CN102126301B - Optimized design method of triangular toggle-rod working mechanism of servo mechanical press - Google Patents
Optimized design method of triangular toggle-rod working mechanism of servo mechanical press Download PDFInfo
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Abstract
The invention discloses an optimized design method of a triangular toggle-rod working mechanism of a servo mechanical press. The triangular toggle-rod working mechanism comprises a crank AB, a connecting rod BCE, an upper toggle rod CD and a lower toggle rod EF, wherein a sliding block is established by a point F, the upper toggle rod CD and the lower toggle rod EF are unequal in length, the upper toggle rod CD is shorter than the lower toggle rod EF, a point D and the point F are located on a vertical line, and points B, C and E are used for establishing the triangular connecting rod BCE. The optimized design method of the triangular toggle-rod working mechanism includes the following steps: 1) building a parameterized mechanical model; 2) establishing a parameterized virtual prototype model; 3) analyzing sensitivity of each structure parameter; and 4) building an optimization model and solving. Through the optimized design, the triangular toggle-rod working mechanism has a higher force increasing ratio and can greatly decrease the driving torque required by the crank under the condition of guaranteeing compact machine-body mechanism, sufficient sliding-block stroke and single sliding-block movement downstream, thereby lowering the capacity and cost of a servo motor. The triangular toggle-rod working mechanism of the servo mechanical press, designed by the invention has a reasonable structure and is convenient and practical.
Description
Technical field
The present invention is the Optimization Design of a kind of servounit forcing press triangle toggle link operating mechanism, belongs to the innovative design of mechanical transmission fields.
Background technology
The standard machinery forcing press generally adopts ordinary ac asynchronous motor to drive, and adopts large-scale flywheel energy storage; And the servounit forcing press replaces AC asynchronous motor with AC servomotor, and cancellation flywheel, not only can simplify driving-chain, the automation of raising equipment, intelligent level and functional reliability, also can significantly save energy, reduce noise, manufacturing industry energy-saving and emission-reduction tool is of great significance.The servounit forcing press is owing to there is no flywheel, and operating pressure mainly produces by the instantaneous torque of motor, thereby the drive motor capacity is much bigger than ordinary press.The employing of large capacity servomotor causes equipment manufacturing cost high, becomes the large obstacle that the servounit forcing press is applied.
By improvement mechanism, increase the force increasing ratio of operating mechanism, can reduce the Motor Drive moment of torsion, for reducing motor capacity, reducing servounit forcing press cost, and then the engineering application that promotes this technology has conclusive effect.The operating mechanism of tradition punching machine generally adopts crank connecting link, symmetrical toggle link or multi-link structure.Crank connecting link has advantages of simple in structure, but nominal working stroke is little, and force increasing ratio is little, can only be applicable to small-sized servounit forcing press, is disclosed a kind of forcing press in ZL200320118186.8 as China Patent No.; Idle stroke is anxious returns and impulse stroke approximate stop characteristic although symmetrical toggle link has, and force increasing ratio is still large not, is disclosed mechanism in ZL 200720054117.3, ZL 200820082737.2 as China Patent No.; And multi-connecting-rod mechanism can improve the kinetic characteristic of slide block in impulse stroke, still having force increasing ratio is not the shortcomings such as optimum and complex structure, is the disclosed mechanism of ZL 200820030514.1 as China Patent No..
Summary of the invention
The object of the invention is to consider the problems referred to above and provide a kind of in the situation that guarantee that main body mechanism is compact, ram travel is enough, slide block down is dull, has higher force increasing ratio, can significantly reduce the driving torque that the crank place needs, and then the Optimization Design of the servounit forcing press triangle toggle link operating mechanism of the capacity of reduction servomotor and cost.The present invention is the Optimization Design of a kind of forcing press of servounit simply and easily triangle toggle link operating mechanism.
Technical scheme of the present invention is: the Optimization Design of servounit forcing press triangle toggle link of the present invention operating mechanism, described triangle toggle link operating mechanism includes the crank AB built by A point and B point, by the B point, C point and E point build connecting rod BCE, upper elbow lever CD by C point and D point structure, lower elbow lever EF by E point and F point structure, slide block by F point structure, the A point is set up the revolute between bent axle and fuselage, at the B point, set up the revolute between bent axle and triangular coupling rod, at the C point, set up the revolute between triangular coupling rod and upper elbow lever, at the D point, set up the revolute between upper elbow lever and fuselage, at the E point, set up the revolute between triangle toggle link and lower elbow lever, at the F point, set up the revolute between lower elbow lever and slide block, between slide block and fuselage, set up moving sets, it is characterized in that upper elbow lever CD and lower elbow lever EF are not isometric, and upper elbow lever CD is shorter than lower elbow lever EF, D point and F point are on vertical line, by the B point, it is triangular coupling rod BCE that C point and E point build connecting rod, the Optimization Design of triangle toggle link operating mechanism comprises the steps:
1) build parameterized mechanism model
Build parameterized mechanism model, need to determine the minimum structural parameters that can describe the triangle elbow-bar mechanism, adopt vector
l 1,
l 2,
l 3,
l 4,
l 5,
l 6Two sealing vector rings that form are described the yardstick of mechanism, and one group of minimum structural parameters of triangle elbow-bar mechanism comprise: upper elbow lever is fixedly hinged a little to crankshaft center apart from l
1, crank length l
2, delta link top length l
3, the following length l of delta link
4, the lower elbow lever length l
6, and upper elbow lever is fixedly hinged a little to the crankshaft center vector
l 1Azimuth
φ 11, the crank vector
l 2Azimuth
φ 21, delta link top vector
l 3Azimuth
φ 31, vector angle below on delta link
γ, the lower elbow lever vector azimuth
φ 61, wherein, coordinate system adopts right-handed Cartesian coordinate system, and the origin of coordinates is based upon on crankshaft center, and all azimuths are all to originate in the X-axis forward, and to be rotated counterclockwise direction for just;
2) set up parameterized virtual prototyping model
The foundation of parameterized virtual prototyping model comprises: the applying of parametrization Geometric Modeling, constraint modeling and power and driving,
Geometric Modeling: set up 10 design variable DV1, DV2 ..., DV10, respectively 10 structural parameters l in corresponding parametrization mechanism model
1, l
2, l
3, l
4, l
6,
φ 11,
φ 21,
φ 31,
γWith
φ 61With design variable, mean X and the Y-axis coordinate of key point A, B, C, D, E and F, the initial value of given one group of design variable can be determined the coordinate figure of 5 key points; After determining the sectional dimension value of each geometric features, can by A point and B point, build crank AB respectively, build triangular coupling rod BCE by B point, C point and E point, build upper elbow lever CD by C point and D point, build lower elbow lever EF by E point and F point, build slide block by the F point;
Constraint modeling: set up the revolute between bent axle and fuselage at the A point; at the B point, set up the revolute between bent axle and triangular coupling rod; at the C point, set up the revolute between triangular coupling rod and upper elbow lever; at the D point, set up the revolute between upper elbow lever and fuselage; at the E point, set up the revolute between triangle toggle link and lower elbow lever; at the F point, set up the revolute between lower elbow lever and slide block, set up moving sets between slide block and fuselage, and coefficient of friction and the revolute pair bearing pin radius of each kinematic pair are set;
Applying of power and driving: apply time dependent single power of simulation punching press load on slide block, can adopt STEP, IF or AKIMA function to set up the punching press load curve; On the revolute between bent axle and fuselage, apply driving moment, rotating speed can be constant, and size is determined according to the punching press frequency; rotating speed also can be time dependent driving function; direction of rotation is generally counterclockwise, is two-way under swing work and free mode of operation, given by driving function;
3) analyze the sensitivity of each structural parameters
In order to reduce the complexity of Optimized model, should reduce the quantity that participates in optimizing the design variable calculated as far as possible, need all structural parameters are carried out to sensitivity analysis, analyze the importance of each parameter; By carrying out design studies, the sensitivity of analytical structure parameter to target specifically comprises:
Create destination object: force increasing ratio is the ratio between loading slider and crank driving torque, when design, require slide block to be not more than nominal pressure in the load of nominal working stroke inner slide, in the load of whole nominal working stroke inner slide be the steady state value that equals nominal pressure so can suppose, the force increasing ratio maximization problems can be converted into to crank driving torque minimization problem, be about to destination object and be set as the crank driving torque;
The structural parameters assignment: given structural parameters initial value, specify each structural parameters span.
After the sensitivity of analytical structure parameter, select the higher structural parameters of sensitivity to use design variable as optimizing one by one;
4) set up Optimized model and solve
(1) determine design variable and object function:
Above-mentioned 10 structural parameters availability vector forms are expressed as
In order to reduce the dimension of optimization problem, can be according to the result of structural parameters sensitivity analysis, choose result parameter that sensitivity is larger as design variable;
According to Analytical Dynamic Model, the crank driving torque is relevant to each bar quality, centroid position, rotary inertia, loading slider, revolute pair bearing pin radius, coefficient of friction and above-mentioned 10 structural parameters; After when definite bar material, to fixed load and bearing pin radius, the crank driving torque is only relevant to above-mentioned 10 structural parameters, the crank driving torque is tried to achieve by the Newton-Raphson numerical computation method by inner solver, and at this, the crank driving function can be expressed as with implicit function:
The object function that the crank driving torque minimizes optimization problem can be described as
(2) determine constraints:
The constraint of fuselage general structure:
Laterally:
Vertically:
Wherein,
For horizontal arrowhead,
For vertical arrowhead;
The constraint of toggle link pivot angle:
Upper elbow lever:
Lower elbow lever:
Wherein,
With
For with design variable
Relevant constraint function,
For upper elbow lever maximum constraints pivot angle,
For lower elbow lever maximum constraints pivot angle;
The ram travel constraint:
Wherein,
For with design variable
Relevant constraint function,
With
Mean respectively upper, the little limit value of slide block range, can get equal value;
Slide block down direction constraint independent of time:
Wherein,
For with design variable
Relevant constraint function;
(3) optimize and calculate: the objective definition function is the crank driving torque, objective definition is for making the minimization of object function, add design variable and constraints, selecting the broad sense Reduced Gradient is optimized algorithm, it is default value that convergence error limit, maximum iteration time and differential mode are set, and starts to optimize to calculate.
Optimization Design of the present invention comprises the steps:
1) build parameterized mechanism model; 2) set up parameterized virtual prototyping model; 3) analyze the sensitivity of each structural parameters; 4) set up Optimized model and solve.Optimization Design of the present invention is simple and convenient, rational in infrastructure, convenient and practical with the servounit forcing press triangle toggle link operating mechanism of method design of the present invention.
The accompanying drawing explanation
Fig. 1 is the structural model of triangle elbow-bar mechanism of the present invention
Fig. 2 is the slide block movement characteristic schematic diagram after optimal design of the present invention;
Fig. 3 is crank driving torque schematic diagram before and after the present invention optimizes;
Fig. 4 is mechanism's force increasing ratio schematic diagram before and after the present invention optimizes;
Fig. 5 is slide block load schematic diagram allowable before and after the present invention optimizes;
The specific embodiment
In order to understand better technical scheme of the present invention, be described in further detail below in conjunction with drawings and Examples.
The first step: the structural model that builds the triangle elbow-bar mechanism
As shown in Figure 1, change the isometric upper and lower toggle link of symmetrical elbow-bar mechanism into not isometric toggle link CD and EF, and upper elbow lever CD is shorter than lower elbow lever EF, D point and F point are on vertical line; Change the straight line connecting rod of symmetrical elbow-bar mechanism into delta link BCE, and the CE limit is minor face, angle ∠ CBE is no more than 30 °; The throw of crankshaft of bent axle is AB, crankshaft center and the upper elbow lever position relationship vector a little that is fixedly hinged
l 1Mean; When slide block was in upper limit position, AB, DC, FE intersected at a point, and when slide block was in lower position, C point and E point not necessarily were positioned on the DF line.
Second step: build parameterized mechanism model
Build parameterized mechanism model, need to determine the minimum structural parameters that can describe the triangle elbow-bar mechanism, the present invention adopts vector
l 1,
l 2,
l 3,
l 4,
l 5,
l 6Two sealing vector rings that form are described the yardstick of mechanism, as shown in Figure 1.One group of minimum structural parameters describing the triangle elbow-bar mechanism comprise: upper elbow lever is fixedly hinged a little to crankshaft center apart from l
1, crank length l
2, delta link top length l
3, the following length l of delta link
4, the lower elbow lever length l
6, and upper elbow lever is fixedly hinged a little to the crankshaft center vector
l 1Azimuth
φ 11, the crank vector
l 2Azimuth
φ 21, delta link top vector
l 3Azimuth
φ 31, vector angle below on delta link
γ, the lower elbow lever vector azimuth
φ 61.Wherein, coordinate system adopts right-handed Cartesian coordinate system, and the origin of coordinates is based upon on crankshaft center, and all azimuths are all to originate in the X-axis forward, and to be rotated counterclockwise direction for just.
The 3rd step: set up parameterized virtual prototyping model
In the virtual Prototype software ADAMS, the foundation of parameterized virtual prototyping model comprises: the applying of parametrization Geometric Modeling, constraint modeling and power and driving.
Geometric Modeling: set up 10 design variable DV1, DV2 ..., DV10, respectively 10 structural parameters l in corresponding parametrization mechanism model
1, l
2, l
3, l
4, l
6,
φ 11,
φ 21,
φ 31,
γWith
φ 61The X and the Y-axis coordinate that with design variable, mean key point A, B, C, D, E and F, as shown in Figure 2, the initial value of given one group of design variable can be determined the coordinate figure of 5 key points to the relation of parametrization coordinate figure and design variable; After determining the sectional dimension value of each geometric features, can by A point and B point, build crank AB respectively, build triangular coupling rod BCE by B point, C point and E point, build upper elbow lever CD by C point and D point, build lower elbow lever EF by E point and F point, build slide block by the F point.
Constraint modeling: set up the revolute between bent axle and fuselage at the A point, at the B point, set up the revolute between bent axle and triangular coupling rod, at the C point, set up the revolute between triangular coupling rod and upper elbow lever, at the D point, set up the revolute between upper elbow lever and fuselage, at the E point, set up the revolute between triangle toggle link and lower elbow lever, at the F point, set up the revolute between lower elbow lever and slide block, set up moving sets between slide block and fuselage, and coefficient of friction and the revolute pair bearing pin radius of each kinematic pair are set.
Applying of power and driving: apply time dependent single power of simulation punching press load on slide block, can adopt STEP, IF or AKIMA function to set up the punching press load curve; On the revolute between bent axle and fuselage, apply driving moment, rotating speed can be constant, and size is determined according to the punching press frequency, rotating speed also can be time dependent driving function, direction of rotation is generally counterclockwise single, is two-way under swing work and free mode of operation, given by driving function.
The 4th step: analyze the sensitivity of each structural parameters
In order to reduce the complexity of Optimized model, should reduce the quantity that participates in optimizing the design variable calculated as far as possible, need all structural parameters are carried out to sensitivity analysis, analyze the importance of each parameter.In the virtual Prototype software ADAMS, can, by carrying out the sensitivity of design studies (Design Study) analytical structure parameter to target, specifically comprise:
Create destination object: force increasing ratio is the ratio between loading slider and crank driving torque, when design, require slide block to be not more than nominal pressure in the load of nominal working stroke inner slide, in the load of whole nominal working stroke inner slide be the steady state value that equals nominal pressure so can suppose, the force increasing ratio maximization problems can be converted into to crank driving torque minimization problem, be about to destination object and be set as the crank driving torque.
The structural parameters assignment: given structural parameters initial value, specify each structural parameters span.
After the sensitivity of analytical structure parameter, select the higher parameter of sensitivity as the optimization design variable one by one.
The 5th step: set up Optimized model and solve
(1) determine design variable and object function:
Above-mentioned 10 structural parameters availability vector forms are expressed as
In order to reduce the dimension of optimization problem, can be according to the result of structural parameters sensitivity analysis, choose result parameter that sensitivity is larger as design variable.
According to Analytical Dynamic Model, the crank driving torque is relevant to each bar quality, centroid position, rotary inertia, loading slider, revolute pair bearing pin radius, coefficient of friction and above-mentioned 10 structural parameters.After when definite bar material, to fixed load and bearing pin radius, the crank driving torque is only relevant to above-mentioned 10 structural parameters.In ADAMS, the crank driving torque is tried to achieve by the Newton-Raphson numerical computation method by inner solver, and at this, the crank driving function can be expressed as with implicit function:
The object function that the crank driving torque minimizes optimization problem can be described as
(2) determine constraints:
The constraint of fuselage general structure:
Laterally:
Vertically:
Wherein,
For horizontal arrowhead,
For vertical arrowhead.
The constraint of toggle link pivot angle:
Upper elbow lever:
Lower elbow lever:
Wherein,
With
For with design variable
Relevant constraint function,
For upper elbow lever maximum constraints pivot angle,
For lower elbow lever maximum constraints pivot angle.
The ram travel constraint:
Wherein,
For with design variable
Relevant constraint function,
With
Mean respectively upper, the little limit value of slide block range, can get equal value.
Slide block down direction constraint independent of time:
Wherein,
For with design variable
Relevant constraint function.
(3) optimize and calculate: in ADAMS, the objective definition function is the crank driving torque, objective definition is for making the minimization of object function, add design variable and constraints, selecting the broad sense Reduced Gradient is optimized algorithm, it is default value that convergence error limit, maximum iteration time and differential mode are set, and starts to optimize to calculate.
Embodiment:
To certain servounit forcing press triangle toggle link operating mechanism optimal design, main design performance index is: the slide block impulse stroke is 200mm, and nominal pressure Pg is 1600kN, and nominal pressure point is 6mm.Other main designing requirement comprises: laterally arrowhead Lh is 600mm, and vertically arrowhead Lv is 320mm, and upper lower elbow lever maximum pendulum angle is no more than 50 °, and the servomotor peak torque does not surpass 1500Nm.
According to implementation step first and second and three steps, the initial value of given 10 structural parameters (as shown in table 1), set up parameterized virtual prototyping model, and according to the 4th stepping line parameter sensitivity analysis, the design variable that is identified for optimizing according to analysis result (as shown in table 1) is DV1, DV2, DV3, DV4, DV6, DV7, DV8, DV9, according to the 5th step and main performance index and designing requirement, set up Optimized model, and solve.The result of optimal design Table 2,3, wherein table 3 has provided the values of the structural parameters before and after optimizing, Fig. 2 has provided the kinetic characteristic of optimal design rear slider, the driving moment of crank before and after Fig. 3 has provided and optimized, the force increasing ratio of mechanism before and after Fig. 4 has provided and optimized, the load allowable of operating mechanism before and after Fig. 5 has provided and optimized.Visible, under the prerequisite that meets design performance index and designing requirement, nominal working stroke 6mm place, force increasing ratio is brought up to 123/m by 85/m, and increasing degree reaches 45%, and the crank driving torque is reduced to 13010Nm by the 18743Nm before optimizing, and decreases by 30%.
Claims (1)
1. the Optimization Design of a servounit forcing press triangle toggle link operating mechanism, described triangle toggle link operating mechanism includes the crank AB built by A point and B point, by the B point, C point and E point build connecting rod BCE, upper elbow lever CD by C point and D point structure, lower elbow lever EF by E point and F point structure, slide block by F point structure, the A point is set up the revolute between bent axle and fuselage, at the B point, set up the revolute between bent axle and triangular coupling rod, at the C point, set up the revolute between triangular coupling rod and upper elbow lever, at the D point, set up the revolute between upper elbow lever and fuselage, at the E point, set up the revolute between triangle toggle link and lower elbow lever, at the F point, set up the revolute between lower elbow lever and slide block, between slide block and fuselage, set up moving sets, above-mentioned upper elbow lever CD and lower elbow lever EF are not isometric, and upper elbow lever CD is shorter than lower elbow lever EF, D point and F point are on vertical line, by the B point, it is triangular coupling rod BCE that C point and E point build connecting rod, the Optimization Design that it is characterized in that triangle toggle link operating mechanism comprises the steps:
1) build parameterized mechanism model
Build parameterized mechanism model, need to determine the minimum structural parameters of describing the triangle elbow-bar mechanism, adopt vector
Two sealing vector rings that form are described the yardstick of mechanism, and one group of minimum structural parameters of triangle elbow-bar mechanism comprise: upper elbow lever is fixedly hinged a little to crankshaft center apart from l
1, crank length l
2, delta link top length l
3, the following length l of delta link
4, the lower elbow lever length l
6, and upper elbow lever is fixedly hinged a little to the crankshaft center vector
Azimuth φ
11, the crank vector
Azimuth φ
21, delta link top vector
Azimuth φ
31, the azimuth φ of vector angle γ, lower elbow lever vector below on delta link
61, wherein, coordinate system adopts right-handed Cartesian coordinate system, and the origin of coordinates is based upon on crankshaft center, and all azimuths are all to originate in the X-axis forward, and to be rotated counterclockwise direction for just;
2) set up parameterized virtual prototyping model
The foundation of parameterized virtual prototyping model comprises: the applying of parametrization Geometric Modeling, constraint modeling and power and driving,
Geometric Modeling: set up 10 design variable DV1, DV2 ..., DV10, respectively 10 structural parameters l in corresponding parametrization mechanism model
1, l
2, l
3, l
4, l
6, φ
11, φ
21, φ
31, γ and φ
61The X and the Y-axis coordinate that with design variable, mean key point A, B, C, D, E and F, the initial value of given one group of design variable are namely determined the coordinate figure of 5 key points; After determining the sectional dimension value of each geometric features, by A point and B point, build crank AB respectively, build triangular coupling rod BCE by B point, C point and E point, build upper elbow lever CD by C point and D point, build lower elbow lever EF by E point and F point, build slide block by the F point;
Constraint modeling: set up the revolute between bent axle and fuselage at the A point, at the B point, set up the revolute between bent axle and triangular coupling rod, at the C point, set up the revolute between triangular coupling rod and upper elbow lever, at the D point, set up the revolute between upper elbow lever and fuselage, at the E point, set up the revolute between triangle toggle link and lower elbow lever, at the F point, set up the revolute between lower elbow lever and slide block, set up moving sets between slide block and fuselage, and coefficient of friction and the revolute pair bearing pin radius of each kinematic pair are set;
Applying of power and driving: apply time dependent single power of simulation punching press load on slide block, adopt STEP, IF or AKIMA function to set up the punching press load curve; On the revolute between bent axle and fuselage, apply driving moment, rotating speed is constant, and size is determined according to the punching press frequency, rotating speed is also time dependent driving function, direction of rotation is generally counterclockwise, is two-way under swing work and free mode of operation, given by driving function;
3) analyze the sensitivity of each structural parameters
In order to reduce the complexity of Optimized model, should reduce the quantity that participates in optimizing the design variable calculated as far as possible, need all structural parameters are carried out to sensitivity analysis, analyze the importance of each parameter; By carrying out design studies, the sensitivity of analytical structure parameter to target specifically comprises:
Create destination object: force increasing ratio is the ratio between loading slider and crank driving torque, when design, require slide block to be not more than nominal pressure in the load of nominal working stroke inner slide, so supposition is the steady state value that equals nominal pressure in the load of whole nominal working stroke inner slide, the force increasing ratio maximization problems is converted into to crank driving torque minimization problem, is about to destination object and is set as the crank driving torque;
The structural parameters assignment: given structural parameters initial value, specify each structural parameters span;
After the sensitivity of analytical structure parameter, select the higher structural parameters of sensitivity to use design variable as optimizing one by one;
4) set up Optimized model and solve
(1) determine design variable and object function:
Above-mentioned 10 structural parameters are expressed as by vector form
In order to reduce the dimension of optimization problem, according to the result of structural parameters sensitivity analysis, choose result parameter that sensitivity is larger as design variable;
According to Analytical Dynamic Model, the crank driving torque is relevant to each bar quality, centroid position, rotary inertia, loading slider, revolute pair bearing pin radius, coefficient of friction and above-mentioned 10 structural parameters; After when definite bar material, to fixed load and bearing pin radius, the crank driving torque is only relevant to above-mentioned 10 structural parameters, the crank driving torque is tried to achieve by the Newton-Raphson numerical computation method by inner solver, and at this, the crank driving function is expressed as with implicit function:
T＝f(X)
The object function that the crank driving torque minimizes optimization problem is described as
minf(X)
(2) determine constraints:
The constraint of fuselage general structure:
Laterally:
Vertically:
Wherein, Lh is horizontal arrowhead, and Lv is vertical arrowhead;
The constraint of toggle link pivot angle:
Upper elbow lever: g
Angle_CDF[X]≤[CDF]
Lower elbow lever: g
Angle_EFD[X]≤[EFD]
Wherein, g
Angle_CDF[X] and g
Angle_EFD[X] is the constraint function relevant to design variable X, and [CDF] is upper elbow lever maximum constraints pivot angle, and [EFD] is lower elbow lever maximum constraints pivot angle;
The ram travel constraint:
S
min≤g
Slide_D[X]≤S
max
Wherein, g
Slide_D[X] is the constraint function relevant to design variable X, S
minAnd S
maxMean respectively the upper limit value and lower limit value of slide block range, get equal value;
Slide block down direction constraint independent of time:
g
Slide_v[X]≤0
Wherein, g
Slide_v[X] is the constraint function relevant to design variable X;
(3) optimize and calculate: the objective definition function is the crank driving torque, objective definition is for making the minimization of object function, add design variable and constraints, selecting the broad sense Reduced Gradient is optimized algorithm, it is default value that convergence error limit, maximum iteration time and differential mode are set, and starts to optimize to calculate.
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