On the Modelling of Spur and Helical Gear Dynamic Behaviour
32
4 On the Modelling of Spur and Helical Gear Dynamic Behaviour Philippe Velex University of Lyon, INSA Lyon, LaMCoS UMR CNRS, France 1. Introduction This chapter is aimed at introducing the fundamentals of spur and helical gear dynamics. Using three-dimensional lumped models and a thin-slice approach for mesh elasticity, the general equations of motion for single-stage spur or helical gears are presented. Some particular cases including the classic one degree-of-freedom model are examined in order to introduce and illustrate the basic phenomena. The interest of the concept of transmission errors is analysed and a number of practical considerations are deduced. Emphasis is deliberately placed on analytical results which, although approximate, allow a clearer understanding of gear dynamics than that provided by extensive numerical simulations. Some extensions towards continuous models are presented. 2. Nomenclature b : face width , m r C C : pinion, gear torque eM , () MAX E t : composite normal deviation at M , maximum of eM at time t . , * EE : actual and normalized depth of modification at tooth tips , Lt t kM eM dM e q F VM : time-varying, possibly non-linear forcing term associated with tooth shape modifications and errors 0 0 T G VV Hx : unit Heaviside step function ( 1 1; 0 Hx if x Hx otherwise ) m k , , kt q : average and time-varying, non-linear mesh stiffness 1 m kt k t , linear time-varying mesh stiffness 0 k : mesh stiffness per unit of contact length kM , mesh stiffness per unit of contact length at M p k : modal stiffness associated with ( p , p Φ ) , T Lt t kM dM G q K VM VM : time-varying, possibly non-linear gear mesh stiffness matrix
On the Modelling of Spur and Helical Gear Dynamic Behaviour
On the Modelling of Spur and Helical Gear Dynamic BehaviourOn the
Modelling of Spur and Helical Gear Dynamic Behaviour
Philippe Velex University of Lyon, INSA Lyon, LaMCoS UMR
CNRS,
France
1. Introduction
This chapter is aimed at introducing the fundamentals of spur and
helical gear dynamics. Using three-dimensional lumped models and a
thin-slice approach for mesh elasticity, the general equations of
motion for single-stage spur or helical gears are presented. Some
particular cases including the classic one degree-of-freedom model
are examined in order to introduce and illustrate the basic
phenomena. The interest of the concept of transmission errors is
analysed and a number of practical considerations are deduced.
Emphasis is deliberately placed on analytical results which,
although approximate, allow a clearer understanding of gear
dynamics than that provided by extensive numerical simulations.
Some extensions towards continuous models are presented.
2. Nomenclature
b : face width ,m rC C : pinion, gear torque
e M , ( )MAXE t : composite normal deviation at M , maximum of e M
at time t .
, *E E : actual and normalized depth of modification at tooth
tips
,L t
F V M : time-varying, possibly non-linear forcing term
associated
with tooth shape modifications and errors
0 0 TG V V
H x : unit Heaviside step function ( 1 1; 0H x if x H x otherwise
)
mk , ,k t q : average and time-varying, non-linear mesh
stiffness
1mk t k t , linear time-varying mesh stiffness
0k : mesh stiffness per unit of contact length k M , mesh stiffness
per unit of contact length at M
pk : modal stiffness associated with ( p , pΦ )
,
K V M V M : time-varying, possibly non-linear gear mesh
stiffness matrix
Mechanical Engineering
cosm b
b L
I I m
1n : outward unit normal vector with respect to pinion flanks
NLTE : no-load transmission error
aPb : apparent base pitch
1 2,Rb Rb : base radius of pinion, of gear
, ,s t z : coordinate system attached to the pinion-gear centre
line, see Figs. 1&2
mT : mesh period.
0V M ,V , structural vector, averaged structural vector
W : projection vector for the expression of transmission error, see
(44-1) , ,X Y z : coordinate system associated with the base plane,
see Fig. 2
10 0X K F : static solution with averaged mesh stiffness
(constant)
SX , DX X : quasi-static, dynamic and total (elastic) displacement
vector (time-dependent)
1 2,Z Z : tooth number on pinion, on gear : small parameter
representative of mesh stiffness variations, see (30)
p : apparent pressure angle
b : base helix angle
T 0V X : static mesh deflection with average mesh stiffness
MAXe M E t e M : instantaneous initial equivalent normal gap at
M
M : mesh deflection at point M
: theoretical profile contact ratio
, deflection of reference
pΦ : thp eigenvector of the system with constant averaged stiffness
matrix
P : damping factor associated with the thp eigenfrequency :
dimensionless extent of profile modification (measured on base
plane)
m
t T
, dimensionless time
p : thp eigenfrequency of the system with constant averaged
stiffness matrix
On the Modelling of Spur and Helical Gear Dynamic Behaviour
77
1
1 2, : pinion, gear angular velocity
*
, normalized displacement with respect to the average static mesh
deflection
ˆ mk
3. Three-dimensional lumped parameter models of spur and helical
gears
3.1 Rigid-body rotations – State of reference
It is well-known that the speed ratio for a pinion-gear pair with
perfect involute spur or helical teeth is constant as long as
deflections can be neglected. However, shape errors are present to
some extent in all gears as a result of machining inaccuracy,
thermal distortions after heat treatment, etc. Having said this,
some shape modifications from ideal tooth flanks are often
necessary (profile and/or lead modifications, topping) in order to
compensate for elastic or thermal distortions, deflections,
misalignments, positioning errors, etc. From a simulation point of
view, rigid-body rotations will be considered as the references in
the vicinity of which, small elastic displacements can be
superimposed. It is therefore crucial to characterise rigid-boy
motion transfer between a pinion and a gear with tooth errors
and/or shape modifications. In what follows, e(M) represents the
equivalent normal deviation at the potential point of contact M
(sum of the deviations on the pinion and on the gear) and is
conventionally positive for an excess of material and negative
when, on the contrary, some material is removed from the ideal
geometry. For rigid-body conditions (or alternatively under
no-load), contacts will consequently occur at the locations on the
contact lines where e(M) is maximum and the velocity transfer from
the pinion to the gear is modified compared with ideal gears such
that:
1 1 2 2 cos 0MAX b
dE t Rb Rb
dt (1)
where max ( )MAX ME t e M with max ( )M , maximum over all the
potential point of contact at time t
dt dt (2)
Using the Kinetic Energy Theorem, the rigid-body dynamic behaviour
for frictionless gears is controlled by:
1 1 1 2 2 2 1 2m rJ J C C (3)
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78
with 1 2,J J : the polar moments of inertia of the pinion shaft
line and the gear shaft line respectively. ,m rC C : pinion and
gear torques.
The system with 4 unknowns ( 1 2, , ,m rC C ) is characterised by
equations (2) - (3) only, and 2 parameters have to be
imposed.
3.2 Deformed state – Principles
Modular models based on the definition of gear elements
(pinion-gear pairs), shaft elements and lumped parameter elements
(mass, inertia, stiffness) have proved to be effective in the
simulation of complex gear units (Küçükay, 1987), (Baud &
Velex, 2002). In this section, the theoretical foundations upon
which classic gear elements are based are presented and the
corresponding elemental stiffness and mass matrices along with the
possible elemental forcing term vectors are derived and explicitly
given. The simplest and most frequently used 3D representation
corresponds to the pinion-gear model shown in Figure 1. Assuming
that the geometry is not affected by deflections (small
displacements hypothesis) and provided that mesh elasticity (and to
a certain extent, gear body elasticity) can be transferred onto the
base plane, a rigid-body approach can be employed. The pinion and
the gear can therefore be assimilated to two rigid cylinders with 6
degrees of freedom each, which are connected by a stiffness element
or a distribution of stiffness elements (the discussion of the
issues associated with damping and energy dissipation will be dealt
with in section 4.3). From a physical point of view, the 12 degrees
of freedom of a pair represent the generalised displacements of i)
traction: 1 2,u u (axial displacements), ii) bending: 1 1 2 2, , ,v
w v w (translations in two perpendicular directions of the
pinion/gear centre), 1 1 2 2, , , (bending rotations which can be
assimilated to misalignment angles) and finally, iii)
torsion:
Fig. 1. A 3D lumped parameter model of pinion-gear pair.
On the Modelling of Spur and Helical Gear Dynamic Behaviour
79
1 2, which are small angles associated with deflections
superimposed on rigid-body
rotations 1 1 0
t
d (gear). Following Velex and Maatar
(1996), screws of infinitesimal displacements are introduced whose
co-ordinates for solid k (conventionally k=1 for the pinion, k=2
for the gear) can be expressed in two privileged coordinate
systems: i) , ,s t z such that z is in the shaft axis direction
(from the motor to
the load machine), s is in the centre-line direction from the
pinion centre to the gear centre and t z s (Fig. 1) or, ii) , ,X Y
z attached to the base plane (Fig. 1):
k k k k k k k
k k k k k k
v w u V W u S or
k k
u O s t z u O X Y z ω s t z ω X Y z
k=1,2 (4)
where 1 2,O O are the pinion and gear centres respectively
3.3 Deflection at a point of contact – Structural vectors for
external gears
Depending on the direction of rotation, the direction of the base
plane changes as illustrated in Figure 2 where the thicker line
corresponds to a positive rotation of the pinion and the finer line
to a negative pinion rotation about axis 1 ,O z .
(1)Y
s
1X
z
t 2Y
Fig. 2. Directions of rotation and planes (lines) of action. (the
thicker line corresponds to a positive rotation of pinion)
For a given helical gear, the sign of the helix angle on the base
plane depends also on the direction of rotation and, here again;
two configurations are possible as shown in Figure 3.
Since a rigid-body mechanics approach is considered, contact
deflections correspond to the interpenetrations of the parts which
are deduced from the contributions of the degrees-of- freedom and
the initial separations both measured in the normal direction with
respect to the tooth flanks. Assuming that all the contacts occur
in the theoretical base plane (or plane of action), the normal
deflection M at any point M , potential point of contact, is
therefore expressed as:
1. .M e M 1 1 2u M n u M n (5)
Mechanical Engineering
Fig. 3. Helix angles on the base plane.
where max ( )Me M e M e M is the equivalent initial normal gap at M
caused by tooth modifications and/or errors for example, 1n is the
outward unit normal vector to pinion tooth flanks (Fig.3)
Using the shifting property of screws, one obtains the expression
of M in terms of the screw co-ordinates as:
1. . . .M e M 1 1 1 1 1 1 2 2 2 2 1u O n ω O M n u O n ω O M n
(6)
which is finally expressed as:
.
(7)
TM e M V M q (8)
b b b b b
Rb p Rb
Rb p Rb
V M
1 1 1 1 1 1 2 2 2 2 2 2 T V W u V W u q (9)
On the Modelling of Spur and Helical Gear Dynamic Behaviour
81
where 1 2,Rb Rb are the pinion, gear base radii; b is the base
helix angle (always considered as positive in this context); 1 2,
,p p are defined in Figure 3; 1 depending on the sign of the helix
angle; 1 for a positive rotation of the pinion and 1 for a negative
rotation of the pinion.
An alternative form of interest is obtained when projecting in the
, ,s t z frame attached to
the pinion-gear centre line:
sin , sin sin sin cos
sin cos
T b P b p b b p b p
b p b p b b P b p
b b p b p
b p
Rb p
2sin sin , cosb p bRb
1 1 1 1 1 1 2 2 2 2 2 2 T v w u v w u q (10)
3.4 Mesh stiffness matrix and forcing terms for external
gears
For a given direction of rotation, the usual contact conditions in
gears correspond to single- sided contacts between the mating
flanks which do not account for momentary tooth separations which
may appear if dynamic displacements are large (of the same order of
magnitude as static displacements). A review of the mesh stiffness
models is beyond the scope of this chapter but one usually
separates the simulations accounting for elastic convection (i.e.,
the deflection at one point M depends on the entire load
distribution on the tooth or all the mating teeth (Seager, 1967))
from the simpler (and classic) thin-slice approach (the deflection
at point M depends on the load at the same point only). A
discussion of the limits of this theory can be found in Haddad
(1991), Ajmi & Velex (2005) but it seems that, for solid gears,
it is sufficiently accurate as far as dynamic phenomena such as
critical speeds are considered as opposed to exact load or stress
distributions in the teeth which are more dependent on local
conditions. Neglecting contact damping and friction forces compared
with the normal elastic components on tooth flanks, the elemental
force transmitted from the pinion onto the gear at one point of
contact M reads:
k M M dM 1 / 2 1dF M n (11)
with k M : mesh stiffness at point M per unit of contact
length
The resulting total mesh force and moment at the gear centre 2O are
deduced by integrating
,
F n
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82
,
F n
M O O M n (12-2)
F
V M (13)
and introducing the contact normal deflection TM e M V M q finally
leads to:
MF t t G eK q F (14)
where ,
T
t k M dM G q
K V M V M is the time-varying gear mesh stiffness matrix
,L t
t k M e M dM e q
F V M is the excitation vector associated with tooth shape
modifications and errors
3.5 Mass matrix of external gear elements – Additional forcing
(inertial) terms
For solid k (pinion or gear), the dynamic sum with respect to the
inertial frame can be expressed as:
2 2sin cos cos sink k k k k k k k k k k k k k k km v e e w e e u 0
kΣ s t z (15)
where km and ke are respectively the mass and the eccentricity of
solid k
A simple expression of the dynamic moment at point kO can be
obtained by assuming that
kO is the centre of inertia of solid k and neglecting gyroscopic
components (complementary information can be found in specialised
textbooks on rotor dynamics (see for instance (Lalanne &
Ferraris, 1998)):
0k k k k k k k kO I I I 0 kδ s t z (16)
where kI is the cross section moment of inertia and 0kI is the
polar moment of solid k
Using the same DOF arrangement as for the stiffness matrices, a
mass matrix for the pinion- gear system can be deduced as (note
that the same mass matrix is obtained in the
, ,X Y z coordinate system):
1 1 1 1 1 01 2 2 2 2 2 02, , , , , , , , , , ,m m m I I I m m m I I
IGM diag (17-1)
On the Modelling of Spur and Helical Gear Dynamic Behaviour
83
2 2 1 1 1 1 1 1 1 1 1 1 1 1 01 1
2 2 2 2 2 2 2 2 2 2 2 2 2 2 02 2
sin cos cos sin 0 0 0
sin cos cos sin 0 0 0
t m e m e I
m e m e I
3.6 Usual simplifications
K V V q G (18)
where 0V represents an average structural vector and ,k t q is the
time-varying, possibly non-linear, mesh stiffness function (scalar)
which plays a fundamental role in gear dynamics.
3.6.1 Classic one-DOF torsional model
,k t q
Considering the torsional degrees-of-freedom only (Figure 4), the
structural vector reads (keeping solely the non-zero
components):
1
2
1 2 2 02 21 2 22
1 01 1
2 02 2,
I Rb Rb Rb
Cr Rb I
84
Note that the determinant of the stiffness matrix is zero which
indicates a rigid-body mode (the mass matrix being diagonal). After
multiplying the first line in (20) by 1 02Rb I , the second line by
2 01Rb I , adding the two equations and dividing all the terms by 2
2
, cost b L t x
d mx k t x x F k M e M dM NLTE
dt
(21)
With 1 1 2 2x Rb Rb , relative apparent displacement
02 01 2 2 1 02 2 01
I I m
I Rb
when the pinion speed 1 and the output torque rC are supposed to
be
constant.
3.6.2 A simple torsional-flexural model for spur gears
The simplest model which accounts for torsion and bending in spur
gears is shown in Figure 5. It comprises 4 degrees of freedom,
namely: 2 translations in the direction of the line of action 1 2,V
V (at pinion and gear centres respectively) and 2 rotations about
the pinion and gear axes of rotation 1 2, . Because of the
introduction of bending DOFs, some supports (bearing/shaft
equivalent stiffness elements for instance) must be added.
,k t q
Fig. 5. Simplified torsional-flexural spur gear model.
The general expression of the structural vector V M (9) reduces
to:
1 21 1T Rb Rb 0V (22)
Re-writing the degree of freedom vector as 1 1 1 2 2 2*T v Rb v Rb
q , the following parametrically excited differential system is
obtained for linear free vibrations:
t Mq* K q* 0 (23-1)
On the Modelling of Spur and Helical Gear Dynamic Behaviour
85
; ( )
m k t k k t k t k t I Rb k t k t k t
t m k t k k t
I Rb k t
M K (23-2)
Remark: The system is ill-conditioned since rigid-body rotations
are still possible (no unique static solution). In the context of
3D models with many degrees of freedom, it is not interesting to
solve for the normal approach 1 1 2 1Rb Rb as is done for single
DOF models. The problem can be resolved by introducing additional
torsional stiffness element(s) which can represent shafts;
couplings etc. thus eliminating rigid-body rotations.
4. Mesh stiffness models – Parametric excitations
4.1 Classic thin-slice approaches
,
q plays a key role.
This function stems from a ‘thin-slice’ approach whereby the
contact lines between the mating teeth are divided in a number of
independent stiffness elements (with the limiting case presented
here of an infinite set of non-linear time-varying elemental
stiffness elements) as schematically represented in Figure 6.
C o ntact
Fig. 6. ‘Thin-slice’ model for time-varying mesh stiffness.
Since the positions of the teeth (and consequently the contact
lines) evolve with time (or angular positions), the profiles slide
with respect to each other and the stiffness varies because of the
contact length and the individual tooth stiffness evolutions. The
definition of mesh stiffness has generated considerable interest
but mostly with the objective of calculating accurate static tooth
load distributions and stress distributions. It has been shown by
Ajmi and Velex (2005) that a classic ‘thin-slice’ model is
sufficient for dynamic calculations as long as local disturbances
(especially near the tooth edges) can be ignored. In this context,
Weber and Banascheck (1953) proposed a analytical method of
calculating tooth deflections of spur gears by superimposing
displacements which arise from i) the contact
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86
between the teeth, ii) the tooth itself considered as a beam and,
iii) the gear body (or foundation) influence. An analytical
expression of the contact compliance was obtained using the 2D
Hertzian theory for cylinders in contact which is singular as far
as the normal approach between the parts (contact deflection) is
concerned. The other widely-used formulae for tooth contact
deflection comprise the analytical formula of Lundberg (1939), the
approximate Hertzian approach originally used at Hamilton Standard
(Cornell, 1981) and the semi-empirical formula developed by
Palmgren (1959) for rollers. The tooth bending radial and
tangential displacements were derived by equating the work produced
by one individual force acting on the tooth profile and the strain
energy of the tooth assimilated to a cantilever of variable
thickness. Extensions and variants of the methodology were
introduced by Attia (1964), Cornell (1981) and O’Donnell (1960,
1963) with regard to the foundation effects. Gear body
contributions were initially evaluated by approximating them as
part of an elastic semi-infinite plane loaded by the reactions at
the junction with the tooth. A more accurate expression for this
base deflection has been proposed by Sainsot et al. (2004) where
the gear body is simulated by an elastic annulus instead of a
half-plane. Figure 7 shows two examples of mesh stiffness functions
(no contact loss) calculated by combining Weber’s and Lundberg’s
results for a spur and a helical gear example. It can be observed
that the stiffness fluctuations are stronger in the case of
conventional spur gears compared with helical gears for which the
contact variations between the teeth are smoother.
a - Spur gear
Fig. 7. Examples of mesh stiffness functions for errorless
gears.
On the Modelling of Spur and Helical Gear Dynamic Behaviour
87
k M dM k dM k L t q q
q (24)
where ,L t q is the time-varying (possibly non-linear) contact
length.
4.2 Contact length variations for external spur and helical
gears
Considering involute profiles, the contact lines in the base plane
are inclined by the base helix angle b (Figure 8) which is nil for
spur gears. All contact lines are spaced by integer multiples of
the apparent base pitch aPb and, when the pinion and the gear
rotate, they all undergo a translation in the X direction at a
speed equal to 1 1Rb .
aPb
2T
aPb
' 1T
X
b
Fig. 8. Base plane and contact lines ( b : face width; z : axial
direction (direction of the axes of rotation); 1 2,T T : points of
tangency on pinion and gear base circles and ' '
1 2,T T : limits of the contact area on base plane).
It transpires from this geometrical representation that the total
length of contact between the pinion and the gear is likely to vary
with time and, based on the simple stiffness equation (24), that
mesh stiffness is time-varying and, consequently, contributes to
the system excitation via parametric excitations.
The extent of action on the base plane is an important property
measured by the contact ratio which, in simple terms, represents
the ‘average number’ of tooth pairs in contact (possibly non
integer) and is defined by:
Mechanical Engineering
cos p
a p
(25-1)
with 1 2,Ra Ra : external radius of pinion, of gear; 1 2,Rb Rb :
base radius of pinion, of gear;
1 2E O O
: centre distance
In the case of helical gears, the overlap due to the helix is taken
into account by introducing the overlap ratio defined as:
tan 1 tan
cos b b
and the sum is defined as the total contact ratio.
Introducing the dimensionless time m
t T
is the mesh period i.e. the
time needed for a contact line to move by a base pitch on the base
plane, a closed form expression of the contact length L for ideal
gears is obtained under the form (Maatar &
Velex, 1996), (Velex et al., 2011):
L Sinc k Sinc k k
L
x
is the classic sine cardinal function which is represented in
Figure 9.
Fig. 9. Evolutions of sin x Sinc x
x
On the Modelling of Spur and Helical Gear Dynamic Behaviour
89
The following conclusions can be drawn:
a. for spur gears, 0 and 1Sinc k b. it can observed that the
time-varying part of the contact length disappears when
either
or is an integer c. harmonic analysis is possible by setting
1,2,...k in (27) and it is possible to represent
the contact length variations for all possible values of profile
and overlap contact ratios on a unique diagram. Figure 10
represents the RMS of contact length variations for a realistic
range of contact and overlap ratios. It shows that: - contact
length variations are significant when is below 2 and below 1 -
contact length is constant when 2 ( 1 has to avoided for a
continuous
motion transfer) and /or 1 - for overlap ratios above 1, contact
length variations are very limited.
1 1.5 2 2.5 0
0.5
1
1.5
2
2.5
0.05
0.05
0.05
0.1
0.15
0.2
Fig. 10. Contour plot of the R.M.S. of / mL L for a range of
profile and transverse contact ratios.
4.3 Approximate expressions – Orders of magnitude
Mesh stiffness can be determined using the Finite Elements Method
but it is interesting to have orders of magnitude or approximate
values at the design stage. For solid gears made of steel, an order
of magnitude of the mesh stiffness per unit of contact length 0k is
1.3
1010 N/m². More accurate expressions can be derived from the ISO
6336 standard which, for solid gears, gives:
0
with : helix angle (on pitch cylinder)
2 22 3 1 2 1 4 1 5 6 2 7 8 1 9 2
1 2 1 2
C C x x q C C x C C x C C x C x
Zn Zn Zn Zn
coefficients 1 9,...,C C have been tabulated and are listed in
Table 1 below
3cos i
Z Zn
, 1,2i are the number of teeth of the equivalent virtual spur
pinion ( 1i )
and gear ( 2i ).
ix , 1,2i , are the profile shift coefficients on pinion( 1i ) and
gear( 2i )
1C 2C 3C 4C 5C 6C 7C 8C 9C
0,04723 0,15551 0,25791 -0,00635 -0,11654 -0,00193 -0,24188 0,00529
0,00182
Table 1. Tabulated coefficients for mesh stiffness calculations
according to ISO 6336.
5. Equations of motion – Dynamic behaviour
5.1 Differential system
The equations of motion for undamped systems are derived by
assembling all the elemental matrices and forcing term vectors
associated with the gears but also the supporting members (shafts,
bearings, casing, etc.) leading to a parametrically excited
non-linear differential system of the form:
1,2, , , ,t t e M t 0 1 2M X K X X F F X F (28)
where X is the total DOF vector, M and ,t K X are the global mass
and stiffness matrices. Note that, because of the contact
conditions between the teeth, the stiffness matrix can be
non-linear (partial or total contact losses may occur depending on
shape deviations and speed regimes). 0F comprises the constant
nominal torques; , ,t e M1F X includes the contributions of shape
deviations (errors, shape modifications, etc.); 1,2,t 2F represents
the inertial effects due to unsteady rotational speeds
5.2 Linear behaviour – Modal analysis
Considering linear (or quasi-linear) behaviour, the differential
system can be re-written as:
1,2, ,t t t e M t 0 1 2M X K X F F F (29)
On the Modelling of Spur and Helical Gear Dynamic Behaviour
91
where V M is the extended structural vector: structural vector
completed by zeros to the total number of DOF of the model
Using an averaged structural vector as in (18):
0 0
1 mT
m L t
k M dM k t K t K V V K V V (32)
The separation of the average and time-varying contributions in the
mesh stiffness function as 1mk t k t leads to the following state
equations:
0 0 0 1,21 , ,T mk t t e M t 0 1 2M X K V V X F F F (33)
For most gears, is usually a small parameter ( 1 ) and an
asymptotic expansion of the solution can be sought as a
straightforward expansion of the form:
2 0 1 2 ... X X X X (34)
which, when re-injected into (33) and after identifying like order
terms leads to the following series of constant coefficient
differential systems:
Main order:
0 0 0 0 0 1,2, ,T mk t e M t 0 1 2M X K V V X F F F (35-1)
th order:
0 0 0 0 0 1 T T
m mk k t M X K V V X V V X (35-2)
Interestingly, the left-hand sides of all the differential systems
are identical and the analysis of the eigenvalues and corresponding
eigenvectors of the homogeneous systems will provide useful
information on the dynamic behaviour of the geared systems under
consideration (critical speeds, modeshapes).
The following system is considered (the influence of damping on
critical speeds being ignored):
0 mk T
0 0M X K V V X 0 (36)
from which the eigenvalues and eigenvectors are determined. The
technical problems associated with the solution of (36) are not
examined here and the reader may refer to specialised textbooks. It
is further assumed that a set of real eigenvalues p and real
orthogonal eigenvectors PΦ have been determined which, to a great
extent, control the gear set dynamic behaviour.
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92
k k v
with T T pv p pΦ V V Φ
,m pk k : average mesh stiffness and modal stiffness associated
with ( p , pΦ )
It as been shown (Velex & Berthe., 1989) that p is a reliable
indicator of the severity of one frequency with regard to the
pinion-gear mesh and it can be used to identify the potentially
critical speeds p for tooth loading which are those with the
largest percentages of modal strain energy in the tooth mesh. If
the only excitations are those generated by the meshing (the mesh
frequency is 1 1Z ), the tooth critical speeds can be expressed in
terms of pinion speed as:
1 1/ 1,2,...p kZ k (38)
Based on the contact length variations and on the transmission
error spectrum, the relative severity of the excitations can be
anticipated.
Remark: The critical frequencies are supposed to be constant over
the speed range (gyroscopic effects are neglected). Note that some
variations can appear with the evolution of the torque versus speed
(a change in the torque or load can modify the average mesh
stiffness especially for modified teeth).
For the one DOF tosional model in Figure 4, there is a single
critical frequency mk m whose expression can be developed for solid
gears of identical face width leading to:
2 1 2
( is the density), for steel gears
3210 1ms ; M is the module (in meter); B is the pinion or gear
thickness (supposed
identical); b is the effective contact width (which can be shorter
than B because of chamfers
for example); 1
5.3.1 The problem of damping
Energy dissipation is present in all geared systems and the amount
of damping largely controls the amplification at critical speeds.
Unfortunately, the prediction of damping is still a challenge and,
most of the time; it is adjusted in order to fit with experimental
evidence. Two classical procedures are frequently employed:
On the Modelling of Spur and Helical Gear Dynamic Behaviour
93
a. the assumption of proportional damping (Rayleigh’s damping)
which, in this case, leads to:
0 0 0 T
ma b k C M K V V (40)
with: ,a b , two constants to be adjusted from experimental
results
b. the use of (a limited number of) modal damping factors p :
The damping matrix is supposed to be orthogonal with respect to the
mode-shapes of the undamped system with the averaged stiffness
matrix such that:
2T P p pk m p pΦ C Φ (41-1)
0T p qΦ C Φ (41-2)
with: p : modal damping factor associated with mode p
,p pk m : modal stiffness and mass associated with mode p
or introducing the modal damping matrix ΦC :
2 P p pdiag k m ΦC , 1, modp N (41-3)
Following Graig (1981), the damping matrix can be deduced by a
truncated summation on a limited number of modes Nr leading to the
formula:
1
p pm
with: p p
Regardless of the technique employed, it should be stressed that
both (41) and (42) depend on estimated or measured modal damping
factors P for which the data in the literature is rather sparse. It
seems that 0.02 0.1P corresponds to the range of variation for
modes with significant percentages of strain energy in the meshing
teeth. The methods also rely on the assumption of orthogonal mode
shapes which is realistic when the modal density (number of modes
per frequency range) is moderate so that inter-modal couplings can
be neglected.
5.3.2 Linear response
Based on the previous developments, the linear response of gears to
mesh parametric excitations can be qualitatively assessed. Response
peaks are to be expected at all tooth critical speeds and every
sub-harmonic of these critical speeds because mesh stiffness
time
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94
variations may exhibit several harmonics with significant
amplitudes. Figure 11, taken from Cai and Hayashi (1994), is a
clear example of such typical dynamic response curves when the gear
dynamic behaviour is dominated by one major tooth frequency n (and
can be
simulated by using the classic one DOF model). The amplifications
associated with each peak depends on i) the excitation amplitude
(Eq. (27) can provide some information on the amplitude associated
with each mesh frequency harmonic) and ii) the level of damping for
this frequency. For more complex gear sets, interactions between
several frequencies can happen but, as far as the author is aware,
the number of frequencies exhibiting a significant percentage of
modal strain energy in the tooth mesh seems very limited
(frequently less than 5) thus making it possible to anticipate the
potential dangerous frequency coincidences for tooth
durability.
Fig. 11. Examples of dynamic response curves (Cay & Hayashi,
1994).
5.3.3 Contact condition – Contact losses and shocks
Only compressive contact forces can exist on tooth flanks and using
(11), this imposes the following unilateral condition in case of
contact at point M:
0k M M dM 1 / 2 1dF M n (43)
or, more simply, a positive mesh deflection M .
If 0M , the contact at M is lost (permanently or temporarily) and
the associated contact force is nil. These constraints can be
incorporated in the contact force expression by
On the Modelling of Spur and Helical Gear Dynamic Behaviour
95
introducing the unit Heaviside step function H x such that 1H x if
0x and 0H x otherwise. Finally, one obtains:
k M M H M dM 1 / 2 1dF M n (44)
It can observed that contact losses are related to the sign of 0 TM
e M V X , from
which, it can be deduced that two cases have to be
considered:
a. e M is larger than the normal approach 0 TV X which, typically,
corresponds to large
amplitudes of tooth modifications reducing the actual contact
patterns, to spalls on the flanks (pitting) where contact can be
lost, etc.
b. the amplitude of the dynamic displacement X is sufficiently
large so that the teeth can separate ( X is periodic and can become
negative in some part of the cycle).
Momentary contact losses can therefore occur when vibration
amplitudes are sufficiently large; they are followed by a sequence
of free flight within the tooth clearance until the teeth collide
either on the driving flanks or on the back of the teeth (back
strike). Such shocks are particularly noisy (rattle noise) and
should be avoided whenever possible. Analytical investigations are
possible using harmonic balance methods and approximations of H(x)
(Singh et al., 1989), (Comparin & Singh, 1989), (Kahraman &
Singh, 1990), (Kahraman & Singh, 1991), and numerical
integrations can be performed by time-step schemes (Runge- Kutta,
Newmark, etc.). The most important conclusions are:
a. contact losses move the tooth critical frequencies towards the
lower speeds (softening effect) which means that predictions based
on a purely linear approach might be irrelevant. The phenomenon can
be observed in Fig. 11 where the experimental peaks are at lower
speed than those predicted by the linear theory.
Fig. 12. Dynamic response curves by numerical simulations –
Amplitude jumps – Influence of the initial conditions (speed up vs
speed down), 2% of the critical damping, Spur gears
1 30Z , 2 45Z , 2M mm , standard tooth proportions.
Mechanical Engineering
96
b. When contact losses occur, response curves exhibit amplitude
jumps (sudden amplitude variations for a small speed
variation),
c. Because of a possibly strong sensitivity to initial conditions,
several solutions may exist depending on the kinematic conditions
i.e., speed is either increased or decreased
d. damping reduces the importance of the frequency shift and the
magnification at critical tooth frequency.
These phenomena are illustrated in the response curves in Figure
12.
6. Transmission errors
6.1 Definitions
The concept of transmission error (TE) was first introduced by
Harris (1958) in relation to the study of gear dynamic tooth
forces. He realised that, for high speed applications, the problem
was one of continuous vibrations rather than a series of impacts as
had been thought before. Harris showed that the measure of
departure from perfect motion transfer between two gears (which is
the definition of TE) was strongly correlated with excitations and
dynamic responses. TE is classically defined as the deviation in
the position of the driven gear (for any given position of the
driving gear), relative to the position that the driven gear would
occupy if both gears were geometrically perfect and rigid.
NB: The concept embodies both rigid-body and elastic displacements
which can sometimes be confusing.
Figure 13 illustrates the concept of transmission error which
(either at no-load or under load) can be expressed as angular
deviations usually measured (calculated) on the driven member
(gear) or as distances on the base plane.
Fig. 13. Concept of transmission error and possible expressions
(after Munro, (1989)).
Figures 14 and 15 show typical quasi-static T.E. traces for spur
and helical gears respectively. The dominant features are a cyclic
variation at tooth frequency (mesh frequency) and higher harmonics
combined with a longer term error repeating over one revolution of
one or both gears.
On the Modelling of Spur and Helical Gear Dynamic Behaviour
97
Fig. 14. Examples of quasi-static T.E. measurements and simulations
– Spur gear (Velex and Maatar, 1996).
Fig. 15. T.E. measurements at various loads – Helical gear example.
NASA measurements from
www.grc.nasa.gov/WWW/RT2001/5000/5950oswald1.html.
6.2 No-load transmission error (NLTE)
6.3 Transmission errors under load
The concept of transmission error under load (TE) is clear when
using the classic single degree of freedom torsional model (as
Harris did) since it directly relies on the angles of
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98
torsion of the pinion and the gear. For other models (even purely
torsional ones), the definition of TE is ambiguous or at least not
intrinsic because it depends on the chosen cross-sections (or
nodes) of reference for measuring or calculating deviations between
actual and perfect rotation transfers from the pinion to the gear.
Following Velex and Ajmi (2006), transmission error can be defined
by extrapolating the usual experimental practice based on encoders
or accelerometers, i.e., from the actual total angles of rotation,
either measured or calculated at one section of reference on the
pinion shaft (subscript I) and on the gear shaft (subscript II). TE
as a displacement on the base plane reads therefore:
1 1 2 2 1 2 0 0
t t
I II I IITE Rb d Rb d Rb Rb NLTE
(46)
with , a dummy integration variable and ,I II , the torsional
perturbations with respect to rigid-body rotations (degrees of
freedom) at node I on the pinion shaft and at node II on the gear
shaft.
Introducing a projection vector W of components 1Rb and 2Rb at the
positions corresponding to the torsional degrees of freedom at
nodes I and II and with zeros elsewhere, transmission error under
load can finally be expressed as:
TTE NLTE W X (47-1)
which, for the one DOF model, reduces to:
TE x NLTE (47-2)
6.4 Equations of motion in terms of transmission errors
,
, cosS t b L t x
k t x x F k M e M dM (48)
which, re-injected in the dynamic equation (21), gives:
2
2, , S
d mx k t x x k t x x NLTE
dt (49)
From (47-2), quasi-static transmission error under load can be
introduced such that
S Sx TE NLTE and the equation of motion is transformed into:
2
2, , S
d mx k t x x k t x TE NLTE NLTE
dt (50)
An alternative form of interest can be derived by introducing the
dynamic displacement Dx defined by S Dx x x as:
On the Modelling of Spur and Helical Gear Dynamic Behaviour
99
2 2,D D S
d d mx k t x x m TE m NLTE
dt dt (51)
The theory for 3D models is more complicated mainly because there
is no one to one correspondence between transmission error and the
degree of freedom vector. It can be demonstrated (Velex and Ajmi,
2006) that, under the same conditions as for the one DOF model, the
corresponding differential system is:
2 2
dt Rb dt
PM X K X X M D I M D (52)
where 1ˆ cosm bk
D K V , D S X X X , dynamic displacement vector
6.5 Practical consequences
From (51) and (52), it appears that the excitations in geared
systems are mainly controlled by the fluctuations of the
quasi-static transmission error and those of the no-load
transmission error as long as the contact conditions on the teeth
are close to the quasi-static conditions (this hypothesis is not
verified in the presence of amplitude jumps and shocks). The
typical frequency contents of NLTE mostly comprise low-frequency
component associated with run-out, eccentricities whose
contributions to the second-order time-derivative of NLTE can be
neglected. It can therefore be postulated that the mesh excitations
are dominated by
2
2 S
d TE
dt . This point has a considerable practical importance as it shows
that reducing the
dynamic response amplitudes is, to a certain extent, equivalent to
reducing the fluctuations of STE . Profile and lead modifications
are one way to reach this objective. Equation (50)
stresses the fact that, when total displacements have to be
determined, the forcing terms are proportional to the product of
the mesh stiffness and the difference between STE and
NLTE (and not STE !). It has been demonstrated by Velex et al.
(2011) that a unique
dimensionless equation for quasi-static transmission error
independent of the number of degrees of freedom can be derived
under the form:
*
,
k t TE t k M e M dM S
S X
X (53)
A A
, for any generic variable A (normalization with respect to the
average
mesh stiffness and the average static deflection).
Assuming that the mesh stiffness per unit of contact length is
approximately constant (see section 2-5), analytical expressions
for symmetric profile modifications (identical on pinion and gear
tooth tips as defined in Fig. 16) rendering STE t constant (hence
cancelling most of the excitations in the gear system) valid for
spur and helical gears with 2 can be found under the form:
Mechanical Engineering
2
with E : tip relief amplitude; : dimensionless extent of
modification (such that the length
of modification on the base plane is aPb ) and 1 0
Cm Rb b k
Direction of line of action (base plane)
Fig. 16. Definition of profile relief parameters
Based on these theoretical results, it can be shown that
quasi-static transmission error fluctuations for ideal gears with
profile relief depend on a very limited number of parameters: i)
the profile and lead contact ratios which account for gear geometry
and ii) the normalised depth and extent of modification. These
findings, even though approximate, suggest that rather general
performance diagrams can be constructed which all exhibit a zone of
minimum TE variations defined by (54) as illustrated in Figure 17
(Velex et al., 2011).It is to be noticed that similar results have
been obtained by a number of authors using very different models
(Velex & Maatar, 1996), (Sundaresan et al., 1991), (Komori et
al., 2003), etc.
The dynamic factor defined as the maximum dynamic tooth load to the
maximum static tooth load ratio is another important factor in
terms of stress and reliability. Here again, an approximate
expression can be derived from (51-52) by using the same asymptotic
expansion as in (34) and keeping first-order terms only (Velex
& Ajmi, 2007). Assuming that TES and NLTE are periodic
functions of a period equal to one pinion revolution; all forcing
terms can be decomposed into a Fourier series of the form:
2 2
12
1ˆ ˆ * sin * cosS n n n
d d TE NLTE n A n t B n t
dt Rb dt
PM D I M D (55)
and an approximate expression of the dimensionless dynamic tooth
load can be derived under the form:
1D p p pn
F
(56)
On the Modelling of Spur and Helical Gear Dynamic Behaviour
101
0.066151
0.066151
0.066151
0.13186
0.13186
0.13186
0.19758
0.19758
0.19758
0.19758
0.26329
0.26329
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.45
0.5
Fig. 17. Example of performance diagram: contour lines of the RMS
of quasi-static transmission error under load - Spur gear
1.67.
with
* 1 2 * * 1 2 * sin cos
1 4 1 4
n pn n p pn n pn n p pn
pn n
A B B A t n t n t
7. Towards continuous models
7.1 Pinion, gear distortions
In the case of wide-faced gears, gear body deflections (especially
those of the pinion) cannot be neglected and the torsion/bending
distortions must be modelled since they can strongly affect the
contact conditions between the teeth. For solid gears, one of the
simplest approaches consists in modelling gear bodies by two node
shaft finite elements in bending, torsion and traction as described
in Ajmi and Velex (2005) which are connected to the same mesh
interface model as that described in section 3 and Fig. 6. Assuming
that any transverse section of the pinion or gear body originally
plane remains plane after deformation (a fundamental hypothesis in
Strength of Materials), gear bodies can then be sliced into
elemental discs and infinitesimal gear elements using the same
principles as those presented in section 2. The degrees of freedom
of every infinitesimal gear element are expressed by using the
shape functions of the two-node, six DOFs per node shaft element.
By so doing, all the auxiliary DOFs attributed at every
infinitesimal pinion and gear are condensed in terms of the degrees
of freedom of the shaft nodes leading to a (global) gear element
with 24 DOFs.
7.2 Thin-rimmed applications
The approach in 6.1 is valid for solid gears but is irrelevant for
deformable structures such as thin-rimmed gears in aeronautical
applications for example where the displacement field cannot be
approximated by simple polynomial functions as is the case for
shafts. Most of the attempts rely on the Finite Element Method
applied to 2D cases (Parker et al., 2000), (Kahraman et al., 2003)
but actual 3D dynamic calculations are still challenging and do not
lend themselves to extensive parameter analyses often required at
the design stage. An
Fig. 18. Example of hybrid model used in gear dynamics (Bettaieb et
al., 2007).
On the Modelling of Spur and Helical Gear Dynamic Behaviour
103
alternative to these time-consuming methods is to use hybrid
FE/lumped models as described by Bettaieb et al, (2007). Figure 18
shows an example of such a model which combines i) shaft elements
for the pinion shaft and pinion body, ii) lumped parameter elements
for the bearings and finally iii) a FE model of the gear + shaft
assembly which is sub-structured and connected to the pinion by a
time-varying, non-linear Pasternak foundation model for the mesh
stiffness. The computational time is reduced but the modelling
issues at the interfaces between the various sub-models are not
simple.
8. Conclusion
A systematic formulation has been presented which leads to the
definition of gear elements with all 6 rigid-body
degrees-of-freedom and time-varying, possibly non-linear, mesh
stiffness functions. Based on some simplifications, a number of
original analytical results have been derived which illustrate the
basic phenomena encountered in gear dynamics. Such results provide
approximate quantitative information on tooth critical frequencies
and mesh excitations held to be useful at the design stage.
Gear vibration analysis may be said to have started in the late
50’s and covers a broad range of research topics and applications
which cannot all be dealt with in this chapter: multi- mesh gears,
power losses and friction, bearing-shaft-gear interactions, etc. to
name but a few. Gearing forms part of traditional mechanics and one
obvious drawback of this long standing presence is a definite sense
of déjà vu and the consequent temptation to construe that, from a
research perspective, gear behaviour is perfectly understood and no
longer worthy of study (Velex & Singh, 2010). At the same time,
there is general agreement that although gears have been around for
centuries, they will undoubtedly survive long into the 21st century
in all kinds of machinery and vehicles.
Looking into the future of gear dynamics, the characterisation of
damping in geared sets is a priority since this controls the
dynamic load and stress amplitudes to a considerable extent.
Interestingly, the urgent need for a better understanding and
modelling of damping in gears was the final conclusion of the
classic paper by Gregory et al. (1963-64). Almost half a century
later, new findings in this area are very limited with the
exception of the results of Li & Kahraman (2011) and this point
certainly remains topical. A plethora of dynamic models can be
found in the literature often relying on widely different
hypotheses. In contrast, experimental results are rather sparse and
there is certainly an urgent need for validated models beyond the
classic results of Munro (1962), Gregory et al. (1963), Kubo
(1978), Küçükay (1984 &87), Choy et al. (1989), Cai &
Hayashi (1994), Kahraman & Blankenship (1997), Baud & Velex
(2002), Kubur et al. (2004), etc. especially for complex multi-mesh
systems. Finally, the study of gear dynamics and noise requires
multi-scale, multi-disciplinary approaches embracing non-linear
vibrations, tribology, fluid dynamics etc. The implications of this
are clear; far greater flexibility will be needed, thus breaking
down the traditional boundaries separating mechanical engineering,
the science of materials and chemistry.
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Design, Vol. 133, n°3, (March 2011), 11 p., ISSN: 1050-0472.
Weber, C. & Banaschek, K. (1953). Formänderung und
Profilrücknahme bei Gerad-und Schrägverzahnten Antriebstechnik,
Heft 11, F. Vieweg und Sohn, Braunschweig, Germany.
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/HRV (Za stvaranje Adobe PDF dokumenata najpogodnijih za
visokokvalitetni ispis prije tiskanja koristite ove postavke.
Stvoreni PDF dokumenti mogu se otvoriti Acrobat i Adobe Reader 5.0
i kasnijim verzijama.) /HUN
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/NLD (Gebruik deze instellingen om Adobe PDF-documenten te maken
die zijn geoptimaliseerd voor prepress-afdrukken van hoge
kwaliteit. De gemaakte PDF-documenten kunnen worden geopend met
Acrobat en Adobe Reader 5.0 en hoger.) /NOR
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