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以齿轮传动伺服机构为对象,建立其3自由度振动微分方程,通过Laplace变换得到伺服机构的谐振方程,采用数值计算的方法从机理上分析稳定平台伺服机构的振动特性,提出一种基于虚拟试验的伺服机构谐振频率分析方法,基于Matlab建立机构的数字仿真模型,通过虚拟扫频的方法激励伺服机构的谐振特性,通过时频特性曲线分析伺服机构结构参数对伺服机构振动形态和谐振频率的影响。数值计算和虚拟试验结果表明伺服机构电机转子惯量和啮合齿轮刚度是影响伺服机构谐振频率的关键装调环节和敏感参数。
Taking the gear servo mechanism as an example, the 3-DOF vibration differential equation is established, and the resonance equation of the servo mechanism is obtained by Laplace transform. The vibration characteristics of the servo system are analyzed numerically. A virtual test Based on Matlab, a digital simulation model of the mechanism is established. The resonance characteristics of the servo mechanism are excited by the virtual sweep method. The influence of the servo structure parameters on the vibration mode and the resonance frequency of the servo mechanism is analyzed by time-frequency characteristic curve . Numerical calculation and virtual test results show that the rotor inertia and meshing gear rigidity of servo motor are the key components and sensitive parameters that affect the resonance frequency of servo mechanism.