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= + +
(2)
where
l
OA
is the distance from the center of the planet
gear to the center of the stationary gear, l
AB
is the distance
from the center of the joint B to the center of the planet
gear.
Similarly, coordinates of the joint B on the planet
gear in DVDM-2, B
xh
and B
yh
,
which trace a
hypocycloidal curve, can also be written as
1 1 1
1 1 1
cos( ) cos( )
sin( ) sin( )
xh OA AB
yh OA AB
B l l i
B l l i
u u u
u u u
= +
= +
(3)
The shape of the curve is mostly determined by the
parameter (i). i is the gear ratio, which can be expressed
as
=
N
i
M
(4)
where N>M, and both N and M are natural numbers and
N can not be divided exactly by M.
Many curves can be applied as trajectories of joint B
in the TRPE. N is the number of petals in cycloid curves.
M, which is the revolution of the output shaft, is the
number for forming an integrated cycloid curve. Figure 3
shows the two curves generated by the same gear ratio
( i =6). Shapes of the two curves are very different but
both of the petals numbers are six.
In general, assuming that the gear ratio is N (M=1
for simplicity), the output shaft rotates one revolution,
and then the two planet gears complete N revolutions.
During this working process, the cranks on the planet
gears restrain the two rockers to complete N oscillations
and one revolution. In order to utilize the N oscillations
and make sure all intake ports and exhaust ports be fixed
at a certain position of the housing, the number of vane
J. Cent. South Univ. (2013) 20: 363371
366
Fig. 3 Generation of epicycloidal and hypocycloid curves with
six petals: (a) Generation of an epicycloidal curve; (b)
Generation of a hypocycloid curve
pistons on each rotors should be equal to gear ratio, i.e.,
N i = .
As one oscillation means one contraction and one
expansion stroke for each working chamber, in one
revolution of the output shaft, each of 2N working
chambers completes N/2 power strokes. Thus, the
number of power strokes per revolution of the output
shaft, C, can be expressed as
C=N
2
(5)
The same stroke is performed simultaneously in N/2
separated working chambers, i.e., with multiple
utilization of the working space of the housing, the same
stroke provides a balanced force to the rotors and
increases the power density of the engine.
Taking the spark ignition engine with six vane
pistons per rotor for example, In Fig. 4, if the engine
completes one cycle, which also means all components
finish their tasks and back to the initial position, it
requires one revolution of the output shaft and three
power strokes for each of the work chambers, and
completes 36 operative combustion processes. To sum up,
this TRPE is equivalent to a 72-cylinder four-stroke
conventional engine. Comparison of power density
among different types of engines is given in Table 1.
Fig. 4 An ECS with six vane pistons
Table 1 Comparison of power density among different types of
engines
Types of engines
Number of power strokes in
one complete engine cycle
Single-cylinder reciprocating
engine
0.5
Single-cylinder Wankel engine 1
Twin-rotor engine with N=4 16
Twin-rotor engine with N=6 36
Additionally, with each stroke working in its
respective zones of the ECS housing, the working
chambers can be alternately utilized according to the
power output requirements of the engine.
Three ignition devices (P
ig1
, P
ig2
, P
ig3
), three intake
ports (P
in1
, P
in2
, P
in3
), and three exhaust ports (P
ex1
, P
ex2
,
P
ex3
) are radiately fixed at the circumference of the
housing. Each stroke is commenced or completed while
any working chamber travels close to the ports.
The compression ratio of the engine, c , can be
expressed as
max
min
o
c
o
= (6)
where o
max
and o
min
are the maximum and minimum of o,
which is the relative angle of the adjacent vane pistons. o
is proportional to the volume of working chambers V,
which is expressed as
2 2
2 1
( )
=
8
d d h
V
o
(7)
J. Cent. South Univ. (2013) 20: 363371
367
where d
1
and d
2
are diameters of the inner and outer wall,
of the working chamber, h is the depth of the working
chamber in the axial direction.
The span angle of a vane piston is defined as |. A
valid assumption can be that all the vane pistons have the
same |. So,
min max
2 ( )
2
N
N
o o
|
+
= (8)
Similar to the displacement definition of the
conventional piston engine [5], the displacement of the
TRPE engine, Q
ex
, is defined as the gas volume
exhausted from the 2N working chambers per revolution
of the output shaft, which can be expressed as
2 2
2 1
ex
( )( ) ( 1)
4( 1)
N N d d h
Q
| c
c
=
+
( 9)
3.2 Kinematic model of two TRPE mechanisms
As rockers are fixed on their respective rotors,
kinematic characteristics of the rotors can be obtained by
analyzing the motion of the rockers. Taking DVDM-1
for example, as shown in Fig. 5, assuming OA, AB, OA',
and A'B' are in coincidence with each other at the initial
position. The positive direction of x-coordinate is defined
from O to A. All angles are measured from the x-axis in
the CCW direction. Thus, equations can be obtained
from the loop closure method [29], which can be
expressed as
1 2 3 4
1 2 3 4
1 2 3 4
1 2 3 4
cos cos cos cos
sin sin sin sin
cos cos cos cos
sin sin sin sin
OA AB BC OC
OA AB BC OC
OA AB BC OC
OA AB BC OC
l l l l
l l l l
l l l l
l l l l
u u u u
u u u u
u u u u
u u u u
+ + =
+ + =
(10)
where
1 4
u u are angles between components of the
crank-rocker mechanism (OABC),
1 4
u u ' ' are angles
between components of the crank-rocker mechanism
(OABC).
Both u
2
and u'
2
are equal to iu
1
. The angular
velocity of all components can be obtained by
differentiating Eq. (10) with respect to time (t), and the
angular acceleration of all components by twice
differentiating Eq. (10).
u
r
is defined as the relative angle of the former
rocker and the latter rocker, which can be expressed as
r 4 4
u u u ' = (11)
u
r
is proportional to the angleo , and their relation is
r min r min
( ) ( ) [ ] t t o u o u = + (12)
where [u
r
]
min
is the minimum of the angle u
r
. [u
r
]
min
is a
constant with respect to time.
When some combustion chambers reach their
maximum or minimum volumes, the angles o and u
r
also
Fig. 5 Definitions of angles for kinematic analysis of DVDM-1
simultaneously reach their maximum or minimum, and
the following is obtained
max min r max r min
( ) ( ) o o u u = (13)
The kinematic model of the DVDM-2 can also be
established with the same method above.
4 Comparison of two TRPE mechanisms
The kinematic model developed in Section 3 is used
to analyze characteristic of TRPE mechanisms. In this
section, angular position, velocity, and acceleration of
the two rockers are presented. The compression ratio and
displacement of the two TRPE mechanisms are
discussed.
The two TRPE mechanisms with 6 N i = = , as
shown in Fig. 2 and Fig. 3, are used as examples. Set
l
AB
=12 mm, l
BC
=205 mm, l
OC
=144 mm, r
1
=125 mm,
r
2
=25 mm. A valid assumption can be that the planet
gears of DVDM-1 and DVDM-2 are the same, and the
stationary gears are also the same, i.e. r
3
=r
1
and r
4
=r
2
.
Substituting all above parameters into Eq. (10) with a
numerical algorithm, the kinematic results of two
TRPE mechanisms can be derived.
4.1 Position analysis
Figure 6 shows variations of angular positions of
two rockers of DVDM-1 and DVDM-2 versus the output
shaft angle. The motions of the two rockers have many
similarities. On one hand, two rockers rotate with same
pattern but at different paces, i.e., when one rocker
accelerates, the other decelerates. On the other hand, the
two continuously rotate in same direction, and one
revolution of the rockers (taking DVDM-1 for example,
one rotates from 94 to 454, the other from 285 to 645)
J. Cent. South Univ. (2013) 20: 363371
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Fig. 6 Angular positions of two rockers of DVDM-1 and
DVDM-2 versus output shaft angle
is equivalent to one revolution of output crankshaft (from
0 to 360).
Table 2 gives the angular positions of the output
shaft, the former rocker, and the latter rocker when V
reaches its maximum/minimum For DVDM-1 and
DVDM-2, when relative angle u
r
reaches its maximum
and the adjacent minimum, variation between two output
shaft angles is t/N (here, as an example N=6, i.e, 30,
similar hereinafter), and the summation of two angles
respectively covered by the two rockers is always equal
to 2t/N. When V reaches its two adjacent maximums or
minimums, variation between output shaft angles is
equal to 2t/N.
Taking the two rockers in DVDM-1 for example, in
the above process, the two rockers rotate 14.2 or 45.8
alternately. The summation is 60 and the difference is
31.6. Thus, the variation amplitude of u
r
in DVDM-1 is
31.6, and it is larger than the variation amplitude of u
r
in
DVDM-2, which is 22.6, i.e., the rockers of DVDM-1
are closer to (or farther from) each other than DVDM-2.
As shown in Fig. 7, u
r
in DVDM-1 and DVDM-2
have same period which is equal to 2t/N, and u
r
is
proportional to o . So, at the peak or valley of curves,
working chambers reach their maximum volume. Also
taking u
r
in DVDM-1 for example, at the peak of
continuous curve in Fig. 7 (u
1
=7+60k, k is an arbitrary
integer), working chambers denoted by odd number (I,
III, V, VII, IX, XI) are at the start of exhaust or
compression cycle while other working chambers are at
the end of exhaust or compression cycle. At the valley of
the curve (u
1
=37+60k), working chambers with odd
number are at the start of intake or power cycle while
other working chambers are at the end of intake or power
cycle.
4.2 Velocity analysis
The angular velocity of the rockers (or the
respective rotors) can be obtained by assuming the
angular velocity of the output shaft
1
1 e = r/min. As
shown in Fig. 8, the rotational speed of the rockers
begins with a minimum angular velocity, then up to a
maximum velocity, and again back to the minimum
velocity. One rocker reaches its maximum angular
velocity while the other rocker reaches its minimum
angular velocity. The maximum/minimum volume of
working chamber occurs when rockers speeds are
momentarily identical. Taking working chambersfor
example, when u
1
is 7, the volume of it reaches its
maximum, and when u
1
is 37, it reaches minimum.
As the output crankshaft rotates from a to b , shown
in Fig. 9, working chambers I, V and IX, are performing
the power stroke, II, VI and X are performing the
compression stroke, III, VII and XI are performing the
intake stroke, IV, VIII and XII are performing the
exhaust stroke. Other phase of four-stroke cycle occurs
in each working chamber in sequence.
Table 2 Angular positions of output shaft, former rocker, and latter rocker when V reaching its maximum/minimum
DVDM-1/() DVDM-2/()
Position
u
1
u
4
4
u' u
1
u
4
4
u'
Initial position 0 94 285 0 75 264
7 98.5 294.3 23 108.1 276.8
37 144.3 308.5 53 126.8 318.1
67 158.5 354.3 83 168.1 336.8
97 204.3 368.5 113 186.8 378.1
127 218.5 414.3 143 228.1 396.8
157 264.3 428.5 173 246.8 438.1
187 278.5 474.3 203 288.1 456.8
217 324.3 488.5 233 306.8 498.1
247 338.5 534.3 263 348.1 516.8
277 384.3 548.5 293 366.8 558.1
307 398.5 594.3 323 408.1 576.8
Angular positions
337 444.3 608.5 353 426.8 618.1
Final position 360 454 645 360 435 624
J. Cent. South Univ. (2013) 20: 363371
369
Fig. 7 Relative angle of two rockers versus output shaft angle
Fig. 8 Angular velocities of two rockers versus output shaft
angle
The relative angular velocity (e
4
e'
4
) in DVDM-1
and DVDM-2 has same near sinusoidal pattern. The
average of both relative angular velocities is equal to
zero and the period of both is equal to 2/N . The
minimum of (e
4
e'
4
) in DVDM-1 is smaller than that in
DVDM-2; the maximum of (e
4
e'
4
) in DVDM-1 is
bigger than that in DVDM-2. In addition, as the
volumetric rate of change of the working chamber is
proportional to the relative angular velocity, the volume
of working chamber of DVDM-1 has sharper change
than that of DVDM-2.
4.3 Acceleration analysis
Assuming e
1
=1 rad/min and o
1
=0, angular
accelerations of the two rockers (or the two respective
rotors) are illustrated in Fig. 10. Unlike angular velocity,
which exhibits same patterns, angular acceleration of the
former rocker and the latter rocker exhibits different
patterns, i.e., angular acceleration functions of the former
rocker and the latter rocker are totally different. The
maximum angular acceleration of the former rocker and
Fig. 9 Relative angular velocity of two rockers versus output
shaft angle
the minimum angular acceleration of the latter rocker
occurs at different output shaft angles, and summation of
the angular acceleration of the former rocker and the
latter rocker is not equal to zero. As the value of the
summation is proportional to inertia moment, which
causes the knock tendency of the engine, some measures
should be taken to eliminate the unbalance created by the
inertia moment.
Fig. 10 Angular accelerations of two rockers versus output
shaft angle
However, as shown in Fig. 11, the relative angular
accelerations in DVDM-1 and DVDM-2 show the same
sinusoidal-like pattern as the relative angular velocities,
and both curves have the same 2/N period. Thus,
the problem of above mentioned unbalance could be
easily settled.
4.4 Compression ratio and displacement of engine
From the above analysis, the difference of the
maximum and the minimum of u
r
determined by the
given parameters of DVDM. According to Eq. (13), the
difference of the maximum and the minimum of o can
J. Cent. South Univ. (2013) 20: 363371
370
Fig. 11 Relative angular acceleration of two rockers versus
output shaft angle
be derived, 31.6 in DVDM-1, and 22.6 in DVDM-2. If
| is a known parameter, with Eqs. (6), (8) and (9), c
and Q
ex
of the engine can also be derived. As shown in
Fig. 12, as | increases, c increases accordingly, while
Q
ex
decreases. In fact, on one hand, the higher value of c ,
the higher the efficiency of the engine; On the other hand,
the higher the value of Q
ex,
the more the output power of
the engine.
Set d
1
=150 mm, d
2
=300 mm, h=80 mm. In order to
assure high efficiency and high output power of the
engine simultaneously, with above parameters, in
DVDM-1, | should be 10.2, and the value of c is 10; in
DVDM-2, | should be 10.6, and the value of c is 4.3.
Fig. 12 Compression ratio and displacement of engine versus
span angle of vane piston: (a) DVDM-1; (b) DVDM-2
4.5 Simulation
In order to validate above kinematic results, a 3D
model of DVDM-1 built in software ADAMS is
presented. In Fig. 13, as the output shaft (or the planet
carrier) rotates from 7 to 37, the vane piston Y
1
will
gradually occupy the position of the vane piston L
1
, and
the vane piston L
1
will gradually occupy the position of
the vane piston Y
2
, and the vane piston Y
2
will gradually
occupy the position of the vane piston L
2
. The simulation
results also show that vane pistons Y
1
Y
6
cover 45.8 and
vane pistons L
1
L
6
cover 14.2 in above period.
Fig. 13 Simulation results of TRPE with DVDM-1 with
housing removed: (a) TRPE at u
1
=7; (b) TRPE at u
1
=25; (c)
TRPE at u
1
=37
5 Conclusions
1) Both DVDM-1 and DVDM-2 create N
2
power
strokes per revolution of the output shaft.
J. Cent. South Univ. (2013) 20: 363371
371
2) Relative angular velocities of the two rotors in
DVDM-1 and DVDM-2 have same near sinusoidal
relative motion with an average relative speed of zero
and a period of 2t/N, which could maintain steady
engine operation.
3) As the output shaft rotates an angle of t/N, the
summation of two angles covered by each rocker is
always 2t/N.
4) The variation amplitude of relative angle of two
rockers in DVDM-1 is larger than that of DVDM-2, so
positions of intake ports and exhaust ports are different.
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(Edited by HE Yun-bin)