东北大学学报（自然科学版）

东北大学学报（自然科学版） ›› 2022, Vol. 43 ›› Issue (1): 89-97.DOI: 10.12068/j.issn.1005-3026.2022.01.013

• 机械工程 • 上一篇    下一篇

谐波减速器摩擦特性建模及参数辨识

石崟1， 尹华川2， 李俊阳1， 唐挺1   

  1. )(1. 重庆大学 机械传动国家重点试验室， 重庆400044; 2. 重庆科技学院 机械与动力工程学院， 重庆401331)
  • 修回日期:2021-01-06 接受日期:2021-01-06 发布日期:2022-01-25
  • 通讯作者: 石崟
  • 作者简介:石崟(1996-)，男，安徽滁州人，重庆大学硕士研究生； 李俊阳(1982-)，男，浙江绍兴人，重庆大学副教授，博士生导师.
  • 基金资助:
    国家重点研发计划项目(2018YFB1304800)； 广东省重点研发计划项目(2020B090926002).

Modeling and Parameter Identification of Friction Characteristics of Harmonic Reducer

SHI Yin1， YIN Hua-chuan2， LI Jun-yang1， TANG Ting1   

  1. 1. State Key Laboratory of Mechanical Transmission， Chongqing University， Chongqing 400044， China; 2. School of Mechanical and Power Engineering， Chongqing University of Science and Technology， Chongqing 401331， China.
  • Revised:2021-01-06 Accepted:2021-01-06 Published:2022-01-25
  • Contact: LI Jun-yang
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摘要： 为提高谐波减速器的机器人关节控制精度，适应其在复杂工况下的使用需求，对谐波减速器摩擦力矩特性进行了研究.通过引入弹流润滑关系、非线性刚度关系和柔轮弹性变形耗散关系模型，建立了速度、负载转矩和温度等参数耦合的谐波减速器摩擦力矩模型.使用遗传算法对SHF-20-80-2UJ型谐波减速器的试验数据进行处理，得到了待辨识参数的识别结果，验证了模型的准确性，摩擦力矩的仿真值与试验值间的最大和平均偏差分别为8.05%， 4.26%;满载且输入转速为2000r/min时，不同温度下摩擦力矩的仿真值与试验值间的最大偏差为1.12%.该模型有效地反映了谐波减速摩擦力矩关于转速、负载转矩和温度变化的非线性关系，测得弹性变形能量损失在空载与满载时分别约占总能量损失的20%， 50%.

关键词: 机械摩擦;谐波减速器;摩擦模型;多参数耦合;弹流润滑关系;弹性变形耗散

Abstract: In order to improve the control precision of the robot joint of the harmonic reducer(HD)and adapt to its use under complex working conditions， the friction torque characteristics of HD are studied. By introducing the models of elastohydrodynamic lubrication relationship， the nonlinear stiffness relationship and equivalent dissipation relationship of flexspline elastic deformation， a friction torque model of HD coupled with parameters such as speed， load torque and temperature is established. The genetic algorithm is used to process the test data of the SHF-20-80-2UJ harmonic reducer， the identification results of the parameters to be identified are obtained， and the accuracy of the model is verified. The maximum and average deviations between the simulated and experimental values of friction torque are 8.05% and 4.26% respectively; with full load and input speed being 2000r/min， the maximum deviation between the simulated value and the experimental value of the friction torque at different temperatures is 1.12%. The model effectively reflects the nonlinear relationship between the friction torque of the harmonic reducer with respect to the rotating speed， load torque and temperature changes. The measured elastic deformation energy loss accounts for about 20% and 50% of the total energy loss at no-load and full-load respectively.

Key words: mechanical friction; harmonic reducer; friction model; multi-parameter coupling; elastohydrodynamic lubrication relationship; elastic deformation and dissipation

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