针对采用万向节传动装置的无人艇推进系统，建立十字轴万向节运动学模型，分析轴线夹角对万向节运动学特性的影响，在此基础上，研究十字轴对万向节附加弯矩的影响规律；其次，建立双十字轴万向节简化当量模型，研究万向节弯-扭振动对主动轴支承处y和z方向转速以及从动轴输出转速的影响。结果表明：轴线夹角调节过程中，万向节从动轴角速度、角加速度以及附加弯矩随转角变化曲线呈正弦波动规律，而且其响应随轴线夹角的增大而增强；整体上万向节弯振对主动轴支承z方向转速响应要高于y方向，而扭振对万向节输出转速的影响受扭转刚度的影响，适当减小扭转刚度可有效降低转速的波动。
Aiming at the propulsion system of unmanned boat with universal joint drive, the kinematics model of universal joint with cross shaft was established, and the influence of axis included angle on the kinematics characteristics of universal joint was analyzed. On this basis, the influence law of cross shaft on the additional bending moment of universal joint was studied. Secondly, the simplified equivalent model of double-cross-axis universal joint was established, and the influence of bending-torsional vibration of universal joint on the rotational speed in y and z directions of the driving shaft support and the output rotational speed of the driven shaft was studied. The results show that the curve of angular velocity, angular acceleration and additional bending moment of the driven shaft of the universal joint fluctuates sinusoidally with the rotation angle during the adjustment of the axis angle, and its response increases with the increase of the axis angle. On the whole, the response of the bending vibration of the universal joint to the rotational speed of the driving shaft support in the z direction is higher than that in the y direction, while the influence of the torsional vibration on the output rotational speed of the universal joint was influenced by the torsional stiffness, and the fluctuation of the rotational speed can be effectively reduced by appropriately reducing the torsional stiffness.
2023,45(2): 80-85 收稿日期：2021-12-23
DOI：10.3404/j.issn.1672-7649.2023.02.015
分类号：U664.21
基金项目：浙江省自然科学基金探索项目(LY20E090002)；国家大学生创新创业训练计划项目(202110340011)
作者简介：刘键(1994-),男,硕士研究生,研究方向为船舶动力系统优化设计
