the present invention are: The present invention obtains the dynamic error of the gear pair in the direction of the normal meshing line under the influence of the cumulative error of the gear transmission system, then constructs the dynamic equation of the gear transmission system affected by the cumulative error based on the dynamic error, and solves the dynamic equation to obtain the dynamic response of the gear transmission system. That is, the present invention takes into account the influence of the cumulative error caused by manufacturing and installation in the gear transmission system on the system response in the process of solving the dynamic response, realizes the combination of dynamic model and three-dimensional tolerance analysis technology, fills the current gap in the relevant technology of dynamic modeling of gear transmission system, and provides a theoretical basis for the accurate analysis of the dynamic characteristics of the gear transmission system.

[0021] Secondly, the dynamic error is obtained based on the projection vector of each gear node position in the direction of the normal meshing line, the theoretical direction and theoretical speed of each gear, and the rotation of each gear node under the influence of the cumulative error of the gear transmission system. That is, the calculation of the dynamic error takes into account the form and position error, fit error and axial error, which provides technical support for more accurate research and analysis of the dynamic performance of the gear transmission system. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a flow chart of a method for dynamic modeling of a gear transmission system including the cumulative influence of system errors of the present invention; Figure 2 Schematic diagram of the structure of a single-stage herringbone gear reducer in an embodiment of the present invention; Figure 3 It is an assembly dimension chain diagram of a single-stage herringbone gear reducer in an embodiment of the present invention; Figure 4 A Jacobian screw modeling coordinate system diagram corresponding to the single-stage herringbone gear reducer in an embodiment of the present invention; Figure 5 It is a time domain diagram of the dynamic meshing force of the gear pair without considering the system cumulative error in the embodiment of the present invention; Figure 6 It is a frequency domain diagram of the dynamic meshing force of the gear pair without considering the system cumulative error in the embodiment of the present invention; Figure 7 It is a time domain diagram of the dynamic meshing force of a gear pair considering the system cumulative error in an embodiment of the present invention; Figure 8 This is a frequency domain diagram of the dynamic meshing force of a gear pair considering the system cumulative error in an embodiment of the present invention.

[0024] Figure 2 In: 1. Driving gear; 2. Driven gear; 3. Input shaft; 4. Output shaft. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] An embodiment of a gear transmission system dynamics modeling method including the cumulative effect of system errors of the present invention is as follows: Figure 1 As shown, including: S1. Construct the assembly dimension chain diagram of the gear transmission system; S2. Establish the corresponding Jacobian screw model based on the assembly dimension chain diagram; S3. Using the Jacobi spin model, obtain the spin of each gear node in the gear transmission system under the influence of the system cumulative error; S4, obtaining the dynamic error of the gear pair in the normal meshing line direction under the influence of the cumulative error of the gear transmission system; Specifically, according to the projection vector of each gear node position in the direction of the normal meshing line, the theoretical direction and theoretical speed of each gear, and the rotation of each gear node under the influence of the cumulative error of the gear transmission system, the dynamic error of the gear pair in the direction of the normal meshing line under the influence of the cumulative error of the gear transmission system is obtained; S5, obtaining the dynamic equation and solving it to obtain the dynamic response of the gear transmission system; Specifically, a dynamic equation of the gear transmission system affected by the cumulative error is constructed based on the dynamic error; and the dynamic response of the gear transmission system is obtained by solving the dynamic equation.

[0027] The following will describe in more detail the various steps of the gear transmission system dynamics modeling method with cumulative effects of system errors in this example implementation in conjunction with the accompanying drawings and embodiments: In step S1, an assembly dimension chain diagram of the gear transmission system is constructed.

[0028] Exemplarily, in the above step S1, the step of constructing the assembly dimension chain diagram of the gear transmission system includes: Figure 2 The assembly drawing of the gear transmission system assembly shown in the figure and the parts drawings of the related components are established as follows Figure 3 The dimension chain diagram shown reflects the functional characteristics involved in each functional requirement FR in the gear transmission system assembly; wherein the functional characteristics include: internal functional characteristics (IFE), connection functional characteristics (CFE) and parallel functional characteristics (PFE).

[0029] In step S2, a Jacobian spinor model is established.

[0030] For example, according to the tolerances, dimensions and other parameters of each functional feature in the assembly dimension chain diagram determined in step S1, Figure 4 The position information of each local coordinate system shown in the figure is used to determine the rotation corresponding to each functional feature; the box body reference is used as the theoretical position, and the deviation from the theoretical position to the position of each active gear and driven gear node is used as the functional requirement FR i , and establish the corresponding Jacobian spinor model.

[0031] The expression of the Jacobian spinor model is:

[0032] In the formula, FR i Gear Node i Functional requirements of T FRi is the gear node in the gear transmission system affected by the system cumulative error i The spin of n i For functional requirements FR i The total number of functional features contained in; Gear Node i The functional requirements of Features The Jacobian matrix between the function requirements; Gear Node i The functional requirements of The local coordinate system of the functional feature x The axis's translation vector; Gear Node i The functional requirements of The local coordinate system of the functional feature y The axis's translation vector; Gear Node i The functional requirements of The local coordinate system of the functional feature z The axis's translation vector; Gear Node i The functional requirements of The function feature is around the local coordinate system where the function feature is located. x The axis rotation vector; Gear Node i The functional requirements of The function feature is around the local coordinate system where the function feature is located. y The axis rotation vector; Gear Node i The functional requirements of The function feature is around the local coordinate system where the function feature is located. z The axis rotation vector; i =( p , g ), p It is the active gear node; g is the driven gear node.

[0033] It should be noted that the Jacobian matrix is ​​constructed based on the position information of each local coordinate system of each functional feature in the assembly dimension chain diagram.

[0034] In step S3, the rotation of each gear node in the gear transmission system affected by the system cumulative error is obtained.

[0035] Exemplarily, in step S2, the spin of each gear node in the gear transmission system affected by the system cumulative error is calculated using the Jacobi spin model. The spin is the cumulative posture variable of the position of each gear node in the gear transmission system affected by the system cumulative error relative to the theoretical position.

[0036] Among them, the accumulated posture variables The expression is:

[0037] In the formula, Gear Node i along x The axis's translation vector; Gear Node i along y The axis's translation vector; Gear Node i along z The axis's translation vector; Gear Node i Around x The axis rotation vector; Gear Node i Around y The axis rotation vector; Gear Node i Around z The rotation vector of the axis.

[0038] In step S4, the dynamic error of the gear pair in the normal meshing line direction under the influence of the cumulative error of the gear transmission system is obtained.

[0039] Exemplarily, based on the projection vector of each gear node position in the direction of the normal meshing line, the theoretical direction and theoretical speed of each gear, and the rotation of each gear node under the influence of the cumulative error of the gear transmission system, the dynamic error of the gear pair in the direction of the normal meshing line under the influence of the cumulative error of the gear transmission system is obtained.

[0040] For example, in step S4, the step of obtaining the projection vector of each gear node position in the direction of the normal meshing line is: taking the gear axis direction as z Axis, according to the right-hand rule, establish the coordinate system of each gear node in the gear transmission system. On this basis, combined with the basic parameters of each gear pair and the relative position relationship between the coordinate systems of each gear node, obtain the projection vector of the translation coordinate of each gear node in the direction of the normal meshing line.

[0041] Among them, the projection vector of the translation coordinate of the active gear node of the gear pair in the coordinate system corresponding to the active gear in the direction of the normal meshing line is V p ; The projection vector of the translation coordinate of the driven gear node of the gear pair in the coordinate system corresponding to the driven gear in the direction of the normal meshing line V g .

[0042] Exemplarily, in step S4, the step of obtaining the dynamic error of the gear pair in the normal meshing line direction under the influence of the cumulative error of the gear transmission system is as follows: the projection vector of the translation coordinate of each gear node in the normal meshing line direction, the rotation speed of the shaft where each gear node is located w i and rotation direction d i , and the rotation of each gear node affected by the cumulative error of the gear transmission system, the dynamic error along the normal meshing line of the gear pair caused by the dynamic posture change of each gear node caused by the cumulative error of the system at each moment can be calculated .

[0043] Among them, the dynamic error The expression is:

[0044] In the formula, is the dynamic error in the normal meshing line direction of the gear pair under the cumulative error of the gear transmission system; The active gear node is subject to the cumulative error of the gear transmission system. x , y , z Homogeneous expression of the dynamic error of the direction; The driven gear node is subject to the cumulative error of the gear transmission system. x ,y , z Homogeneous expression of the dynamic error of the direction; The active gear node is subject to the cumulative error of the gear transmission system. x , y , z Dynamic error of direction; The driven gear node is subject to the cumulative error of the gear transmission system. x , y , z Dynamic error of direction; is the attitude transformation matrix corresponding to the node of the active gear at time t; is the attitude transformation matrix corresponding to the node of the driven gear at time t; V p is the projection vector of the translation coordinate of the active gear node of the gear pair in the coordinate system corresponding to the active gear in the direction of the normal meshing line; V g is the projection vector of the translation coordinate of the driven gear node of the gear pair in the coordinate system corresponding to the driven gear in the direction of the normal meshing line; It is the homogeneous expression of the rotation amount generated by the accumulated error of the system at the node of the active gear in the gear transmission system; It is the homogeneous expression of the rotation amount generated by the accumulated error of the system at the node of the driven gear in the gear transmission system; i =( p , g ), p It is the active gear node; g is the driven gear node.

[0045] It should be noted that The result is a 4×1 homogeneous vector, and represents the values ​​of the first three translation directions, that is, a 3×1 vector; the attitude transformation matrix is ​​constructed according to the speed and rotation direction of the shaft where each gear node is located; the dynamic posture of the active gear node and the driven gear node generated by the system cumulative error and It is not a fixed value, but changes over time. t The actual dynamic variation of the change, and the corresponding error along the meshing line of the gear pair It is also a dynamic variable, so it does not need to be written in the form of a trigonometric function and does not require artificially given phase angle information.

[0046] In step S5, the dynamic equation is obtained and solved to obtain the dynamic response of the gear transmission system; that is, the dynamic equation of the gear transmission system affected by the cumulative error is constructed based on the dynamic error; and the dynamic response of the gear transmission system is obtained by solving the dynamic equation.

[0047] Exemplarily, in step S5, the steps of constructing the dynamic equation of the gear transmission system affected by the cumulative error are as follows: when considering the influence of the system cumulative error, the initial position of the gear node in the gear transmission system will change relative to the theoretical position, and change with the rotation moment of the gear, thereby introducing corresponding dynamic error changes in each generalized coordinate direction of the gear node, and causing the gear pair to have a dynamic error in the meshing line direction. , which will eventually affect the system response. Based on the dynamic error of the gear pair along the meshing line after considering the influence of the system cumulative error , establish the system dynamics equation, where the expression of the system dynamics equation is:

[0048] In the formula, is the system mass matrix; is the system damping matrix; is the system stiffness matrix; is the generalized coordinate vector of each node in the system; is the external load vector of the system; is the system cumulative error excitation force at the gear node caused by the system cumulative error, and its corresponding excitation force at the non-gear node is 0; V p is the projection vector of the translation coordinate of the active gear node of the gear pair in the coordinate system corresponding to the active gear in the direction of the normal meshing line; V g It is the projection vector of the translation coordinate of the driven gear node of the gear pair in the coordinate system corresponding to the driven gear in the direction of the normal meshing line.

[0049] Exemplarily, in the dynamic response of the gear transmission system obtained by solving the dynamic equation in step S5, the dynamic response of the gear transmission system is obtained by solving the dynamic equation using a Fourier series method.

[0050] A dynamic modeling system for a gear transmission system with cumulative system error influences includes: a Jacobi spin model construction module, a parameter acquisition module, a dynamic error acquisition module and a dynamic module, wherein the Jacobi spin model construction module is used to construct an assembly dimension chain diagram of the gear transmission system; a corresponding Jacobi spin model is established based on the assembly dimension chain diagram; the parameter acquisition module is used to use the Jacobi spin model to obtain the spin of each gear node in the gear transmission system under the influence of the cumulative system error; the dynamic error acquisition module is used to project the spin of each gear node under the influence of the cumulative error of the gear transmission system to the direction of the gear pair meshing line according to the projection vector of each gear node position in the normal meshing line direction and the theoretical direction and theoretical speed of each gear; to obtain the dynamic error in the normal meshing line direction of the gear pair under the cumulative error of the gear transmission system; the dynamic module is used to construct the dynamic equation of the gear transmission system under the influence of the cumulative error based on the dynamic error; and the dynamic response of the gear transmission system obtained by solving the dynamic equation.

[0051] The following is a specific description of a gear transmission system dynamics modeling method including the cumulative effect of system errors provided in this embodiment in combination with a specific simulation experiment: The basic parameters of the gear pair in Table 1 are used for simulation calculation.

[0052] Table 1

[0053] Figure 5 The time domain diagram of the dynamic meshing force of the gear pair calculated based on the parameters in Table 1 without considering the system cumulative error is shown in Figure 1. Figure 6 The frequency domain diagram of the dynamic meshing force of the gear pair calculated based on the parameters in Table 1 without considering the cumulative error of the system; Figure 7 The time domain diagram of the dynamic meshing force of the gear pair considering the system cumulative error is obtained based on the parameters in Table 1; Figure 8 The frequency domain diagram of the dynamic meshing force of the gear pair considering the system cumulative error is obtained based on the parameters in Table 1; Figures 5 to 8 It can be seen that under the combined influence of the manufacturing errors of the system components and the installation errors between the components, the dynamic meshing force of the gear pair changes from being composed of many periodic regular fluctuations to being composed of only one minimum period as the chasing period within a time length of 0.06s. T m =0.06s; at the same time, the spectrum corresponding to the dynamic meshing force has also changed from the original spectrum with only the multiples of the meshing frequency to the spectrum with both the rotational frequencies of the driving and driven wheels. f s1 , f s2 and multiples of the meshing frequency nf m , and because nf m Received f s1 , f s2 The rich modulation frequencies generated by modulation nf m ± f s1 , nf m ± f s2 .

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for dynamic modeling of a gear transmission system including the cumulative influence of system errors, characterized in that: include: Construct the assembly dimension chain diagram of the gear transmission system; Establish the corresponding Jacobian screw model based on the assembly dimension chain diagram; Using the Jacobi spinor model, the spin of each gear node in the gear transmission system affected by the system cumulative error is obtained; According to the projection vector of each gear node position in the direction of the normal meshing line, the theoretical direction and theoretical speed of each gear, and the rotation of each gear node under the influence of the cumulative error of the gear transmission system, the dynamic error of the gear pair in the direction of the normal meshing line under the influence of the cumulative error of the gear transmission system is obtained; Based on the dynamic error, the dynamic equation of the gear transmission system affected by the cumulative error is constructed; And the dynamic response of the gear transmission system is obtained by solving the dynamic equations.

2. A gear transmission system dynamics modeling method including the cumulative influence of system errors according to claim 1, characterized in that: The steps to construct the assembly dimension chain diagram of the gear transmission system are: According to the assembly drawing of the gear transmission system assembly and the parts drawings of various related components, a dimension chain diagram reflecting the functional characteristics involved in various functional requirements in the gear transmission system assembly is established; Among them, the functional characteristics include: internal functional characteristics, connection functional characteristics and parallel functional characteristics.

3. A gear transmission system dynamics modeling method including the cumulative influence of system errors according to claim 2, characterized in that: The steps to establish the corresponding Jacobian spinor model are: According to the tolerance, size and position information of each local coordinate system of each functional feature in the assembly dimension chain diagram, the corresponding screw of each functional feature is determined; and the corresponding Jacobian screw model is established based on the screw corresponding to the posture deviation of each gear node to the theoretical position as the functional requirement.

4. A gear transmission system dynamics modeling method including the cumulative effect of system errors according to claim 3, characterized in that: The expression of the Jacobian spinor model is: In the formula, FR i Gear Node i Functional requirements; T FRi is the gear node in the gear transmission system affected by the system cumulative error i The spin of n i For functional requirements FR i The total number of functional features contained in; Gear Node i The functional requirements of Features The Jacobian matrix between the function requirements; Gear Node i The functional requirements of The local coordinate system of the functional feature x The axis's translation vector; Gear Node i The functional requirements of The local coordinate system of the functional feature y The axis's translation vector; Gear Node i The functional requirements of The local coordinate system of the functional feature z The axis's translation vector; Gear Node i The functional requirements of The function feature is around the local coordinate system where the function feature is located. x The axis rotation vector; Gear Node i The functional requirements of The function feature revolves around the local coordinate system of the function feature. y The axis rotation vector; Gear Node i The functional requirements of The function feature revolves around the local coordinate system of the function feature. z The axis rotation vector; i =( p , g ), p It is the active gear node; g is the driven gear node.

5. A gear transmission system dynamics modeling method including the cumulative effect of system errors according to claim 4, characterized in that: Gear nodes in the gear transmission system affected by the system cumulative error obtained based on the Jacobi screw model i The rotation quantity is: the cumulative posture variable of each gear node position in the gear transmission system relative to the theoretical position under the influence of the system cumulative error.

6. A gear transmission system dynamics modeling method including the cumulative effect of system errors according to claim 1, characterized in that: The steps to obtain the projection vector of each gear node position in the direction of the normal meshing line are: Taking the gear axis direction as the z-axis, the coordinate system of each gear node in the gear transmission system is established according to the right-hand rule; According to the basic parameters of the gear pair and the relative position relationship between the coordinate systems of each gear node, the projection vector of the translation coordinate of each gear node in the direction of the normal meshing line is obtained.

7. The method for dynamic modeling of a gear transmission system including the cumulative influence of system errors according to claim 1, characterized in that: The expression of the dynamic error of the gear pair in the normal meshing line direction under the cumulative error of the gear transmission system is: In the formula, is the dynamic error in the normal meshing line direction of the gear pair under the cumulative error of the gear transmission system; The active gear node is subject to the cumulative error of the gear transmission system. x , y , z Homogeneous expression of the dynamic error of the direction; The driven gear node is subject to the cumulative error of the gear transmission system. x , y , z Homogeneous expression of the dynamic error of the direction; The active gear node is subject to the cumulative error of the gear transmission system. x , y , z Dynamic error of direction; The driven gear node is subject to the cumulative error of the gear transmission system. x , y , z Dynamic error of direction; is the attitude transformation matrix corresponding to the node of the active gear at time t; is the attitude transformation matrix corresponding to the node of the driven gear at time t; V p is the projection vector of the translation coordinate of the active gear node of the gear pair in the coordinate system corresponding to the active gear in the direction of the normal meshing line; V g is the projection vector of the translation coordinate of the driven gear node of the gear pair in the coordinate system corresponding to the driven gear in the direction of the normal meshing line; It is the homogeneous expression of the translation direction rotation of the node of the active gear in the gear transmission system caused by the accumulated error of the system; It is the homogeneous expression of the translation direction rotation of the node of the driven gear in the gear transmission system caused by the accumulated error of the system; i =( p , g ), p It is the active gear node; g is the driven gear node.

8. The method for dynamic modeling of a gear transmission system including the cumulative influence of system errors according to claim 1, characterized in that: The dynamic equation of the gear transmission system affected by the cumulative error is expressed as: In the formula, is the system mass matrix; is the system damping matrix; is the system stiffness matrix; is the generalized coordinate vector of each node in the system; is the external load vector of the system; is the system cumulative error excitation force at the gear node caused by the system cumulative error; V p is the projection vector of the translation coordinate of the active gear node of the gear pair in the coordinate system corresponding to the active gear in the direction of the normal meshing line; V g It is the projection vector of the translation coordinate of the driven gear node of the gear pair in the coordinate system corresponding to the driven gear in the direction of the normal meshing line.

9. The method for dynamic modeling of a gear transmission system including the cumulative influence of system errors according to claim 1, characterized in that: The dynamic response of the gear transmission system is obtained by solving the dynamic equations using the Fourier series method.

10. A gear transmission system dynamics modeling system including the cumulative effect of system errors, characterized in that: include: Jacobi screw model building module, used to build assembly dimension chain diagram of gear transmission system; Establish the corresponding Jacobian screw model based on the assembly dimension chain diagram; A parameter acquisition module is used to obtain the spin of each gear node in the gear transmission system under the influence of the system cumulative error by using the Jacobi spin model; A dynamic error acquisition module is used to obtain the projection vector of each gear node position in the normal meshing line direction and the theoretical direction and theoretical speed of each gear; The rotation of each gear node affected by the cumulative error of the gear transmission system is projected to the direction of the gear pair meshing line, and the dynamic error in the normal meshing line direction of the gear pair under the cumulative error of the gear transmission system is obtained; The dynamics module is used to construct the dynamics equation of the gear transmission system affected by the cumulative error based on the dynamic error; and to solve the dynamics equation to obtain the dynamic response of the gear transmission system.

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