第一作者贺继鹏男，硕士生，1989年12月生

通信作者刘更男，博士，教授，博士生导师，1961年生

基于键合图的行星滚柱丝杠副动态特性建模与仿真

贺继鹏，刘更，马尚君，佟瑞庭

(西北工业大学陕西省机电传动与控制工程实验室，西安710072)

摘要：考虑行星滚柱丝杠副传动间隙、啮合面接触变形、丝杠扭转与拉压变形、加工误差、载荷分布、摩擦力及惯量等因素，运用键合图理论建立行星滚柱丝杠副动态特性分析模型，推导其状态方程。引入功率结型结构描述传动间隙引起的螺纹啮合面间接触力、阻尼力非线性分段特性，用LuGre模型反映啮合面摩擦力对行星滚柱丝杠副动态特性影响。以一组行星滚柱丝杠副参数为例，将其阶跃速度响应结果与Adams仿真结果进行对比，验证模型的正确性。分别研究丝杠转速、滑滚比对摩擦力响应特性影响及传动间隙、加工误差对刚度特性影响。分析结果有助于提高行星滚柱丝杠副动态精度及工作稳定性。

关键词：行星滚柱丝杠副；键合图；动态特性；动刚度

基金项目：国家自然科学基金资助项目(51275423)；教育部高等学校博士学科点专项科研基金(20126102110019)；中国博士后科学基金(2014M552483)；高等学校学科创新引智计划(B13044)

收稿日期：2014-07-16修改稿收到日期：2014-09-12

中图分类号:TH132.1

文献标志码：A

DOI:10.13465/j.cnki.jvs.2015.20.012

Abstract:Based on bond graph theory, a dynamic analysis model of planetary roller screw mechanism was presented, in which transmission clearances, contact deformations of threads, torsion and compression deformations of screw, machining errors, load distribution of threads, friction and inertias were taken into consideration. Meanwhile, the state equations of the model were derived. In the model, for describing the nonlinear and stepped properties of contact force and damping force caused by transmission clearances between thread surfaces, the concept of switched power junctions was introduced, and the influence of friction on dynamic characteristics of planetary roller screw mechanism was considered based on the LuGre model. Taking some planetary roller screw mechanism as an example, the calculated step response of velocity was compared with the result from Adams simulation to verify the effectiveness of the model. Then, the influences of rotating speed of screw and slide roll ratio on friction force response characteristics, and the influences of transmission clearances and machining errors on stiffness characteristics were investigated. The results can help to improve the dynamic accuracy and stability of planetary roller screw mechanisms.

Bond graph based dynamic characteristic modeling and simulation of planetary roller screw mechanism

HEJi-peng,LIUGeng,MAShang-jun,TONGRui-ting(Shaanxi Engineering Laboratory for Transmissions and Controls, Northwestern Polytechnical University, Xi’an 710072,China)

Key words:planetary roller screw mechanism; bond graph; dynamic characteristic; dynamic stiffness

行星滚柱丝杠副(Planetary Roller Screw Mechanism，PRSM)为可实现旋转运动与直线运动相互转化的传动机构。随航空、航天、武器装备及石油化工、机床、过程控制等对直线机电作动系统的更高要求，PRSM以其高精度、长寿命、大推力及高平稳性等优点成为直线机电作动系统重要执行机构[1-2]。……