The Nonlineae Vibration Analysis Of Electromechanical Integrated Toroidal Drive

Electromechanical integrated toroidal drive is a new complex drive. In this drive, drive, power and control are integrated, and it has the characteristics such as no meshing, no lubrication, fast response speed, simple structure, high efficiency and so on. To avoid of excessive dynamic load of mechanical transmission system and bad oscillations of the electric system caused by adverse dynamic characteristics, nonlinear free vibration, nonlinear forced vibration, nonlinear parametric vibration, and coupling vibration of the drive are investigated, based on the dynamic model of electromechanical integrated toroidal drive. The main results of the paper are as below:On the basis of the electromechanical coupled dynamic differential equation of electromechanical integrated toroidal drive, and according to nonlinear changes of electromagnetic meshing force between worm or stator and planet, nonlinear differential equations of free vibration are educed. Approximative analytic solutions of weak nonlinear vibration are achieved by L-P method. Changes of weak nonlinear vibration with design parameters are analyzed.The current changes caused by voltage change of the windings in the worm are analyzed. The dynamic equations of the electromechanical integrated toroidal drive with the disturbance are founded. The dynamic responses of the system when disturbance frequency is near to natural frequency or far from them are discussed. The influences of electromechanical parameters on the forced vibration of the system are discussed.The nonlinear dynamic equations of the mechanic system under the excitations of mesh parameters and voltage oscillation are presented. The time and frequency forced responses of mechanical system are analyzed by means of the solution of the equations. The coupling vibrations under the mechanical and electric excitations are analyzed.The time responses are computed by R-K method with numerical simulation software Matlab. The numerical solutions of weak nonlinear vibration are achieved. The range of the theory analysis is determined by comparing the numerical and the analytical solutions.