Research On Dual-motor Anti-backlash Technology And Experiment Of Planetary Gear Reducer

Planetary gear reducer is one of the most widely used gear transmission devices,which has a wide range of applications in aviation,ships,engineering machinery and other fields.The backlash of gear causes pound and noise in gear meshing transmission process,which affects the transmission accuracy and stability of the reducer,reduces the service life of it and the transmission performance of the system.Therefore,studying the dynamics performance of the reducer and the method of eliminating the backlash of the gears has a practicable significance to improve the transmission performance of the planetary gear reducer.In this paper,the dual-motor anti-backlash technology is used to eliminate the backlash of the reducer gears,and the dynamics performance of planetary gear reducer under different operating conditions is analyzed and experimentally studied.The specific research of this paper is as follows:(1)The principle of dual-motor anti-backlash for planetary gear reducer is studied based on the analysis of typical backlash eliminating methods;the meshing dynamics model and dual-motor anti-backlash dynamics model of planetary gear reducer are established by dead-zone modeling method;the influence of the gear backlash on the transmission performance of the reducer is analyzed and the improvement of the transmission performance of planetary gear reducer which used the dual-motor anti-backlash is verified by Simulink platform.(2)The structure of the planetary gear reducer is analyzed,the three-dimensional model of planetary gear reducer is established,and the dynamics simulation is carried out.The influence of dual-motor anti-backlash on the dynamics performance of the reducer under different operating conditions is analyzed,which provides theoretical basis for the experiment of dual-motor anti-backlash for the reducer.(3)The experimental platform of dual-motor anti-backlash for planetary gear reducer is designed and built.The hardware of the experimental platform such as motor and control board are selected and debugged.The software which control the experimental platform and the vibration testing part are developed.(4)Taking a certain type of planetary gear reducer as the study object,the experiment scheme of dual-motor anti-backlash for different operation state is designed.The experiment of dual-motor anti-backlash for planetary gear reducer is carried out,and the vibration signals in the backlash eliminating process of planetary gear reducer are collected and analyzed.The influence of offset moment and input speed on the transmission performance of reducer is analyzed,and the effectiveness of dual-motor anti-backlash method for planetary gear reducer which is proposed in this paper is verified.