反向式行星滚柱丝杠副变载荷运动特性分析OA

Inverted planetary roller screw mechanism(IPRSM)is commonly employed as a high-precision and heavy-load end actuator.However,its dynamic behavior under variable working conditions remains difficult to predict.To address this challenge,internal relative motion relationships of the IPRSM are derived based on the principles of planetary motion and helical transmission.A dynamic simulation model of the IPRSM is established using ADAMS software by setting appropriate boundary conditions,and its validity is verified.On this basis,sudden load changes are applied to investigate their effects on the transmission characteristics of the system and to identify the corresponding patterns,thereby enabling the prediction of dynamic behavior under complex operating conditions.The results show that when subjected to sudden load variations,the rotational speeds of the nut,rollers,and cage decrease significantly,and the degree of reduction is positively correlated with the magnitude of the load variation.Furthermore,the contact force fluctuations among the rollers,nut,and screw increase as the load variation intensifies.To address the issue of speed reduction caused by load transients,the role of PID control parameters is studied.It is found that increasing the proportional gain(P)enhances the system response speed and effectively suppresses the drop in rotational speed,while increasing the integral gain(Ⅰ)has little effect on the response speed but reduces the steady-state error.This study provides a theoretical and practical reference for the application and control of IPRSMs under complex working conditions.