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为实现对柔性接头系统的建模和动力学分析,对柔性接头的迟滞阻尼特性识别方法进行了研究.测试了一系列不同摆角和不同频率条件下柔性接头的动态特性参数,基于变刚度变阻尼法对不同频率下的刚度系数和阻尼系数进行了参数识别,获得了刚度系数和阻尼系数跟摆动频率之间的关系,建立了柔性接头动力学模型.应用该模型分析计算了柔性接头低速频率特性,并与试验结果进行了对比分析.结果表明:建立的模型可以很好地描述柔性接头的低频特性,随摆动频率的增加,恢复力矩略有增加;在振幅较小时,弹性力矩随摆角呈线性,随着摆动振幅的增加,弹性力矩的非线性逐渐增强.
In order to realize the modeling and dynamics analysis of the flexible joint system, the method of identifying the hysteresis damping characteristic of the flexible joint was studied.The dynamic characteristics of the flexible joint under different swing angles and different frequencies were tested, Damping method was used to identify the stiffness coefficient and damping coefficient under different frequencies, and the relationship between stiffness coefficient and damping coefficient was obtained, and the dynamic model of flexible joint was established. The model was used to analyze the relationship between low frequency The results show that the model can well describe the low frequency characteristics of the flexible joint, and the recovery moment increases slightly with the increase of the oscillation frequency. When the amplitude is small, the elastic moment varies with the swing angle With the increase of the swing amplitude, the nonlinearity of the elastic moment gradually increases.