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WO2018017031A1 - Système de changement de vitesse - Google Patents

Système de changement de vitesse Download PDF

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Publication number
WO2018017031A1
WO2018017031A1 PCT/TR2017/000081 TR2017000081W WO2018017031A1 WO 2018017031 A1 WO2018017031 A1 WO 2018017031A1 TR 2017000081 W TR2017000081 W TR 2017000081W WO 2018017031 A1 WO2018017031 A1 WO 2018017031A1
Authority
WO
WIPO (PCT)
Prior art keywords
gear
control system
torque
control unit
gears
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.)
Ceased
Application number
PCT/TR2017/000081
Other languages
English (en)
Inventor
Can Ulas DOGRUER
Abbass Khoshvaght PISOLTAN
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Publication of WO2018017031A1 publication Critical patent/WO2018017031A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/0006Vibration-damping or noise reducing means specially adapted for gearings
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H59/00Control inputs to control units of change-speed- or reversing-gearings for conveying rotary motion
    • F16H59/14Inputs being a function of torque or torque demand
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H59/00Control inputs to control units of change-speed- or reversing-gearings for conveying rotary motion
    • F16H59/14Inputs being a function of torque or torque demand
    • F16H59/16Dynamometric measurement of torque
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H59/00Control inputs to control units of change-speed- or reversing-gearings for conveying rotary motion
    • F16H59/36Inputs being a function of speed
    • F16H59/38Inputs being a function of speed of gearing elements

Definitions

  • the present invention relates to a gear control system wherein dynamic- transmission error is reduced by controlling the torque having effect on gear pairs, on a time-dependent basis.
  • gear pairs When gear pairs work under pressure, number of gear teeth being in contact with two gears varies between certain integer numbers. Number of gear teeth being in contact for a gear pair, the contact ratio of which is less than two. varies between one and two. This variation causes the effective elasticity coefficient calculated between the gear pair to vary periodically. Speed ratio and angular positions of gear pairs need to vary in accordance with the gear ratio as a result of kinematic analysis of a gear pair working under constant load. Variable elasticity coefficient leads to angular velocity and position errors called as dynamic transmission error in gear pairs working under constant load. The said error causes noise and leads to metal fatigue on gear teeth although margin of error is very small. Today, profiles of gears are improved in order to overcome the above-mentioned problems.
  • the said system also comprises a tachometer for measuring speed of a shaft on which a gear is mounted, also a microphone used for receiving noises coming from gears, a FFT evaluator such as a frequency evaluator for receiving values measured by microphone and tachometer.
  • the International patent document no. WO1998030813 discloses a method and apparatus wherein noise and vibration occurring in gears is prevented by removing and adjusting drive torque or power.
  • information is received by using sensors and noise and vibration occurring in gears are used in order to generate an error message.
  • Information of error message indicator is processed upon being transmitted to a control mechanism and they are used to generate a related drive torque. It is aimed to reduce sound and vibration occurring in gears by transmitting the torque to a related shaft.
  • An objective of the present invention is to realize a gear control system which decreases dynamic transmission error of gear boxes and reduces noise among gear pairs by controlling the torque having effect on gear pairs.
  • Another objective of the present invention is to realize a gear control system wherein pure and error-free motion transmission, error-free transfer ratio, constant and optional error-free output speed are enabled by reducing noise and also effect of inertial forces that occur in gear system is reduced.
  • Another objective of the present invention is to realize a gear control system which enables spur gears particularly and also other gear types such as helical, bevel, helical-bevel to operate noise-free and without transmission error.
  • Another objective of the present invention is to realize a gear control system which is used to stabilize output speed of a gear pair loaded by constant torque and is preferably a tachometer.
  • Figure 1 is a schematic view of an embodiment of the inventive system.
  • the inventive gear control system (1 ) essentially comprises:
  • gears (2) which are in contact with one another, wherein torque is applied on at least one of them over shaft and which preferably composes of a gear box;
  • controller units (3) which are attached to the gears (2) and measure speeds of the gears (2) in order to find out full state vector;
  • - at least one sensor unit (4) which is placed to the gear (2) wherein the torque is preferably applied at first and calculates angular positions of the gears (2);
  • control unit (5) which calculates the torque to be applied to the gears (2) by calculating the values received from the controller unit
  • absolute encoder sensor is used as the sensor unit (4).
  • the absolute encoder sensor shares the information of what kind of change does the non-linear periodical elasticity coefficient of the gears (2) undergo together with the angular positions of the gears, with the control unit (5).
  • the sensor unit (4) calculates absolute angular positions by following the marks created in the gear (2) pairs at the mounting stage in order to detect angular changes.
  • the sensor unit (4) - which is absolute encoder sensor- is mounted to the input gear (2) for the purpose of measuring absolute angular positions in order to know angular positions of the gears (2).
  • the control unit (5) uses two feedback loops.
  • the feedback loops used in the control unit (5) are inner loop and outer loop.
  • the control unit (5) sends the signal -which is calculated by using the effects of the non-linear motions in the gear (2) system by using the inner loop and which is control torque- back to the system via negative feedback and eliminates effect of non-linear forces that arise from periodical elasticity coefficient having effect on gear (2) pairs.
  • the dynamic model used by the control unit (5) transform into a second-degree linear differential equation as a result of this transaction. Whereas the forces having effect on this linear system are adjusted by changing the parameters of the control unit (5) controlling the outer loop.
  • the control unit (5) can adjust response of the gear (2) systems as requested by using two independent second-degree systems.
  • control unit (5) determines speed follow-up and speed regulation features of the gears (2) as requested.
  • the control unit (5) uses the full state vector of the gear (2) systems in order to deactivate effects of non-linear forces by inner loop.
  • the control unit (5) receives speed information by using the tachometers attached to the gears (2).
  • the control unit (5) learns how does the non-linear periodical effective elasticity coefficient change by the angular positions of the gears (2) by means of a sensor unit (4) which is an absolute encoder sensor placed to the input gear.
  • the control unit (5) carries out mechanical analysis of the gear system consisting of the gears (2) by means of finite elements method and the effective elasticity coefficient is calculated according to the position of the gear (2).
  • the elasticity coefficient calculated by the control unit (5) is approximately in square wave form. High and low edges of the square wave vary by the contract ratio of the gear (2). Analysis of the gear system arises from the fact that elasticity coefficient changes in square wave form of even under constant torque.
  • the control unit (5) uses the reference acceleration signal of the input gear (2) wherein the torque is applied as the input of the reverse model, and the gear (2) speed information measured by means of the tachometer in the gear box.
  • the control unit (5) calculates the position and the acceleration of the gear (2) by the gear speed information.
  • the control unit (5) finds out the torque that should affect the input gear (2) by using the reference acceleration signal, the gear position information and the speed measurements.
  • the torque which is calculated from the reverse model since the torque calculated by the control unit (5) uses the reference gear signal, is enabled to follow-up the reference acceleration signal of the gear (2) under ideal conditions. However, calculations occurring in the gear system and delays arising from the measurement may cause distortion of ideal conditions given the non-linear structure of the system.
  • the control unit (5) calculates the error dynamics of the gear (2) in the outer loop which is a second loop.
  • the control unit (5) uses PI (proportional. Integral) control loop method for this transaction.
  • the control unit (5) calculates the difference between the torque changing within a measured process and desired and the measured torque as an error value by using PI controller.
  • the control unit (5) preferably calculates regulation characteristic in this loop.
  • the control unit (5) wherein two loops are used, namely inner loop and outer loop; it is enabled to calculate the torque value necessary for making the gear system linear by the torque value obtained from the reverse model by using the gear status vector in the inner loop.
  • the first loop used in the control unit (5) can also be called as linear loop.
  • the PI controller enables that errors which arise from delays occurring in the gear system in the inner loop are observed so that the linear error dynamics are stable.
  • transmission error - which is seen as the main reason of the noise occurring preferably in the spur gears (2)- is controlled by the control unit (5) and fluctuations around a constant value are reduced.
  • the control unit (5) finds out transmission error and changes of gear elasticity coefficient (mesh stiffness) by using finite element analysis.
  • the control unit (5) uses the elasticity coefficient calculated by the finite elements method and the outputs of the controller and the sensor unit (3, 4) measuring the position and the speed data of the gears (2).
  • the control unit (5) reduces the effect of non-linear forces occurring in the gear (2) system controlled by using the elasticity coefficient.
  • the control unit (5) has material and size information of the gears (2) in a gear (2) system consisting of gear (2) pairs.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Gears, Cams (AREA)
  • Retarders (AREA)

Abstract

La présente invention concerne un système de changement de vitesse (1) dans lequel l'erreur de transmission dynamique est réduite par la commande du couple ayant un effet sur des engrenages (2), sur une base dépendant du temps. Avec le système de changement de vitesse (1) selon l'invention, les erreurs dynamiques et de transmission des boîtes de vitesses sont réduites et les bruits entre les engrenages sont réduits par la commande du couple ayant un effet sur les engrenages (2), il est possible d'obtenir une transmission de mouvement pure et exempte d'erreur, un rapport de transmission sans erreur, et une vitesse de sortie constante et éventuellement sans erreur en réduisant le bruit, et l'effet des forces d'inertie dans le système de changement de vitesse (2) est également réduit.
PCT/TR2017/000081 2016-07-22 2017-07-12 Système de changement de vitesse Ceased WO2018017031A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
TR2016/10232A TR201610232A2 (tr) 2016-07-22 2016-07-22 Bi̇r di̇şli̇ kontrol si̇stemi̇
TR2016/10232 2016-07-22

Publications (1)

Publication Number Publication Date
WO2018017031A1 true WO2018017031A1 (fr) 2018-01-25

Family

ID=60022146

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/TR2017/000081 Ceased WO2018017031A1 (fr) 2016-07-22 2017-07-12 Système de changement de vitesse

Country Status (2)

Country Link
TR (1) TR201610232A2 (fr)
WO (1) WO2018017031A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116663156A (zh) * 2023-07-10 2023-08-29 陕西法士特齿轮有限责任公司 一种变速器圆柱齿轮齿面微观修形方法及系统

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5574646A (en) 1996-02-29 1996-11-12 Isuzu Motors Limited Gear noise evalutation system
WO1998030813A1 (fr) 1997-01-07 1998-07-16 Gte Internetworking Incorporated Annulation active du bruit se produisant a des frequences d'engrenement d'engrenages dans des systemes d'engrenages soumis a une charge
US20150177098A1 (en) * 2012-06-26 2015-06-25 Atlas Copco Industrial Technique Ab Method and apparatus for combining torque and angle representation
EP3021007A1 (fr) * 2014-11-11 2016-05-18 Robert Bosch Gmbh Dispositif et procede de reduction de bruits de roue dentee

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5574646A (en) 1996-02-29 1996-11-12 Isuzu Motors Limited Gear noise evalutation system
WO1998030813A1 (fr) 1997-01-07 1998-07-16 Gte Internetworking Incorporated Annulation active du bruit se produisant a des frequences d'engrenement d'engrenages dans des systemes d'engrenages soumis a une charge
US20150177098A1 (en) * 2012-06-26 2015-06-25 Atlas Copco Industrial Technique Ab Method and apparatus for combining torque and angle representation
EP3021007A1 (fr) * 2014-11-11 2016-05-18 Robert Bosch Gmbh Dispositif et procede de reduction de bruits de roue dentee

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116663156A (zh) * 2023-07-10 2023-08-29 陕西法士特齿轮有限责任公司 一种变速器圆柱齿轮齿面微观修形方法及系统
CN116663156B (zh) * 2023-07-10 2023-11-07 陕西法士特齿轮有限责任公司 一种变速器圆柱齿轮齿面微观修形方法及系统

Also Published As

Publication number Publication date
TR201610232A2 (tr) 2018-02-21

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