CN105546071A - Nonlinear control gear set - Google Patents

Nonlinear control gear set Download PDF

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Publication number
CN105546071A
CN105546071A CN201610071422.7A CN201610071422A CN105546071A CN 105546071 A CN105546071 A CN 105546071A CN 201610071422 A CN201610071422 A CN 201610071422A CN 105546071 A CN105546071 A CN 105546071A
Authority
CN
China
Prior art keywords
gear
angle
turns over
original state
nonlinear control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610071422.7A
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Chinese (zh)
Inventor
杨鲁平
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing University of Aeronautics and Astronautics
Original Assignee
Nanjing University of Aeronautics and Astronautics
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing University of Aeronautics and Astronautics filed Critical Nanjing University of Aeronautics and Astronautics
Priority to CN201610071422.7A priority Critical patent/CN105546071A/en
Publication of CN105546071A publication Critical patent/CN105546071A/en
Pending legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H35/00—Gearings or mechanisms with other special functional features
    • F16H35/16—Mechanisms for movements or movement relations conforming to mathematical formulae

Abstract

The invention discloses a nonlinear control gear set. The nonlinear control gear set comprises a first gear, a second gear and a limiting track which are matched with one another, so that the speed ratio of the control gear to the controlled gear has different values at different meshing positions, and the function that control quantity of the input end and controlled quantity of the output end meet a nonlinear function is achieved. Various functions can be achieved, and the nonlinear control gear set is wide in application range; control need is met by adopting a mechanical method, and the technology is simple relatively.

Description

The gear train of nonlinear Control
Technical field
The present invention relates to gear application, particularly relate to a kind of gear train of nonlinear Control.
Background technique
Existing gear all adopts positive toroidal as its border perpendicular to the obfuscation of the sectional view of axle, and wheel shaft all passes the center of circle.If merely existing gear is used for control technique field, then control gear and the ratio of the angular velocity of controlled pinion rotation can only be a fixing value, and the angle that control gear turns over and the angle that controlled gear turns over meet linear relationship; But many fields need to realize to determine that arbitrarily function relation (such as between controlled quentity controlled variable and controlled quatity, for the temperature adjusting of shower nozzle, corresponding temperature range that people always wish the more control interval of Joystick---angular range namely residing for handle---is between 35 DEG C to 40 DEG C, to realize more easily, more accurately controlling in this section of conventional comfortable water temperature interval, instead of in regulation and control even angle distribution corresponding to the chien shih handle of 15 DEG C to 60 DEG C; Again such as, many drivers wish accurate control that vehicle steering wheel can realize turning to little, again can need not too much like hard work when needs turn to greatly---that is, the variance ratio needing the curvature realizing a kind of automobile turning steering wheel to be turned over to angle turns over the increase of angle and the control mode increased along with steering wheel.These situations all require to meet nonlinear corresponding relation between controlled quentity controlled variable and controlled quatity), these control just cannot with the circular gear of existing wheel shaft at circle centre position, the simple rotation angle being acted on single control gear by controlled quentity controlled variable, act on controlled gear by driving gear (group) or directly act on controlled gear by control gear again, the last mode exported by the rotation angle of single controlled gear achieves (unless midway switching controls gear or controlled gear, but it is more to do the required number of gears like this, and need to do clutch campaign, implement comparatively complicated, unaccommodated in many situations).
Summary of the invention
Technical problem to be solved by this invention is for defect involved in background technique, a kind of gear train of nonlinear Control is provided, actuation gear institute gyration with by actuation gear institute gyration, be there is non-linear relation, and then make controlled quentity controlled variable and controlled quatity meet non-linear relation.
The present invention is for solving the problems of the technologies described above by the following technical solutions:
The gear train of nonlinear Control, comprises the first gear, the second gear and restriction track;
The axle center of described first gear is arranged on restriction track, and can slide along described restriction track, the second gear is the gear that axle center is fixed, and the first gear and the second gear are engaged mutually;
Distance geometry first gear between described biting point and the first gear axis meets the first default non-linear relation relative to the angle that its original state turns over;
Distance between each tooth of described second gear and its axle center is identical;
During the gear train work of described nonlinear Control, the angle that the first gear turns over relative to its original state and the second gear meet the second default non-linear relation relative to the angle that its original state turns over.
The another kind of mode of execution of gear train as nonlinear Control of the present invention, the gear train of nonlinear Control comprises the first gear, the second gear and restriction track;
The axle center of described first gear is arranged on restriction track, and can slide along described restriction track, the second gear is the gear that axle center is fixed, and the first gear and the second gear are engaged mutually;
Distance geometry first gear between described biting point and the first gear axis meets the first default non-linear relation relative to the angle that its original state turns over;
Distance geometry first gear between described biting point and the second gear axis meets the second default non-linear relation relative to the angle that its original state turns over;
During the gear train work of described nonlinear Control, the angle that the first gear turns over relative to its original state and the second gear meet the 3rd default non-linear relation relative to the angle that its original state turns over.
The another kind of mode of execution of gear train as nonlinear Control of the present invention, the gear train of nonlinear Control comprises the first gear and the second gear;
Described first gear, the second gear are the fixing gear in axle center, are mutually engaged, and biting point is on the line of described first gear and the second gear axis;
If r 1for the distance between biting point and the first gear axis, r 2for the distance between biting point and the second gear axis, θ 1for the angle that the first gear turns over relative to its original state, θ 2for the angle that the second gear turns over relative to its original state, R is the distance between the first gear axis and the second gear axis, then r 1, θ 1meet the first non-linear relation r preset 1=f 1(θ 1), r 2, θ 2meet the second non-linear relation r preset 2=f 2(θ 2), and r 1+ r 2=R.
The further optimized project of gear train as nonlinear Control of the present invention, described first gear is used for input control variable, and described second gear is used for output-controlled variable.
The further optimized project of gear train as nonlinear Control of the present invention, described second gear is used for input control variable, and described first gear is used for output-controlled variable.
The further optimized project of gear train as nonlinear Control of the present invention, described restriction track is the track of rail-variable.
The present invention adopts above technological scheme compared with prior art, has following technique effect:
1. under the prerequisite not considering idle running difference, the controlled quentity controlled variable of input and the controlled quatity of output can realize many kinds of function relation, are especially exaggerated the interval accounting that controlled quatity needs the controlled quentity controlled variable corresponding to the part of meticulous adjustment;
2. apply the present invention to, on the controlling rod of bathroom water valve etc., the more applicable consumer demand of design can be made;
3. the present invention of precision manufactureing is applied to the steering wheel drive controller etc. of automotive internal, steering control device can be simplified;
4. in most cases, engaging and disengaging gear can be given up and too much gear just can realize above-mentioned functions, save material, operate simple and easy.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
In figure, the axle center of 1-second gear, 2-second gear, 3-first gear, the axle center of 4-first gear, 5-controlling rod, 6-limits track.
Embodiment
Below in conjunction with accompanying drawing, technological scheme of the present invention is described in further detail:
As shown in Figure 1, the invention discloses a kind of gear train of nonlinear Control, this gear train comprises three kinds of situations:
The first, comprise the first gear, the second gear and restriction track;
The axle center of described first gear is arranged on restriction track, and can slide along described restriction track, the second gear is the gear that axle center is fixed, and the first gear and the second gear are engaged mutually;
Distance geometry first gear between described biting point and the first gear axis meets the first default non-linear relation relative to the angle that its original state turns over;
Distance between each tooth of described second gear and its axle center is identical;
During the gear train work of described nonlinear Control, the angle that the first gear turns over relative to its original state and the second gear meet the second default non-linear relation relative to the angle that its original state turns over.
If r 1be the distance between the first gear, the biting point of the second gear and the first gear axis, θ 1for the angle that the first gear turns over relative to its original state, r 1, θ 1meet the first non-linear relation r preset 1=f 1(θ 1);
θ 2be the angle that the second gear turns over relative to original state, θ 2, θ 1meet the second non-linear relation θ preset 2=f 2(θ 1), θ 2, θ 1variance ratio between pass be
Constant r 2for biting point is to the distance of the second gear axis;
Using the second gear axis as reference initial point, e xfor being parallel to the linear velocity of biting point place two gear edge, and the direction vector contrary with linear velocity direction, e yfor with e xvertical direction vector, the then radius vector of the first gear axis on restriction track meet set of equation
② dθ 2 dθ 1 = f ′ 2 ( θ 1 ) ,
③r 2 2d 2θ 2＝d 2r 1+r 1 2d 2θ 1。
The second, comprises the first gear, the second gear and restriction track;
The axle center of described first gear is arranged on restriction track, and can slide along described restriction track, the second gear is the gear that axle center is fixed, and the first gear and the second gear are engaged mutually;
Distance geometry first gear between described biting point and the first gear axis meets the first default non-linear relation relative to the angle that its original state turns over;
Distance geometry first gear between described biting point and the second gear axis meets the second default non-linear relation relative to the angle that its original state turns over;
During the gear train work of described nonlinear Control, the angle that the first gear turns over relative to its original state and the second gear meet the 3rd default non-linear relation relative to the angle that its original state turns over.
If θ 1be the angle that the first gear turns over relative to its original state, θ 2be the angle that the second gear turns over relative to original state, θ 2=f (θ 1), f (θ 1) for needing the nonlinear function realized;
Biting point is r to the distance of the first gear axis 1=f 1(θ 1), f 1(θ 1) be described the first default non-linear relation;
Biting point is r to the distance of the second gear axis 2=f 2(θ 2), f 2(θ 2) be described the second default non-linear relation;
Using the second gear axis as reference initial point, e xfor being parallel to the linear velocity of biting point place two gear edge, and the direction vector contrary with linear velocity direction, e yfor with e xvertical direction vector, the then radius vector of the first gear axis on restriction track meet set of equation
② dθ 2 dθ 1 = f ′ 2 ( θ 1 ) ,
③d 2r 2+r 2 2d 2θ 2＝d 2r 1+r 1 2d 2θ 1。
The third, only comprise the first gear and the second gear;
Described first gear, the second gear are the fixing gear in axle center, are mutually engaged, and biting point is on the line of described first gear and the second gear axis;
If r 1for the distance between biting point and the first gear axis, r 2for the distance between biting point and the second gear axis, θ 1for the angle that the first gear turns over relative to its original state, θ 2for the angle that the second gear turns over relative to its original state, R is the distance between the first gear axis and the second gear axis, then r 1, θ 1meet the first non-linear relation r preset 1=f 1(θ 1), r 2, θ 2meet the second non-linear relation r preset 2=f 2(θ 2), and r 1+ r 2=R,
Above in three kinds of situations, can be used for input control variable, the second gear for output-controlled variable by the first gear, also can be used for input control variable by the second gear, the first gear is used for output-controlled variable.
Described restriction track is the track that can be set to rail-variable, and make application more extensive, same gear train can meet the demand of different nonlinear Control.
Those skilled in the art of the present technique are understandable that, unless otherwise defined, all terms used herein (comprising technical term and scientific terminology) have the meaning identical with the general understanding of the those of ordinary skill in field belonging to the present invention.Should also be understood that those terms defined in such as general dictionary should be understood to have the meaning consistent with the meaning in the context of prior art, unless and define as here, can not explain by idealized or too formal implication.
Above-described embodiment; object of the present invention, technological scheme and beneficial effect are further described; be understood that; the foregoing is only the specific embodiment of the present invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (6)

1. the gear train of nonlinear Control, is characterized in that, comprises the first gear, the second gear and restriction track;
The axle center of described first gear is arranged on restriction track, and can slide along described restriction track, the second gear is the gear that axle center is fixed, and the first gear and the second gear are engaged mutually;
Distance geometry first gear between described biting point and the first gear axis meets the first default non-linear relation relative to the angle that its original state turns over;
Distance between each tooth of described second gear and its axle center is identical;
During the gear train work of described nonlinear Control, the angle that the first gear turns over relative to its original state and the second gear meet the second default non-linear relation relative to the angle that its original state turns over.
2. the gear train of nonlinear Control, is characterized in that, comprises the first gear, the second gear and restriction track;
The axle center of described first gear is arranged on restriction track, and can slide along described restriction track, the second gear is the gear that axle center is fixed, and the first gear and the second gear are engaged mutually;
Distance geometry first gear between described biting point and the first gear axis meets the first default non-linear relation relative to the angle that its original state turns over;
Distance geometry first gear between described biting point and the second gear axis meets the second default non-linear relation relative to the angle that its original state turns over;
During the gear train work of described nonlinear Control, the angle that the first gear turns over relative to its original state and the second gear meet the 3rd default non-linear relation relative to the angle that its original state turns over.
3. the gear train of nonlinear Control, is characterized in that, comprises the first gear and the second gear;
Described first gear, the second gear are the fixing gear in axle center, are mutually engaged, and biting point is on the line of described first gear and the second gear axis;
If r 1for the distance between biting point and the first gear axis, r 2for the distance between biting point and the second gear axis, θ 1for the angle that the first gear turns over relative to its original state, θ 2for the angle that the second gear turns over relative to its original state, R is the distance between the first gear axis and the second gear axis, then r 1, θ 1meet the first non-linear relation r preset 1=f 1(θ 1), r 2, θ 2meet the second non-linear relation r preset 2=f 2(θ 2), and r 1+ r 2=R.
4. the gear train of the nonlinear Control according to claim arbitrary in claim 1 to claim 3, is characterized in that, described first gear is used for input control variable, and described second gear is used for output-controlled variable.
5. the gear train of the nonlinear Control according to claim arbitrary in claim 1 to claim 3, is characterized in that, described second gear is used for input control variable, and described first gear is used for output-controlled variable.
6. according to the gear train of nonlinear Control according to claim 1 or claim 2, it is characterized in that, described restriction track is the track of rail-variable.
CN201610071422.7A 2016-02-01 2016-02-01 Nonlinear control gear set Pending CN105546071A (en)

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Application Number Priority Date Filing Date Title
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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB764864A (en) * 1953-05-01 1957-01-02 Meulen Leonard V D Machine for cutting a web of material crosswise to its direction of movement
US3857479A (en) * 1972-06-26 1974-12-31 J Brems Prime mover mechanism and transfer system
DE2528023B1 (en) * 1975-06-24 1976-12-16 Heinz-Juergen Dipl-Ing Pompe Vehicle auxiliary gear train - has non-round gears with ratio determined by motive power and moments of inertia
CN1217440A (en) * 1997-11-07 1999-05-26 刘彦刚 Three-center composite shifting synchronous rotating mechanism
CN1541311A (en) * 2001-08-09 2004-10-27 �����Ƥ�� Gearing assembly
US20060225690A1 (en) * 2005-03-17 2006-10-12 Anatoly Arov Selective leverage technique and devices
CN201050587Y (en) * 2007-02-16 2008-04-23 董佰生 Tea machine variable speed ratio transmission device
CN102009685A (en) * 2005-01-25 2011-04-13 维尔纳·M·布莱斯 Progressive gearing
CN205534085U (en) * 2016-02-01 2016-08-31 南京航空航天大学 Nonlinear control's gear train

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB764864A (en) * 1953-05-01 1957-01-02 Meulen Leonard V D Machine for cutting a web of material crosswise to its direction of movement
US3857479A (en) * 1972-06-26 1974-12-31 J Brems Prime mover mechanism and transfer system
DE2528023B1 (en) * 1975-06-24 1976-12-16 Heinz-Juergen Dipl-Ing Pompe Vehicle auxiliary gear train - has non-round gears with ratio determined by motive power and moments of inertia
CN1217440A (en) * 1997-11-07 1999-05-26 刘彦刚 Three-center composite shifting synchronous rotating mechanism
CN1541311A (en) * 2001-08-09 2004-10-27 �����Ƥ�� Gearing assembly
CN102009685A (en) * 2005-01-25 2011-04-13 维尔纳·M·布莱斯 Progressive gearing
US20060225690A1 (en) * 2005-03-17 2006-10-12 Anatoly Arov Selective leverage technique and devices
CN201050587Y (en) * 2007-02-16 2008-04-23 董佰生 Tea machine variable speed ratio transmission device
CN205534085U (en) * 2016-02-01 2016-08-31 南京航空航天大学 Nonlinear control's gear train

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Application publication date: 20160504