Dynamics Research For The Electromechanical Integrated Toroidal Drive With The Eccentric Center

Electromechanical integrated toroidal drive is a new complex drive. It has theadvantages such as compact structure, fast response speed, no lubrication, controlledrevolution and output torque and so on. In this dissertation, the influence of the systematicerror on the output torque and free vibration is studied. Meanwhile, the forced vibrationand the nonlinear vibration caused by the systematic error are deeply studied. Main resultsof the paper are as follows:Magnetic distribution at the toroidal worm and the toroidal stator of theelectromechanical integrated toroidal drive is studied. The effects of different parameterson the magnetic filed are analysed. The calculation formula of the force and output torqueis induced. The influence of different parameters on the output torque is analysed.Therefore, the influence of the systematic error on the force and output torque is analysed.Dynamic equations of the rotating stator toroidal drive and fixed stator toroidal driveare established. Based on the dynamic equations, the natural frequency and vibration modeunder the influence of systematic error are obtained. Furthermore, the effects of thesystematic error on the natural frequency and vibration mode are studied. At the same time,the changes of the sensitivity of the natural frequency to design parameters in differentvibration modes are worked out and discussed.Differential equation of the forced vibration of the toroidal drive under the influenceof the systematic error is established, and time-domain responses under differentexcitation frequency are analysed. Meanwhile, the differential equations of the weaklynonlinear free vibration caused by eccentric center are established. Approximate analyticsolutions are achieved by L-P method. Changes of weakly nonlinear vibration with designparameters are analysed.The modeling of the prototype of the fixed stator electromechanical integratedtoroidal drive is completed by using Pro/Engineer software. Meanwhile, the simulation ofthe magnetic field of the toroidal worm, the planet gear and the toroidal stator isperformed by Ansys software. Furthermore, the magnetic force of the planet gear at the toroidal stator is simulated and calculated, and the simulation results are compared withthe theoretical results. This demonstrates the correctness of theory analysis.