CN109543249A - A kind of two-stage four-bar linkage and Parameters design - Google Patents
A kind of two-stage four-bar linkage and Parameters design Download PDFInfo
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Abstract
A kind of two-stage four-bar linkage and Parameters design, establish the equation of motion of two-stage four-bar linkage and the equation of motion of polynomial form, rate equation and broad sense transmission ratio, and rate equation is inputted as the movement of mechanism ADAMS model；Establish the ADAMS parameterized model of two-stage four-bar linkage, and steering engine actuator thrust, stroke and part load are obtained with this model, the wherein foundation of actuator thrust, stroke as steering engine design requirement, input condition of the part load as strength check；Two-stage four-bar linkage part finite element model is established using FEM-software ANSYS, obtains the strength and stiffness of part.Wherein foundation of the part strength as strength check, input of the detail rigidity as system stiffness；The ADAMS model for establishing the calculating of two-stage four-bar linkage system stiffness, gives the method for solving of system Line stiffness and torsion stiffness, the foundation as Stiffness evaluation.The present invention realizes the efficient Parametric designing of two-stage four-bar linkage.
Description
Technical field
The present invention relates to a kind of two-stage four-bar linkage and Parameters designs, belong to mechanism design field.
Background technique
Two-stage four-bar linkage is one of common mechanism configuration of vehicle rudder transmission mechanism." pendulum guide rod+flat four
Bar " formula mechanism is a kind of typical two-stage four-bar linkage, and the first order is oscillating guidebar mechanism, (can by steering engine actuator
The guide rod of swing) stretching motion be converted into the rotary motion of auxiliary rocker arm, the second level is flat four-bar mechanism, auxiliary rocker arm
Rotary motion drives rudder face by connecting rod, swings rudder face.As course of new aircraft proposes gently rudder face geartrain systems
Matter, high rigidity, it is long when the requirement that works, traditional design method more next difficult adaptation mission requirements.It is mainly reflected in: (1) machine
Structure analyzes unmature parametric modeling method, causes modeling efficiency lower；(2) intensive analysis and stiffness analysis result and examination
The deviation for testing result is larger, it is difficult to meet design requirement.The parameter designing of mechanism is the train of mechanism design first step, it is certain
The weight and performance of system are directly determined in degree.The patent (publication number CN105184005B) of the applications such as Guo Aimin, Peng Bo
A kind of patent (the publication number of the applications such as " rudder face transmission mechanism optimization of Overall Parameters of Muffler method " and Peng Bo, Guo Aimin
CN106844838A) " a kind of aircraft airvane method of evaluating performance " is to the parameter designing of pendulum guide rod type rudder face transmission mechanism
And method of evaluating performance is described in detail, and is the beneficial trial to mechanism parameter design method.It yet there are no open
Domestic and international two-stage four-bar linkage Parameters design introduction.
Summary of the invention
The technical problem to be solved by the present invention is having overcome the deficiencies of the prior art and provide a kind of four bar machine of two-stage plane
Structure and Parameters design establish the equation of motion of two-stage four-bar linkage and the equation of motion of polynomial form, speed
Equation and broad sense transmission ratio are spent, rate equation is inputted as the movement of mechanism ADAMS model；Establish four bar machine of two-stage plane
The ADAMS parameterized model of structure, and obtain steering engine actuator thrust, stroke and part load with this model, wherein actuator
The foundation of thrust, stroke as steering engine design requirement, input condition of the part load as strength check；Utilize finite element software
ANSYS establishes two-stage four-bar linkage part finite element model, obtains the strength and stiffness of part.Wherein part strength is made
For the foundation of strength check, input of the detail rigidity as system stiffness；Establish the calculating of two-stage four-bar linkage system stiffness
ADAMS model, give the method for solving of system Line stiffness and torsion stiffness, the foundation as Stiffness evaluation.The present invention is real
The efficient Parametric designing of two-stage four-bar linkage is showed, has been used convenient for engineers and technicians.
The object of the invention is achieved by the following technical programs:
A kind of two-stage four-bar linkage Parameters design, two-stage four-bar linkage parameter include at least steering engine actuation
Device thrust, actuator stroke, part strength, the Line stiffness of two-stage four-bar linkage and torsion stiffness, include the following steps:
Step 1: establishing the polynomial form equation of motion of two-stage four-bar linkage, two-stage four-bar linkage is obtained
Rate equation and two-stage four-bar linkage broad sense transmission ratio；
Step 2: the parameterized model of two-stage four-bar linkage is established, using rate equation described in step 1 as two
The movement of grade four-bar linkage model inputs parameter, obtains actuator thrust, the actuator of two-stage four-bar linkage model
Stroke, part load；
Step 3: the finite element model of two-stage four-bar linkage is established, using part load described in step 2 as strong
The input parameter checked is spent, part strength and detail rigidity are obtained；
Step 4: the rigidity model of two-stage four-bar linkage is established, using detail rigidity described in step 3 as two-stage
The input parameter of four-bar linkage rigidity obtains two-stage four-bar linkage using broad sense transmission ratio described in step 1
The torsion stiffness of Line stiffness and two-stage four-bar linkage.
Above-mentioned two-stage four-bar linkage Parameters design, the polynomial form movement of the two-stage four-bar linkage
Equation are as follows:
In formula,Elongation for the actuator obtained using fitting polynomial formulas, b1、b2And b3It is multinomial shape
The coefficient of the formula equation of motion, δ are angle of rudder reflection.
Above-mentioned two-stage four-bar linkage Parameters design, the rate equation of the two-stage four-bar linkage are as follows:
In formula, vlFor the linear velocity of actuator, b1、b2And b3It is the coefficient of the polynomial form equation of motion, δ is that rudder is inclined
Angle,For angle of rudder reflection speed (derivative of angle of rudder reflection).
Above-mentioned two-stage four-bar linkage Parameters design, the broad sense transmission ratio of the two-stage four-bar linkage are as follows:
ilo1=b1+2b2δ+3b3δ2
In formula, ilo1For the broad sense transmission ratio of two-stage four-bar linkage, b1、b2And b3It is the polynomial form equation of motion
Coefficient, δ is angle of rudder reflection.
The part of above-mentioned two-stage four-bar linkage Parameters design, the two-stage four-bar linkage includes connecting rod,
The calculation method of the rigidity of the connecting rod are as follows:
In formula, kt_ganFor the tensible rigidity of connecting rod, xt_nax_ganDraw the earhole surface of load effect along connecting rod axial direction for unit
Maximum axial displacement, xt_nin_ganThe earhole surface of load effect is drawn to be displaced along the minimum axial direction of connecting rod axial direction for unit；
In formula, kc_ganFor the pressure rigidity of connecting rod, xc_nax_ganIt is along connecting rod axial for the earhole surface of unit compressive load effect
Maximum axial displacement, xc_nin_ganIt is displaced for the earhole surface of unit compressive load effect along the minimum axial direction of connecting rod axial direction.
Above-mentioned two-stage four-bar linkage Parameters design, the part of the two-stage four-bar linkage include that auxiliary is shaken
Arm, the calculation method of the rigidity of the auxiliary rocker arm are as follows:
In formula, kt_fyFor the tensible rigidity of auxiliary rocker arm, xt_nax_fyDraw the earhole surface of load effect along two ears for unit
Hole circle center line connecting direction maximum displacement, xt_nin_fyFor unit draw load effect earhole surface along two earhole circle center line connecting directions most
Thin tail sheep；
In formula, kc_fyFor the compression stiffness of auxiliary rocker arm, xc_nax_fyDraw the earhole surface of load effect along two ears for unit
Hole circle center line connecting direction maximum displacement, xc_nin_fyFor unit draw load effect earhole surface along two earhole circle center line connecting directions most
Thin tail sheep.
The part of above-mentioned two-stage four-bar linkage Parameters design, the two-stage four-bar linkage includes support,
The calculation method of the rigidity of the support are as follows:
In formula, kzhFor the rigidity of support, xnax_zhDraw the earhole surface of load effect along the displacement of loading direction for unit.
Above-mentioned two-stage four-bar linkage Parameters design, using detail rigidity described in step 3 as two-stage plane four
The input parameter of linkage rigidity obtains the rigidity of two-stage four-bar linkage, then calculates the line of two-stage four-bar linkage
Rigidity；
The calculation method of the rigidity of the two-stage four-bar linkage are as follows:
In formula, kr_t_sFor the drawing rigidity of two-stage four-bar linkage, MeqIt is equivalent to rudder to act on the unit force of pressure in the heart
Torque on axis, Δ δtThe difference of measurement angle of rudder reflection and target angle of rudder reflection when for connecting rod and auxiliary rocker arm tension；
In formula, kr_p_sFor the pressure rigidity of two-stage four-bar linkage, Δ δpMeasurement when being pressurized for connecting rod and auxiliary rocker arm
The difference of angle of rudder reflection and target angle of rudder reflection.
Above-mentioned two-stage four-bar linkage Parameters design, the calculating side of the Line stiffness of the two-stage four-bar linkage
Method are as follows:
In formula, kl_t_sFor the stretching Line stiffness of two-stage four-bar linkage, ilo1For broad sense transmission ratio；
In formula, kl_p_sFor the compression Line stiffness of two-stage four-bar linkage.
A kind of two-stage four-bar linkage design method, includes the following steps:
Step 1: establishing the multinomial of two-stage four-bar linkage according to the geometric configuration size of two-stage four-bar linkage
The formula form equation of motion obtains the rate equation of two-stage four-bar linkage and the broad sense transmission ratio of two-stage four-bar linkage；
Step 2: the parameterized model of two-stage four-bar linkage is established, using rate equation described in step 1 as two
The movement of grade four-bar linkage model inputs parameter, obtains actuator thrust, the actuator of two-stage four-bar linkage model
Stroke, part load；Judge whether steering engine design meets preset requirement, if steering engine design meets preset requirement, is transferred to step
Three；Otherwise the geometric configuration size for adjusting two-stage four-bar linkage, is transferred to step 1；
Step 3: the finite element model of two-stage four-bar linkage is established, using part load described in step 2 as strong
The input parameter checked is spent, part strength and detail rigidity are obtained；
Step 4: whether part strength described in judgment step three meets preset strength, if part strength meets in advance
If intensity is transferred to step 5；Otherwise Element Design size is adjusted, step 3 is transferred to；
Step 5: the rigidity model of two-stage four-bar linkage is established, using detail rigidity described in step 3 as two-stage
The input parameter of four-bar linkage rigidity obtains two-stage four-bar linkage using broad sense transmission ratio described in step 1
The torsion stiffness of Line stiffness and two-stage four-bar linkage；Judge four bar of Line stiffness and two-stage plane of two-stage four-bar linkage
Whether the torsion stiffness of mechanism is all satisfied preset rigidity requirement, if the Line stiffness of two-stage four-bar linkage and two-stage plane
The torsion stiffness of four-bar mechanism is all satisfied preset rigidity requirement, then two-stage four-bar linkage design terminates, and is otherwise transferred to step
Rapid three.
The present invention has the following beneficial effects: compared with the prior art
(1) present invention establishes the equation of motion of two-stage four-bar linkage and the equation of motion of polynomial form, speed
Equation and broad sense transmission ratio are spent, the precision of motion analysis is improved, is designed for mechanism and laid theoretical basis；
(2) present invention establishes the ADAMS parameterized model of two-stage four-bar linkage, improves modeling and part load
Computational efficiency；
(3) two-stage four-bar linkage part finite element model is established using FEM-software ANSYS, for accurate assessment
Part strength provides foundation；
(4) the ADAMS model for establishing the calculating of two-stage four-bar linkage system stiffness, gives system Line stiffness and torsion
The method for solving of rigidity.Calculating method of stiffness is significantly improved compared with conventional method precision, is belonged in the field and is put forward for the first time, fills up
Domestic and international blank.
Detailed description of the invention
Fig. 1 is the step flow chart of parameter designing of the present invention；
Fig. 2 is the schematic diagram of two-stage four-bar linkage of the present invention；
Fig. 3 is the ADAMS parameterized model schematic diagram of two-stage four-bar linkage of the present invention；
Fig. 4 is that the part finite element model of two-stage four-bar linkage of the present invention loads schematic diagram；
Fig. 5 is that the auxiliary rocker arm Rigidity Calculation finite element model of two-stage four-bar linkage of the present invention loads schematic diagram；
Fig. 6 is the system stiffness ADAMS model schematic of two-stage four-bar linkage of the present invention；
Fig. 7 is the overall flow figure of mechanism of the present invention design.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to implementation of the invention
Mode is described in further detail.
A kind of two-stage four-bar linkage Parameters design process is as shown in Figure 1, include that steps are as follows；
(1) schematic diagram of two-stage four-bar linkage is as shown in Figure 2.The present invention establishes the fortune of two-stage four-bar linkage
The equation of motion, rate equation and the broad sense transmission ratio of dynamic equation and polynomial form.
The equation of motion of (1a) two-stage four-bar linkage:
In formula, Θ0For the initial value of rocker arm and the angle of left fixed link, θ1For the left rocking bar of auxiliary rocker arm and the folder of y-axis
Angle, θ2For the right rocking bar of auxiliary rocker arm and the angle of y-axis, θ4For the angle of left fixed link and right fixed link, steering engine actuator zero-bit
Length is l0, l1For rocker arm length, l2For length of connecting rod, l3For the left rocking bar length of auxiliary rocker arm, l4It is long for the right rocking bar of auxiliary rocker arm
Degree, l5For left fixed pole length, l6For right fixed pole length.α11、α12、α1And α2For angle intermediate variable, lABFor mid-length
Variable.Θ is the angle of rocker arm and left fixed link, and δ is angle of rudder reflection, and l is steering engine actuator overall length, and Δ l is actuator elongation.
The polynomial form of the equation of motion of (1b) two-stage four-bar linkage:
In formula,Elongation for the actuator obtained using polynomial equation, δ are angle of rudder reflection, b1、b2And b3It is more
The coefficient of the item formula form equation of motion, determines method are as follows: first exports 20~100 pairs of actuator elongations-by formula (1) unique step
Then the data of angle of rudder reflection determine multinomial coefficient by the method for fitting of a polynomial, specifically can be by numerical value such as Origin at
Manage software realization.
(1c) carries out derivation to the polynomial form of the equation of motion of two-stage four-bar linkage and obtains four bar of two-stage plane
The polynomial form of the rate equation of mechanism:
In formula, vlFor the linear velocity of actuator,For angle of rudder reflection speed (derivative of angle of rudder reflection).
(1d) it is wide to obtain two-stage four-bar linkage according to the polynomial form of the rate equation of two-stage four-bar linkage
The polynomial form of adopted transmission ratio:
ilo1=b1+2b2δ+3b3δ2 (4)
(2) the ADAMS parameterized model of two-stage four-bar linkage is established, as shown in Figure 3.It is obtained using step (1)
Rate equation inputted as the movement of model, and actuator thrust, stroke and part load are obtained with this model, wherein making
The dynamic foundation of device thrust, stroke as steering engine design requirement；
(2a) realizes the tax initial value of basic geometry variable with design variable (Design Variable).Basic geometry variable
Angle initial value Θ including rocker arm and left fixed link0, auxiliary rocker arm left rocking bar and y-axis angle theta1, the right rocking bar of auxiliary rocker arm and
The angle theta of y-axis2, left fixed link and right fixed link angle theta4, actuator zero-bit length l0, rocker arm length l1, length of connecting rod l2、
The left rocking bar length l of auxiliary rocker arm3, the right rocking bar length l of auxiliary rocker arm4, left fixed pole length l5With right fixed pole length l6。
(2b) defines Point1, Point2, Point3, Point4, Point5 and Point6 in X/Y plane.Wherein
Point1 indicates alignment of rudder stock, is located at coordinate origin；Point2 indicates rocker arm and connecting rod link position；Point3 indicates that auxiliary is shaken
Arm and support link position；Point4 indicates connecting rod and the left rocking bar link position of auxiliary rocker arm；Point5 indicates that auxiliary rocker arm is right
Rocking bar and actuator link position；Point6 indicates actuator and support link position.The coordinate of Point2~Point6 can root
It is obtained in the Structure Design Softwares such as CATIA with graphing method according to the input condition of (2a).
(2c) establishes the shell and operating bar of actuator using Cylinder, and realizes orientation；Define the movement of actuator
Pair keeps it consistent with the actuator direction of motion using the direction Cylinder modification prismatic pair i with the direction z of j Marker；
(2d) builds rocker arm and connecting rod using Link；
(2e) builds auxiliary rocker arm using plate (Plate)；
(2f) between rocker arm and Ground, between auxiliary rocker arm and Ground, between auxiliary rocker arm and operating bar, make
Hinge (revolute pair) is defined respectively between dynamic device shell and Ground；
(2g) defines the measurement such as actuator stroke, actuator thrust, actuator overall length and angle of rudder reflection；
(2h) applies driving (Motion) on actuator prismatic pair, and steering engine linear velocity is arranged in definition displacement expression formula.For
For the sake of convenient, the setting of steering engine linear velocity should meet rudder and at the uniform velocity swing to target position from zero-bit at the appointed time.Then steering engine
Linear velocity is
In formula, δoRespectively target angle of rudder reflection, t are the motion process time, are generally indicated with time in ADAMS, teMovement
End time.
Such as moving the end time is 1s, then steering engine linear velocity is
vl=b1δe+2b2δe 2t+3b3δe 3t2 (6)
(2i) establishes 1 and the MAERKER of rudder face load reference coordinate system coincidence and sits as the projection for applying rudder face load
Mark system.Rudder face load is often provided with hinge moment or six component force forms.Load is applied to the alignment of rudder stock of rocker arm and selects to close
Suitable projected coordinate system.
(2j) defined respectively on each part 1 it is parallel with part coordinate system (commonly using full aircraft coordinate system)
Marker, the reference point as the output of part load；
The emulation end time is respectively set according to the difference of operating condition in (2k), makes itself and movement end time teUnanimously.Emulation
Step number can use 10~100 steps, and simulation type selects static(al) (Static)；Gravity is closed, is solved.
(2l) utilizes the finite element load output function of ADAMS, selects format for ANSYS, and selection (2j) defines respectively
Projected coordinate system of the Marker as load, output time are set as te, export the part load of text file format.
(3) two-stage four-bar linkage part finite element model is established using FEM-software ANSYS, such as Fig. 4~Fig. 5
Shown, the part load obtained using step (2) obtains the strength and stiffness of part as the input condition of strength check.Its
Foundation of the middle part strength as strength check.
(3a) analysis type selects statics；
(3b) Meshing Method selects hexahedron leading, and precision controlling selects 80~100；
When (3c) movable part (including auxiliary rocker arm, connecting rod) solves, inertia release and weak spring option are opened, it is inactive
When component (including steering engine support, rudderpost support) solves, then default setting is used；
Application position does not constrain (3d) movable part, and non-movable member then applies displacement constraint according to the actual situation；
Auricle load is divided into 3 classes and applied respectively by (3e), and radial force, axial force and moment of flexure are applied in entire auricle
Hole surface.Wherein earhole radial force is applied to auricle internal surface of hole in the form of bearing load, and earhole axial force is in the form of power
It is applied to auricle internal surface of hole, earhole moment of flexure is applied to auricle internal surface of hole in the form of moment of flexure.Wherein, auricle axial force and
Earhole moment of flexure is often smaller, often ignores.
(3f) is resolved, and checks foundation of the equivalent stress as strength check.
The Rigidity Calculation of (3g) connecting rod can be changed to load along axial size phase on the basis of above-mentioned finite element model
Etc. contrary bearing load, then solved.Earhole surface axial displacement maximum value and minimum are extracted in finite element result
The difference of value.The rigidity of connecting rod is calculated with following formula:
In formula, kt_ganFor the tensible rigidity of connecting rod, xt_nax_ganDraw the earhole surface of load effect along connecting rod axial direction for unit
Maximum axial displacement, xt_nin_ganThe earhole surface of load effect is drawn to be displaced along the minimum axial direction of connecting rod axial direction for unit.
In formula, kc_ganFor the pressure rigidity of connecting rod, xc_nax_ganIt is along connecting rod axial for the earhole surface of unit compressive load effect
Maximum axial displacement, xc_nin_ganIt is displaced for the earhole surface of unit compressive load effect along the minimum axial direction of connecting rod axial direction.
Load can be changed to edge on the basis of above-mentioned auxiliary rocker arm finite element model by the Rigidity Calculation of (3h) auxiliary rocker arm
The contrary bearing load equal in magnitude in earhole circle center line connecting direction on two deletes the power of support connection earhole, through carrying out
It solves.Earhole surface is extracted in finite element result along the difference of the displacement maxima and minima in two earhole circle center line connecting directions.It is auxiliary
The rigidity of rocker arm is helped to be calculated with following formula:
In formula, kt_fyFor the tensible rigidity of auxiliary rocker arm, xt_nax_fyDraw the earhole surface of load effect along two ears for unit
Hole circle center line connecting direction maximum displacement, xt_nin_fyFor unit draw load effect earhole surface along two earhole circle center line connecting directions most
Thin tail sheep.
In formula, kc_fyFor the compression stiffness of auxiliary rocker arm, xc_nax_fyDraw the earhole surface of load effect along two ears for unit
Hole circle center line connecting direction maximum displacement, xc_nin_fyFor unit draw load effect earhole surface along two earhole circle center line connecting directions most
Thin tail sheep.
Earhole load can be changed to mechanism fortune on the basis of above-mentioned support finite element model by the Rigidity Calculation of (3i) support
In dynamic plain film vertically with the unit bearings load of the support plane of symmetry.Retain displacement constraint.It solved, limit and extracted in first result
The displacement on the earhole surface in specific loading direction.The rigidity of support is calculated with following formula:
In formula, kzhFor the rigidity of support, xnax_zhDraw the earhole surface of load effect along the displacement of loading direction for unit.
The equivalent torsion stiffness to support mounting surface of support stiffness is calculated as follows
kr_zh=kzhhzh 2 (12)
In formula, kr_zhFor the equivalent torsion stiffness to mounting surface of support, hzhFor support height equivlent, value is support peace
Distance of the dress face to earhole axis.
(4) the ADAMS model of two-stage four-bar linkage system stiffness calculating is established, as shown in Figure 6.It utilizes step (3)
Input of the detail rigidity provided as system stiffness, gives the method for solving of system Line stiffness and torsion stiffness, as rigid
Spend the foundation checked.
(4a) increases in X/Y plane defines Point7, Point8, Point9, Point10 and Point11.Wherein
Point7 indicates that rudder face presses heart position；Point8 indicates rudderpost support mounting surface position；Point9 indicates auxiliary rocker arm support peace
Dress face position；Point10 indicates steering engine support mounting surface position；The coordinate of above-mentioned point is determined according to geometrical relationship；
(4b) establishes rudderpost support, auxiliary rocker arm support and steering engine support with connecting rod (Link)；It is fixed in support installation section
The revolute pair of adopted support and ground, and torsionspring is defined in this position.Because rudderpost support has 2, therefore rudderpost support and ground
Between torsionspring rigidity should be multiplied by 2；Spring rate is provided by formula (11), (12)；
(4c) deletes the revolute pair between rocker arm and ground, actuator and ground, defines rocker arm and rudderpost support, actuator and rudder
Revolute pair between machine support；
(4d) deletes connecting rod, defines spring between rocker arm upper hinge point and left rocking bar upper hinge point, spring rate is by public affairs
Formula (7), (8) provide；
(4e) deletes auxiliary rocker arm, establishes independent left rocking bar and right rocking bar with connecting rod；Define respectively left rocking bar and connecting rod,
The revolute pair of auxiliary rocker arm support；The revolute pair of right rocking bar and actuator, auxiliary rocker arm support is defined respectively；In left rocker
Hinge position defines spring, and spring rate is provided by formula (7), (8)；
(4f) deletes the original load of rudder face, applies the unit force perpendicular to rudder face at the pressure heart；
(4g) calculates actuator elongation according to target angle of rudder reflection and formula (1), as the speed of actuator motion
Degree input.The emulation end time is set as 1s, is emulated；
(4h) measures the value of angle of rudder reflection, with following formula computing system rigidity:
In formula, kr_t_sFor the drawing rigidity of system, MeqTo act on the equivalent torque on rudderpost of unit force of pressure in the heart,
ΔδtThe difference of measurement angle of rudder reflection and target angle of rudder reflection when for connecting rod and auxiliary rocker arm tension.
In formula, kr_p_sFor the pressure rigidity of system, MeqTo act on the equivalent torque on rudderpost of unit force of pressure in the heart,
ΔδpThe difference of measurement angle of rudder reflection and target angle of rudder reflection when being pressurized for connecting rod and auxiliary rocker arm.
The equivalent Line stiffness on steering engine axis is calculated with following formula
In formula, kl_t_sLine stiffness, i are stretched for systemlo1For broad sense transmission ratio, value is determined by formula (4).
In formula, kl_p_sFor system compresses Line stiffness.
A kind of two-stage four-bar linkage design method, as shown in fig. 7, comprises following steps:
Step 1: establishing the multinomial of two-stage four-bar linkage according to the geometric configuration size of two-stage four-bar linkage
The formula form equation of motion obtains the rate equation of two-stage four-bar linkage and the broad sense transmission ratio of two-stage four-bar linkage；
Step 2: the parameterized model of two-stage four-bar linkage is established, using rate equation described in step 1 as two
The movement of grade four-bar linkage model inputs parameter, obtains actuator thrust, the actuator of two-stage four-bar linkage model
Stroke, part load；Judge whether steering engine design meets preset requirement, if steering engine design meets preset requirement, is transferred to step
Three；Otherwise the geometric configuration size for adjusting two-stage four-bar linkage, is transferred to step 1；
Step 3: the finite element model of two-stage four-bar linkage is established, using part load described in step 2 as strong
The input parameter checked is spent, part strength and detail rigidity are obtained；
Step 4: whether part strength described in judgment step three meets preset strength, if part strength meets in advance
If intensity is transferred to step 5；Otherwise Element Design size is adjusted, step 3 is transferred to；
Step 5: the rigidity model of two-stage four-bar linkage is established, using detail rigidity described in step 3 as two-stage
The input parameter of four-bar linkage rigidity obtains two-stage four-bar linkage using broad sense transmission ratio described in step 1
The torsion stiffness of Line stiffness and two-stage four-bar linkage；Judge four bar of Line stiffness and two-stage plane of two-stage four-bar linkage
Whether the torsion stiffness of mechanism is all satisfied preset rigidity requirement, if the Line stiffness of two-stage four-bar linkage and two-stage plane
The torsion stiffness of four-bar mechanism is all satisfied preset rigidity requirement, then two-stage four-bar linkage design terminates, and is otherwise transferred to step
Rapid three.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (10)
1. a kind of two-stage four-bar linkage Parameters design, two-stage four-bar linkage parameter includes at least steering engine actuator
Thrust, actuator stroke, part strength, the Line stiffness of two-stage four-bar linkage and torsion stiffness, it is characterised in that: including such as
Lower step:
Step 1: establishing the polynomial form equation of motion of two-stage four-bar linkage, the speed of two-stage four-bar linkage is obtained
Spend the broad sense transmission ratio of equation and two-stage four-bar linkage；
Step 2: establishing the parameterized model of two-stage four-bar linkage, put down using rate equation described in step 1 as two-stage
The movement of face four-bar mechanism model inputs parameter, obtain the actuator thrust of two-stage four-bar linkage model, actuator stroke,
Part load；
Step 3: the finite element model of two-stage four-bar linkage is established, using part load described in step 2 as intensity school
The input parameter of core obtains part strength and detail rigidity；
Step 4: the rigidity model of two-stage four-bar linkage is established, using detail rigidity described in step 3 as two-stage plane
The input parameter of four-bar mechanism rigidity, using broad sense transmission ratio described in step 1, the line for obtaining two-stage four-bar linkage is rigid
The torsion stiffness of degree and two-stage four-bar linkage.
2. a kind of two-stage four-bar linkage Parameters design according to claim 1, it is characterised in that: the two-stage
The polynomial form equation of motion of four-bar linkage are as follows:
In formula,Elongation for the actuator obtained using fitting polynomial formulas, b1、b2And b3It is polynomial form fortune
The coefficient of dynamic equation, δ is angle of rudder reflection.
3. a kind of two-stage four-bar linkage Parameters design according to claim 1, it is characterised in that: the two-stage
The rate equation of four-bar linkage are as follows:
In formula, vlFor the linear velocity of actuator, b1、b2And b3It is the coefficient of the polynomial form equation of motion, δ is angle of rudder reflection,
For angle of rudder reflection speed (derivative of angle of rudder reflection).
4. a kind of two-stage four-bar linkage Parameters design according to claim 1, it is characterised in that: the two-stage
The broad sense transmission ratio of four-bar linkage are as follows:
ilo1=b1+2b2δ+3b3δ2
In formula, ilo1For the broad sense transmission ratio of two-stage four-bar linkage, b1、b2And b3It is that the polynomial form equation of motion is
Number, δ is angle of rudder reflection.
5. a kind of two-stage four-bar linkage Parameters design according to claim 1, it is characterised in that: the two-stage
The part of four-bar linkage includes connecting rod, the calculation method of the rigidity of the connecting rod are as follows:
In formula, kt_ganFor the tensible rigidity of connecting rod, xt_nax_ganDraw the earhole surface of load effect axial most along connecting rod for unit
Big axial displacement, xt_nin_ganThe earhole surface of load effect is drawn to be displaced along the minimum axial direction of connecting rod axial direction for unit；
In formula, kc_ganFor the pressure rigidity of connecting rod, xc_nax_ganFor unit compressive load effect earhole surface along connecting rod axial direction maximum
Axial displacement, xc_nin_ganIt is displaced for the earhole surface of unit compressive load effect along the minimum axial direction of connecting rod axial direction.
6. a kind of two-stage four-bar linkage Parameters design according to claim 1, it is characterised in that: the two-stage
The part of four-bar linkage includes auxiliary rocker arm, the calculation method of the rigidity of the auxiliary rocker arm are as follows:
In formula, kt_fyFor the tensible rigidity of auxiliary rocker arm, xt_nax_fyDraw the earhole surface of load effect along two earholes circle for unit
The direction maximum displacement of heart line, xt_nin_fyDraw the earhole surface of load effect along two earhole circle center line connecting direction minimum bits for unit
It moves；
In formula, kc_fyFor the compression stiffness of auxiliary rocker arm, xc_nax_fyDraw the earhole surface of load effect along two earholes circle for unit
The direction maximum displacement of heart line, xc_nin_fyDraw the earhole surface of load effect along two earhole circle center line connecting direction minimum bits for unit
It moves.
7. a kind of two-stage four-bar linkage Parameters design according to claim 1, it is characterised in that: the two-stage
The part of four-bar linkage includes support, the calculation method of the rigidity of the support are as follows:
In formula, kzhFor the rigidity of support, xnax_zhDraw the earhole surface of load effect along the displacement of loading direction for unit.
8. a kind of two-stage four-bar linkage Parameters design according to claim 1, it is characterised in that: by step 3
Input parameter of the detail rigidity as two-stage four-bar linkage rigidity obtains the rigidity of two-stage four-bar linkage,
Then the Line stiffness of two-stage four-bar linkage is calculated；
The calculation method of the rigidity of the two-stage four-bar linkage are as follows:
In formula, kr_t_sFor the drawing rigidity of two-stage four-bar linkage, MeqIt is equivalent on rudderpost to act on pressure unit force in the heart
Torque, Δ δtThe difference of measurement angle of rudder reflection and target angle of rudder reflection when for connecting rod and auxiliary rocker arm tension；
In formula, kr_p_sFor the pressure rigidity of two-stage four-bar linkage, Δ δpMeasurement rudder when being pressurized for connecting rod and auxiliary rocker arm is inclined
The difference at angle and target angle of rudder reflection.
9. a kind of two-stage four-bar linkage Parameters design according to claim 8, it is characterised in that: the two-stage
The calculation method of the Line stiffness of four-bar linkage are as follows:
In formula, kl_t_sFor the stretching Line stiffness of two-stage four-bar linkage, ilo1For broad sense transmission ratio；
In formula, kl_p_sFor the compression Line stiffness of two-stage four-bar linkage.
10. a kind of two-stage four-bar linkage design method, characterized by the following steps:
Step 1: establishing the multinomial shape of two-stage four-bar linkage according to the geometric configuration size of two-stage four-bar linkage
The formula equation of motion obtains the rate equation of two-stage four-bar linkage and the broad sense transmission ratio of two-stage four-bar linkage；
Step 2: establishing the parameterized model of two-stage four-bar linkage, put down using rate equation described in step 1 as two-stage
The movement of face four-bar mechanism model inputs parameter, obtain the actuator thrust of two-stage four-bar linkage model, actuator stroke,
Part load；Judge whether steering engine design meets preset requirement, if steering engine design meets preset requirement, is transferred to step 3；It is no
The geometric configuration size for then adjusting two-stage four-bar linkage, is transferred to step 1；
Step 3: the finite element model of two-stage four-bar linkage is established, using part load described in step 2 as intensity school
The input parameter of core obtains part strength and detail rigidity；
Step 4: whether part strength described in judgment step three meets preset strength, preset by force if part strength meets
Degree, is transferred to step 5；Otherwise Element Design size is adjusted, step 3 is transferred to；
Step 5: the rigidity model of two-stage four-bar linkage is established, using detail rigidity described in step 3 as two-stage plane
The input parameter of four-bar mechanism rigidity, using broad sense transmission ratio described in step 1, the line for obtaining two-stage four-bar linkage is rigid
The torsion stiffness of degree and two-stage four-bar linkage；Judge the Line stiffness and two-stage four-bar linkage of two-stage four-bar linkage
Torsion stiffness whether be all satisfied preset rigidity requirement, if four bar of the Line stiffness of two-stage four-bar linkage and two-stage plane
The torsion stiffness of mechanism is all satisfied preset rigidity requirement, then two-stage four-bar linkage design terminates, and is otherwise transferred to step 3.
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