CN102184304A - Co-simulation method of levelling system of hydraulic supporting platform based on virtual prototype - Google Patents
Co-simulation method of levelling system of hydraulic supporting platform based on virtual prototype Download PDFInfo
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Abstract
The invention discloses a co-simulation method of a levelling system of a hydraulic supporting platform based on a virtual prototype. The method comprises the following steps of: establishing a three-dimensional solid model of the hydraulic supporting platform in three-dimensional modelling software, and controlling an inclined angle between the platform and a horizontal plane by telescoping of hydraulic supporting legs; importing the three-dimensional solid model into mechanical system dynamic analysis software for analysis to form a dynamic mechanical model of the virtual prototype; establishing a system hydraulic loop on the dynamic mechanical model of the virtual prototype, and establishing a complete virtual prototype model; combining the virtual prototype model with a control system in mathematical laboratory software by a control system module of the mechanical system dynamic analysis software; and establishing a co-simulation control model. The test debugging process of a physical prototype is simplified greatly by combining a virtual prototype technology with a control system simulation technology, and the method can be popularized and applied to computer simulation of other complicated mechanical systems.
Description
Technical field
The present invention relates to the system in a kind of emulation field, particularly a kind of automatic levelling control system of hydraulic pressure support platform, relate to fields such as machinery system dynamics analysis, hydrostatic transmission and control system, Control Science and Engineering, virtual design and manufacturing, be used for the dynamic analysis of hydraulic pressure support platform, the control algolithm research of leveling system.
Background technology
Along with the extensive application of various vehicle-mounted mobile platforms, the research of the automatic levelling control system of platform is also paid attention to all the more.The automatic horizontal control system of vehicle-mounted mobile platform is mechanical, electrical, a liquid integrated complication system, during to such complication system simulation study, the research method that generally adopts is that the platform erection system is simplified at present, sets up precise math model, the simulation analysis of being correlated with then.ADAMS (mechanical system dynamic analysis software) software commonly used is the machinery system dynamics simulation analysis software of U.S. MDI (Mechanical Dynamics Inc.) company exploitation, it uses interactive graphics environment and parts library, constraint storehouse, power storehouse to create complete parameterized mechanical system geometric model, its solver adopts the Lagrange's equation method in the multi-rigid-body system kinetic theory to set up the system dynamics equation, the virtual machine system is carried out statics, kinematics and dynamic analysis, output displacement, speed, acceleration and reacting force curve.MATLAB (mathematics laboratory software) commonly used is a cover high-performance numerical evaluation and the visual software that Mathworks company releases, and has a wide range of applications at system modelling and emulation, science and aspects such as engineering drawing and application development.
Because the complicacy and the strong coupling of platform erection system, mathematical model and the real system set up with ADAMS commonly used and MATLAB software always have bigger deviation.Along with the fast development of electronic technology and the generally use of computing machine, designing and developing in the process of a large amount of engineering machinery and heavy vehicle can use the theoretical research that Virtual Prototype Technique is carried out early stage usually.A large amount of Virtual Prototype Technique that adopt are called the mechanical system Dynamic Simulation Technology again in the mechanical engineering, are computer-aided engineering technology.Set up the virtual prototype model on computers, then model is carried out various Dynamic Performance Analysis, improve the model machine design proposal, replace traditional physical prototyping test with digitized form.But when the virtual prototype model of setting up is carried out control system analysis,, be difficult to realize the dynamic simulation of whole machine model owing to the defective of virtual prototype software aspect Control System Design.
Summary of the invention
The invention provides a kind of automatic levelling control system associative simulation method based on virtual prototype, this method is carried out associative simulation by adopting ADAMS (mechanical system dynamic analysis software) and the interactive data transmission of MATLAB (mathematics laboratory software), can carry out the leveling process kinetics analysis of hydraulic pressure support platform and the design and optimization of leveling control algolithm.
To achieve these goals, technical scheme of the present invention is to comprise the steps: 1) in 3 d modeling software, set up the three-dimensional entity model of hydraulic pressure support platform, by the extension and contraction control platform of hydraulic leg and the inclination angle of surface level; 2) described three-dimensional entity model is imported in the mechanical system dynamic analysis software analyze, add quality, material properties, kinematic constraint and power correlation parameter again, constitute the dynamics mechanical model of virtual prototype; 3) on the dynamics mechanical model of described virtual prototype, set up the hydraulic circuit of system, and set up being connected of hydraulic circuit and mechanical model, set up complete virtual prototype model; 4) by the control system module of mechanical system dynamic analysis software the control system in described virtual prototype model and the mathematics laboratory software is united; On described virtual prototype model, described inclination angle value is made as a state variable, the output variable that to define this state variable be the mechanical system dynamic analysis software also is the input variable of mathematics laboratory software, the control variable of the hydraulic efficiency servo-valve that has on the described hydraulic leg is made as another state variable, and the input variable that to define this another state variable be the mechanical system dynamic analysis software also is the output variable of mathematics laboratory software; Carry out two exchanges data between described software by two described state variables, set up the associative simulation controlling models.
Further, the present invention carries out control decision with the error of tilt signal that described inclination angle value and given leveling precision compare after the analysis through fuzzy controller, controller output signal becomes the servo-valve control signal through power amplifier module and feeds back to described virtual prototype model, drive the corresponding hydraulic cylinder motion of hydraulic system of virtual prototype, the real-time dip angle signal that the virtual prototype model detects feeds back to the control system of mathematics laboratory software MATLAB again, constitutes a closed-loop control system.
The invention has the beneficial effects as follows:
1, the present invention brings into play the advantage separately of two softwares, the whole emulation of implementation platform automatic horizontal control system in conjunction with the control algolithm simulation analysis software of specialty.The interactive data transmission of ADAMS and MATLAB, visual leveling process in ADAMS, and utilize the post-processing module of ADAMS, and observe the parameters curve of supporting leg and platform motion, thus the stability of analytic system and perturbation.According to analysis result, institute's established model and emulation module are estimated, for the development of physical prototyping provides the important theory reference frame.Based on the associative simulation of ADAMS and MATLAB, use same mechanical system model to design and emulation, can simplify the check debug process of physical prototyping greatly, improve product development rate.
2, the present invention is Virtual Prototype Technique and the combination of Control System Imitation technology, for the complex mechanical system design that has control system provides new method, can be before the processing physical prototyping simulated effect of multianalysis mechanical system and control system synthesis effect.This method can promote the use of in the middle of the Computer Simulation of other complex mechanical systems, really reaches fast, high-quality, target cheaply.
Description of drawings
The present invention is further illustrated below in conjunction with accompanying drawing and embodiment:
Fig. 1 is the virtual prototype model of 4 hydraulic pressure support platforms;
Fig. 2 is the associative simulation controlling models;
Among the figure: 1. platform; 2,3,4,5. hydraulic leg; 6. virtual prototype model; 7. dip angle signal; 8. leveling precision; 9. fuzzy controller; 10. power amplifier module; 11. servo-valve control signal; 12. observer.
Embodiment
Referring to Fig. 1-2, implementation method of the present invention is as follows:
Step 1: the three-dimensional entity model of setting up 4 hydraulic pressure support platforms.At first in professional 3 d modeling software SolidWorks, set up the platform that accurate 4 hydraulic pressure support.Because the three-dimensional drawing instrument that ADAMS provided can not satisfy the drawing needs, as the front processor of modeling, sets up three-dimensional entity model in SolidWorks.The three-dimensional entity model of 4 hydraulic pressure support platforms is made up of a platform 1 and four hydraulic legs 2,3,4,5, as shown in Figure 1 by the extension and contraction control platform of four hydraulic legs 2,3,4,5 and the inclination angle of surface level.
Step 2: set up the dynamics mechanical model of virtual prototype, the three-dimensional entity model of setting up in solid modelling software imports to and adds the physical characteristics of model among the ADAMS then again and add each item constraint and driving.
At first the three-dimensional entity model that will set up in step 1 is converted into the parasolid formatted file, imports to the analysis of carrying out next step among the ADAMS then.The model that imports from SolidWorks has lost its physics and constrained attributes, therefore must add relevant correlation parameters such as quality, material properties, kinematic constraint and power again in ADAMS, thereby constitutes the dynamics mechanical model of virtual prototype.The constraint of the dynamics mechanical model of this virtual prototype is as follows: hydraulic cylinder and contact position, ground are a face pair, and hydraulic cylinder piston rod and platform junction are typed ball bearing pair, are sliding pair between hydraulic cylinder piston rod and the cylinder sleeve, and hydraulic cylinder mainly bears the gravity of platform.
Step 3: the coupling of setting up hydraulic system and mechanical system, carry out design of Hydraulic System, after the mechanical model of mechanism is built up, set up hydraulic circuit then in the ADAMS main window, the loop is made up of fuel tank, hydraulic pump, solenoid valve, surplus valve, hydraulic cylinder, oil pipe and pipe interface etc.
Realize the emulation of mechanical-electrical-hydraulic integration, must on the dynamics mechanical model of virtual prototype, set up the hydraulic circuit of system, and set up being connected of hydraulic circuit and mechanical model, thereby realize the integrated of machinery and hydraulic technique.ADAMS provides detailed hydraulic module, and very complete Hydraulic Elements storehouse is arranged, and the user only need import the parameter of required element just can set up complete hydraulic circuit.Utilize the tool insert Hydraulic of ADAMS/View to load hydraulic module, set up hydraulic circuit then in the ADAMS main window, the loop is made up of fuel tank, hydraulic pump, solenoid valve, surplus valve, hydraulic cylinder, oil pipe and pipe interface.On two Part in the mechanical model of the I_MARKER point that only needs to adjust hydraulic cylinder and J_MARKER point and cylinder certain is put and is connected respectively, just realize the coupling of hydraulic cylinder and mechanical system, thereby realize the dynamics mechanical model of virtual prototype and getting in touch of hydraulic system, promptly set up complete virtual prototype model.
Step 4: based on the associative simulation control of ADAMS and MATLAB, after ADAMS has set up the virtual prototype model, method by the definition status variable realizes two data communications between the software, under MATLAB, carry out the debugging of Control System Design and virtual prototype then, again the result is in time fed back to the mechanical system model.
According to the virtual prototype model that three steps in front are set up, just can unite MATLAB and carry out the control simulation analysis of platform erection system.For this virtual prototype model, the output variable of ADAMS is level inclination α, the β of platform both direction, input quantity has four, it is respectively the control signal of four servo-valves, the essence of leveling is exactly to regulate the lifting of landing leg hydraulic cylinder, and platform level inclination α and β are changed in the error range.
Because platform level inclination α is consistent with principle with the process that β changes, example of the present invention only illustrates the variation of α value on the horizontal direction.Set up in ADAMS on the good platform virtual prototype model platform inclination alpha value is made as state variable, the output variable that defines this state variable then and be ADAMS also is the input variable of MATLAB.In like manner the control variable with the hydraulic efficiency servo-valve on the hydraulic leg 3,4 is made as another state variable to realize being synchronized with the movement of two supporting legs, and the input variable that defines this state variable then and be ADAMS also is the output variable of MATLAB.After defining the input, output variable of virtual prototype model among the ADAMS, can the control system among virtual prototype model and the MATLAB be joined together by the control system module of ADAMS, carry out two exchanges data between software by the above-mentioned state variable of setting up, thereby set up the associative simulation controlling models, realize the control procedure of associative simulation.After the controlling schemes such as the input of the good above-mentioned virtual prototype model of foundation, output variable, open MATLAB software, it is the above-mentioned controlling schemes file of building up that its work space is set, set up the module of virtual prototype model in MATLAB/Simulink by the associative simulation instruction, in MATLAB/Simulink, pull relevant control module into, set up associative simulation controlling models as shown in Figure 2.
Describe the course of work of associative simulation again in detail below in conjunction with accompanying drawing 2.The platform horizontal direction top rade signal 7 that detects in the virtual prototype model 6, compare analysis with system given leveling precision 8 then, error of tilt signal after the comparative analysis carries out control decision through fuzzy controller 9, controller output signal becomes servo-valve control signal 11 through power amplifier module 10 and feeds back to virtual prototype model 6, drive the corresponding hydraulic cylinder motion of hydraulic system of virtual prototype, the real-time dip angle signal 7 that virtual prototype model 6 detects feeds back to the control system of MATLAB again, constitute a closed-loop control system, thereby the associative simulation that carries out automatic horizontal control system is realized, after setting every simulation parameter, carry out simulation calculating, emulation finishes and can come the level inclination of observation platform to change by observer 12.
The aftertreatment as a result of step 5:ADAMS, the design and optimization of the automatic levelling control system of platform, post-processing module as a result by ADAMS is observed the leveling situation of 4 hydraulic pressure support platforms, in time adjusts control strategy and revises the leveling controlled variable according to the leveling result.
After carrying out the associative simulation computing of above-mentioned the 4th step, can call the post-processing module as a result of ADAMS, the automatic leveling process of playback virtual prototype is observed each supporting leg moving situation, and the leveling working condition of hydraulic system.According to the observed parameter and the curve movement of post-processing module, thus the leveling strategy of in good time adjustment The whole control system.Through repetition test, the self-leveling motion process of analysis platform, thus can carry out the design and the parameter optimization of levelling control system.
Claims (2)
1. the hydraulic pressure support platform leveling system associative simulation method based on virtual prototype is characterized in that comprising the steps:
1) in 3 d modeling software, sets up the three-dimensional entity model of hydraulic pressure support platform, by the extension and contraction control platform of hydraulic leg and the inclination angle of surface level;
2) described three-dimensional entity model is imported in the mechanical system dynamic analysis software analyze, add quality, material properties, kinematic constraint and power correlation parameter again, constitute the dynamics mechanical model of virtual prototype;
3) on the dynamics mechanical model of described virtual prototype, set up the hydraulic circuit of system, and set up being connected of hydraulic circuit and mechanical model, thereby set up complete virtual prototype model;
4) by the control system module of mechanical system dynamic analysis software the control system in described virtual prototype model and the mathematics laboratory software is united; On described virtual prototype model, described inclination angle value is made as a state variable, the output variable that to define this state variable be the mechanical system dynamic analysis software also is the input variable of mathematics laboratory software, the control variable of the hydraulic efficiency servo-valve that has on the described hydraulic leg is made as another state variable, and the input variable that to define this another state variable be the mechanical system dynamic analysis software also is the output variable of mathematics laboratory software; Carry out two exchanges data between described software by two described state variables, set up the associative simulation controlling models.
2. the hydraulic pressure support platform leveling system associative simulation method based on virtual prototype according to claim 1, it is characterized in that: in the step 4), with described inclination angle value and given leveling precision comparative analysis, the error of tilt signal that obtains carries out control decision through fuzzy controller, controller output signal becomes the servo-valve control signal through power amplifier module and feeds back to described virtual prototype model, drive the corresponding hydraulic cylinder motion of hydraulic system of virtual prototype, the real-time dip angle signal that the virtual prototype model detects feeds back to the control system of mathematics laboratory software MATLAB again, constitutes a closed-loop control system.
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| CN103778301A (en) * | 2014-02-21 | 2014-05-07 | 重庆邮电大学 | Mechanical arm simulation method based on virtual prototype technology |
| CN108228995A (en) * | 2017-12-28 | 2018-06-29 | 中国电子科技集团公司第十四研究所 | Radar mechanical electrical and hydraulic system associative simulation research/development platform |
| CN109558686A (en) * | 2018-12-05 | 2019-04-02 | 南京天航智能装备研究院有限公司 | A kind of electric-hydraulic combined construction method for turning to virtual prototype of automobile |
| CN109766632A (en) * | 2019-01-10 | 2019-05-17 | 中国科学院上海技术物理研究所 | A kind of system emulation analysis method of mechanical refrigerator temperature control |
| CN111176136A (en) * | 2019-12-18 | 2020-05-19 | 中国船舶重工集团公司第七一五研究所 | Virtual-real integrated simulation system of electro-mechanical-hydraulic equipment |
| CN111680370A (en) * | 2020-04-26 | 2020-09-18 | 武汉船用机械有限责任公司 | Design method and design device of hydraulic valve |
| CN111796508A (en) * | 2020-06-19 | 2020-10-20 | 上海交通大学 | Drilling platform lifting control method based on fuzzy PID algorithm |
| CN112257201A (en) * | 2020-10-22 | 2021-01-22 | 山西平阳煤机装备有限责任公司 | Three-dimensional design method for lap joint of bending pieces of front big foot of hydraulic support base |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103778301A (en) * | 2014-02-21 | 2014-05-07 | 重庆邮电大学 | Mechanical arm simulation method based on virtual prototype technology |
| CN108228995A (en) * | 2017-12-28 | 2018-06-29 | 中国电子科技集团公司第十四研究所 | Radar mechanical electrical and hydraulic system associative simulation research/development platform |
| CN109558686A (en) * | 2018-12-05 | 2019-04-02 | 南京天航智能装备研究院有限公司 | A kind of electric-hydraulic combined construction method for turning to virtual prototype of automobile |
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| CN109766632B (en) * | 2019-01-10 | 2023-05-09 | 中国科学院上海技术物理研究所 | System simulation analysis method for temperature control of mechanical refrigerator |
| CN111176136B (en) * | 2019-12-18 | 2023-04-25 | 中国船舶重工集团公司第七一五研究所 | Virtual-real integrated simulation system for electromechanical liquid equipment |
| CN111176136A (en) * | 2019-12-18 | 2020-05-19 | 中国船舶重工集团公司第七一五研究所 | Virtual-real integrated simulation system of electro-mechanical-hydraulic equipment |
| CN111680370A (en) * | 2020-04-26 | 2020-09-18 | 武汉船用机械有限责任公司 | Design method and design device of hydraulic valve |
| CN111680370B (en) * | 2020-04-26 | 2023-11-17 | 武汉船用机械有限责任公司 | Design method and design device for hydraulic valve |
| CN111796508A (en) * | 2020-06-19 | 2020-10-20 | 上海交通大学 | Drilling platform lifting control method based on fuzzy PID algorithm |
| CN112257201B (en) * | 2020-10-22 | 2022-09-16 | 山西平阳煤机装备有限责任公司 | Three-dimensional design method for lap joint of bending pieces of front big foot of hydraulic support base |
| CN112257201A (en) * | 2020-10-22 | 2021-01-22 | 山西平阳煤机装备有限责任公司 | Three-dimensional design method for lap joint of bending pieces of front big foot of hydraulic support base |
| CN112799341A (en) * | 2021-04-14 | 2021-05-14 | 南京易砼科技有限公司 | Engineering vehicle intelligent backing plate and early warning system based on Internet of things |
| CN118112954A (en) * | 2024-03-05 | 2024-05-31 | 中国矿业大学 | Dynamic simulation system for mechanical device |
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Application publication date: 20110914 |