齿侧间隙会影响齿轮传动式望远镜的指向和跟踪精度。采用多电机驱动,通过施加偏置力矩能消除齿隙影响。以双电机驱动为例,建立动力学的数学模型,考虑齿隙非线性,齿轮传动链刚度的周期时变性,随机风扰力矩以及电机齿槽力矩的作用,以最小化偏置力矩为目标函数,齿轮不脱离啮合为约束条件,进行优化设计,获得了各驱动力矩下,全速度范围内的最优偏置力矩,并分析了传动系统的转动惯量、刚度及阻尼等参数,对偏置力矩设计的影响,得到了偏置力矩的变化规律。

The backlash of gear influences the pointing accuracy and tracking accuracy. Backlash could be eliminated by applying bias torque in multi-motor driving system. Dual bias driving system was taken as research objective. The mathematics model of dynamics was established, and many nonlinear factors which might affect the dynamic behavior were considered including gear backlash, stiffness of the gear train, random wind disturbing and cogging torque of motors. Minimum of bias torque was taken as the objective function. The driving gear and driven gear didn’t separate during work, which was taken as the bound for objective function. Moreover, the optimum bias torque under every driving torque at full range of speed was calculated. The changing rules of the optimum bias torque charged by each gear train parameter including inertia, stiffness and damping were analyzed and achieved.