Resumen
The modeling and simulation of gearboxes is important for analyzing the dynamic characteristics and designing control strategies of transmission systems. Variable-speed gearboxes include compound planetary gear trains and clutches, which complicates dynamic modeling. Here, a procedural bond graph-based modeling method that considers many uncertainties is proposed. The proposed method yields a constant system?structure model. First, bond graph models of the two most common planetary gears were summarized, and were used as sub-models of a compound planetary gear train. Then, the Karnopp friction sub-model of the friction clutch and a relative angular displacement sub-model of the one-way clutch were constructed. Based on the dynamic coupling between the sub-models, the modeling steps of the gearbox, including the compound planetary gear train friction clutch one-way clutch coupling system, are described in detail. Next, the main sources of uncertainties of gearbox were analyzed and the simulation methods were given. Finally, the novel uncertain bond graph model was used to simulate the double planetary gearbox; the transmission ratio before and after the shift was 2.42 and 1.72, compared with the design values of 2.41 and 1.71, respectively; the deviation is within 5.8%; The average rotating speeds of the output shaft fluctuated by 6 and 2.5% respectively, which was within a reasonable range, so the effectiveness of the method is verified.