Without considering the friction loss, the moment of inertia caused by the angular acceleration of the driven shaft, and gravity, etc., according to the 72 Journal of Jiangsu University of Science and Technology (Natural Science Edition) of the input and output shafts in 2007, the instantaneous power of the input and output shafts can be obtained. Torque relation Mn u003d Μ1·ω1 ωn(8) Mn u003d Μ1·1+(i2n1-1) sin2φ1 in1(9) Observing equations (4)～(8), we can get a conclusion, only need to be assembled in the shaft system In the process, if in1u003d1, the rotation angle synchronization, speed synchronization, output shaft no acceleration, and torque synchronization of the input and output shafts of the entire shafting system can be achieved. It can be known that as long as the steering angle of each universal joint is reasonably designed when the previous conditions are met, the transmission process of the universal joint series shaft system is reversible, that is, the unsteadiness caused by the previous universal joint can be used in the back One or several universal joints to balance. In the design process of the series shafting system, it is necessary not only to ensure the synchronization of the input and output shafts of the entire shafting system, but also to ensure the smooth transmission of the intermediate shaft as far as possible to avoid the vibration and damage of the shafting caused by the intermediate shaft, that is, to design rationally during the installation process. The input and output steering angle of each universal joint is αk (k-1). Compile a program to analyze the kinematic characteristics of the series shaft system. 2　Sketchdiagram of the tune of nglingangling, using Matlab's powerful matrix processing capabilities, convenient and intuitive drawing functions, to program the theoretical formula derived above to calculate any number of cross-shaft universal joint series input variables: transmission characteristics of the universal joint series axis, the transmission characteristics of the universal joint program The rotation angle, input shaft speed and torque realized by each universal joint. Figure 2 is a schematic diagram of the rotation angle of the universal joint in the shafting installation of a real ship. Under normal operation, the input speed of the shaft system is 750r/min (4500°/s), and the input torque is 15917N·m. Use the compiled program to calculate the transmission characteristics of the shaft system at four different installation angles, which are: ① α1u003d4°, α2u003d6°, α3u003d-6°, α4u003d-4°; ② α1u003d6°, α2 u003d4°, α3u003d-4°, α4u003d-6°; ③ α1u003d4°, α2u003d-4°, α3u003d6°, α4u003d-6°; ④ α1u003d6°, α2u003d-6° , Α3u003d4°, α4u003d-4°. In order to express the azimuth relationship of the input and output shafts of a universal joint, suppose that the clockwise rotation angle is positive and vice versa. The input and output of the four cases are parallel, and the synchronous transmission of the input and output shafts is realized. Use the program to analyze the power of each intermediate shaft. characteristic. After the program runs, the output of 4 kinds of installation angles is obtained, and the results are shown in Figure 3 to Figure 5. The relationship between the output angle and the input angle, the output angular acceleration and the input angle, the output torque and the input torque of each axis are respectively displayed, and the output angle and the input angle, the output angular acceleration and the input angle, and the output torque of each axis are displayed. Relationship with input torque. In order to fully analyze the influence of the universal joint rotation angle in the shaft system on the shaft transmission, a special set of angles are input in the operating program: α1u003d4°, α2u003d5°, α3u003d7°, α4u003d10°, and analyze different rotation angles. When the output characteristics of different shafts are connected in series, and the influence of different rotation angles on the shafting is compared, the transmission output characteristics are shown in Figure 6.