| A new kind of nutation transmission structure is presented in this paper,on the basis of movable teeth transmission, which are combined with permanent magnet drive to form the electromechanical integrated nutation movable teeth transmission device. This structure not only avoid processing of inclined shaft in the nutation movable teeth transmission, and bearings of turning arm are placed on the outside of nutation plate, which can significantly improve the life of turning arm bearings. It has a compact structure, large range of transmission ratio and strong carrying capacity, etc. In this paper,the main research on the device are as follows.The structure and operational principle of the electromechanical integrated nutation movable teeth transmission device are analyzed. The design process of overall structural and establishment of 3D model are completed.The type of stator and rotor are selected according to the requirement, and drive system has been designed through Magnetic circuit method. Because of the complexity of the design process,a design software of drive system has been developed using VB software to improve efficiency. For the design result of the drive system,a better structure has been got through simulation and optimization with Ansoft software.Based on knowledge of heat transfer theory, thermal transfer parameters of the electromechanical integrated nutation movable teeth transmission device are calculated. The temperature field of the electromechanical integrated nutation movable teeth transmission device has been simulated and analyzed with the help of ABAQUS. The temperature distribution of parts and the entire device have been obtained under rated torque. And temperature field of the device with the cooling system are simulated. The temperature distribution of the parts after cooling are obtained to provide reference for structural design on the device.The control system is designed with double closed loop control strategy according to the requirement and characteristic of electro- mechanical integrated nutation movable teeth transmission device control system. Model of control system have been built for simulation with Matlab/Simulink, through which the characteristic curves in operation condition are obtained. And the proposed control method is proved to be reasonable and feasible by the consistency between simulation and theoretical calculation. Finally, the hardware system based on DSP are given and the sensorless way has been selected to detect the position of permanent magnet. |
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