CN102402638A - Modelica-language-based simulation modeling method for hydraulic hoisting mechanism - Google Patents
Modelica-language-based simulation modeling method for hydraulic hoisting mechanism Download PDFInfo
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Abstract
The invention relates to the technical field of hydraulic hoisting mechanism simulation systems, in particular to a Modelica-language-based simulation modeling method for a hydraulic hoisting mechanism. The method comprises the following steps of: 1) system disassembling; 2) component modeling; 3) modeling simulation control at system level; 4) simulation control; and 5) curve demonstration of a simulation result. In the invention, the interior complicated process of the hoisting mechanism system is subjected to simulation analysis according to characteristics of object orientation and adaptability to a complex system and multi-field modeling of the Medelica language, the data support is provided for design by computer simulation, a multi-discipline and multi-level simulation model is integrated, the interaction and the interrelationship of the components and the overall performance of a complex pumper are researched at different angles and on details, so circular design frequency and experiment frequency are reduced and support is provided for the improvement on the system and component structure.
Description
[technical field]
The present invention relates to hydraulic lifting mechanism simulation system field, specifically a kind of hydraulic lifting mechanism simulation modeling method based on the Modelica language.
[background technology]
Hydraulic lifting mechanism is one of groundwork device of truck-mounted crane and crawler crane, is used to realize the perpendicular displacement of weight, and it is made up of parts such as oil motor, brake retarder, reel, wire rope, pulley blocks and suspension hooks usually.Therefore be a kind of, between each mechanism, the mutual and coupling of different ambits such as very complicated mechanics, hydraulic pressure, control arranged between the subsystem by multisystem, multidisciplinary, multi-field integrated very complex engineering equipment.
Literature search through to prior art is found; People such as Wang Bangfeng are in the simulation study of process " the crane hydraulic lifting mechanism hoist " literary composition; With the lifting mechanism equivalence is mass-spring system; Set up more complete hydraulic lifting mechanism multiple degrees of freedom non-linear dynamic model, Application of Matlab software carries out emulation and finds the solution.This technology can not the accurate description mechanical system and the coupled relation of hydraulic system, and control system can't be set up complete multi-field model for the influence of lifting mechanism.People such as Ma Changlin are in " based on the hydraulic lifting mechanism simulation research of Simulink " literary composition; Set up the hydraulic lifting mechanism model based on the Simulink platform; Utilize the SimMechaics module of Simulink to set up the mechanical model of lifting mechanism; Adopt improved throttling discharge model; Send out idea about modeling based on node and set up the hydraulic system model, according to the parameter association relation of hydraulic pressure, mechanical system two system model organic integration are got up then, obtain comparatively complete hydraulic lifting mechanism simulation model.
In Multi-Domain Simulation-Mechanics and Hydraulics of an Excavator (raise simulation: the mechanics of excavator and the hydraulic) literary composition more; Proposed excavator system to be carried out simulation modeling based on Modelica/dymola; This model has comprised the complete model of the three-dimensional mechanism of envelope; Comprise movement arm, dipper, scraper bowl and hydraulic pressure model, the Modelica language has well solved the compatibling problem of multi-body system, hydraulic system, has well assessed different hydraulic circuits; And, make the user almost observe motion under the real situation by means of the Dymola simulated properties.Yet model is to control through a series of equations of motion, and model is built too complicated, can not represent excavator system vivid, intuitively, for the user, is difficult to use, learn.
[summary of the invention]
The object of the invention is exactly will solve above-mentioned deficiency and a kind of hydraulic lifting mechanism simulation modeling method based on the Modelica language is provided, and has modularization, stratification, standardization and parametrization, and realistic model interoperability and the strong characteristics of reusability.
For realizing a kind of hydraulic lifting mechanism simulation modeling method based on the Modelica language of above-mentioned purpose design, it comprises the steps:
1) system disassembles: at first the hydraulic lifting system is disassembled, decompose according to the each several part function of actual physical system, its decomposition is divided into mechanical system module and hydraulic system module; Said hydraulic lifting system disassembles out a series of component modules that standalone feature is arranged, and these modules are organized into the partial model storehouse with relative independentability by certain rule, and through model simplification tectonic model storehouse;
2) parts modeling: the interface that at first makes up same class component; Interface is divided into input interface and output interface; The output interface of last element is connected with the input interface of back one element; Transmission between the different types of components will guarantee that it has identical interface, and the physical model of same parts is described through the system of equations between its input interface, the output interface;
3) system-level modeling: corresponding " void " model replaces hydraulic lifting mechanism realistic model in the parts through using; Graphic interface function through platform: window management; Drag and drop, mobile " void " model icon, interface connection and interpolation parameter, system of equations make up;
4) Simulation Control: Simulation Control comprises that mainly algorithm setting, control time are provided with the parameter setting;
5) last, the demonstration of simulation result curve.
Said mechanical system module is disassembled into reel, wire rope, pulley blocks and suspension hook module, and said hydraulic system module is disassembled into engine, hydraulic pump, directional control valve, surplus valve, equalizing valve and oil motor module.
Said when the parts modeling, adopt parametric modeling, the component models that builds is encapsulated.
The said mechanical system module that builds and hydraulic system module are checked is divided into functional inspection and the inspection of grammer property.
Said simulation result curve demonstration comprises oil motor pressure at two ends difference curve, drum speed curve, jib and lift heavy displacement curve, steel wire rope tension curve.
Beneficial effect of the present invention: break through the limitation that in the past made up the hydraulic lifting mechanism model; The hydraulic lifting mechanism model storehouse that makes up according to the characteristics of Modelica language object-oriented and suitable complication system, Multi-disciplinary Modeling; Hydraulic lifting train of mechanism level model and partial model; And even the component-level mode set becomes a holistic approach, thereby the complicated more process in hoisting system inside is carried out simulation analysis, has realized the data support of Computer Simulation to design.In addition; The Modelica language can well merge hydraulic pressure, machinery, the control in the hydraulic lifting train of mechanism; The modularization modeling, the description characteristic of Modelica language non-causal simultaneously, with and powerful mathematics find the solution ability; Do not need the developer to carry out any conversion to Nonlinear System of Equations, improved modeling efficiency greatly.Therefore; The present invention is integrated multidisciplinary, multi-level realistic model; Can be from different perspectives with details on the parts of the hydraulic lifting mechanism of complicacy are interacted and influence each other and overall performance is studied; Thereby reduce cyclic design and test number (TN), system and modular construction improvement etc. is provided support.
[description of drawings]
Fig. 1 is a structured flowchart synoptic diagram of the present invention;
Fig. 2 is a modeling synoptic diagram one of the present invention;
Fig. 3 is a modeling synoptic diagram two of the present invention;
Fig. 4 is a simulation flow synoptic diagram among the present invention;
Fig. 5 is a realistic model synoptic diagram among the present invention.
[embodiment]
Further specify below below in conjunction with accompanying drawing the present invention being done:
The hydraulic lifting mechanism simulation modeling procedure that the present invention is based on the Modelica language comprises: system disassembles, parts modeling and system-level modeling.According to modularization decomposition principle and Object-Oriented Simulation method, in making up this model process, at first the hydraulic lifting system is disassembled, decompose according to the each several part function of actual physical system, at first its decomposition is divided into mechanical system and hydraulic system.
The mechanical system module is made up of reel, wire rope, pulley blocks and suspension hook.The hydraulic system module provides the power of hydraulic lifting mechanism kinematic, and hydraulic system is a most important ring in engineering machinery, and hydraulic system is determining maximum lifting height, transmission power etc.Split according to the actual physics system in the hydraulic system, be divided into a series of elements that standalone feature is arranged such as engine, hydraulic pump, directional control valve, surplus valve, equalizing valve and oil motor.These modules by certain rule, are organized into the partial model storehouse with relative independentability.And through model simplification tectonic model storehouse.
In the ministerial level modeling, at first make up the interface of same class component; So-called same class component; The just above-mentioned system that carries out can be classified as one type with machinery, hydraulic pressure etc. in disassembling, type the most significantly characteristics be exactly identical physics background, interface is divided into input interface and output interface; Interface has guaranteed the parameter transmission between the element, and the output interface of last element is connected with the input interface of back one element.Transmission between the different types of components will guarantee that it has identical interface, can link to each other with rotating element like oil motor, mainly is that they have common revolute interface.The physical model of same parts is described through the system of equations between its input interface, the output interface.When making up parts, also adopt parametric modeling, helped the repeated use of model.Parts to building encapsulate, and the user only need revise its parameter, just applicable different model system.System-level modeling, corresponding " void " model (being component icon) replaces hydraulic lifting mechanism realistic model in the parts through using; Graphic interface function through platform: window management, drag and drop, mobile " void " model icon, structures such as interface connection and interpolation parameter, system of equations.
The present invention breaks through the limitation that in the past made up the hydraulic lifting mechanism model, and on the hydraulic lifting mechanism model makes up in the past, or through procedure-oriented structure hydraulic lifting train of mechanism, the model reusability is poor, and workload is big.Be that model only relates to the particular area as only containing mechanism, be difficult to correct complicated oil circuit and the interactional nonlinear relationship of mechanism kinematic of expressing the machine that hoists.Make simulation result depart from real data.And the hydraulic lifting mechanism model storehouse that makes up according to the characteristics of Modelica language object-oriented and suitable complication system Multi-disciplinary Modeling; Hydraulic lifting train of mechanism level model and partial model; And even the component-level mode set becomes a holistic approach, can carry out simulation analysis to the complicated more process in hoisting system inside.Overcome above-mentioned two shortcomings, realized the data support of Computer Simulation design.
The present invention has also changed and only payes attention to concrete model programming at present and realize, and ignoring concrete simulation object model one-piece construction and Frame Design; Integrated multidisciplinary; Multi-level realistic model; Can be from different perspectives with details on the parts of the pump truck of complicacy are interacted and influence each other and overall performance is studied, thereby reduce cyclic design and test number (TN), system and modular construction improvement etc. is provided support.
Shown in accompanying drawing 1; The mechanical system module becomes model bank with the hydraulic system module construction among the present invention; These model banies have constituted the hydraulic lifting train of mechanism jointly; This system-level model connects simulation control subsystem through the Modelica language after building and accomplishing, and simulation control subsystem mainly comprises algorithm setting, control time setting, parameter setting and simulation result output.
Shown in accompanying drawing 2; At first, according to the principle of modularization modeling and the actual physics process of object, the order that the system-level demand of foundation → subsystem irrespective of size needs → component-level needs; The hydraulic lifting train of mechanism is carried out modularization decompose, be broken down into system by unit construction; According to the characteristic feature and corresponding physical law of subsystem or parts, set up mathematical model, use the Modelica language, on existing module basis, inherit or work out new program or package interface; Component models has been arranged,, set up complete module library according to the order in component models storehouse → subsystem module storehouse → system module storehouse; The module library has been arranged, just can utilize component models to be combined into the object of required research, i.e. hydraulic lifting train of mechanism model.Module in the module library can customize as required, and the interface that only needs under normal conditions to understand module just can use module, need not understand the realization of module.Next to utilize existing module exactly, set up the model of whole object, carry out simulation calculation.According to the difference of the pump truck type of required research, the user can directly use existing modular model, perhaps further expands inheriting on original model based.Then on the basis of these module combinations; Set up the complete model of hydraulic lifting train of mechanism; And the parameter of each parts and the initial value of parameter in the setting model, finally so just obtained a new complete realistic model of setting up according to user's needs of hydraulic lifting train of mechanism.
Shown in accompanying drawing 3, at first be to carry out mathematical modeling to the module after disassembling, carry out OO sequencing modeling; In modeling process, can make full use of the primary element storehouse that the Modelica language provides; Like the interface in primary element storehouse etc., in modeling process, adopt parametric modeling, the advantage of parametric modeling be exactly intuitive, clear, reusability is strong; Then the model that builds is checked; Inspection mainly is divided into functional inspection and the inspection of grammer property, and functional inspection checks that mainly can model reach designing requirement, and the inspection of grammer property checks that mainly can model move; Functional mistake will be got back on the initial mathematical modeling, and grammer property mistake mainly appears in the programming.After final mask moves successfully, then can encapsulate model.
Shown in accompanying drawing 4, when making up hydraulic lifting train of mechanism model bank, the first step is to build real physical system through components such as the machinery that pulls model bank, hydraulic pressure; Second step was that the model of putting up is carried out pattern checking, and pattern checking mainly comprises two parts, the one, to building the self-examination of model; Main inspection model builds whether meet physics law, if do not meet, nature is failed at this model of simulation process; The 2nd, the grammer of operational applications platform, logical check, whether MWorks and dymola have this function, compatible between the inspection module; Can whether grammer be correct, meet logic, when the software inspection just of second kind of situation of appearance makes mistake; Calculating can't go on, and wrong situation occurs in inspection, and the possible grammer of model is mistake not; Just function does not reach requirement, and therefore in order to guarantee the correct of simulation result, two kinds of inspections must all be carried out; The 3rd step was model compiling and emulation; Require before the compiling of model and the emulation each parameter of module is set; Because the present invention adopts modularization, parametric modeling; Parameter influences obviously the model emulation result, must guarantee that when carrying out emulation parameter meets physical conditions, and parametrization has guaranteed the strong characteristics of reusability of module simultaneously; After putting up one type of machine model that hoists, can it be preserved, just can carry out dynamics simulation the lifting mechanism of different model as long as revise wherein parameter then; The 4th step was to check the sim file, carry out emulation after, software systems output sim file; The 5th step was to check the output result; The output result mainly is curve result demonstration; The curve result can provide oil motor pressure at two ends difference curve; Results such as drum speed curve, jib and lift heavy displacement curve, steel wire rope tension curve can satisfy nearly all designing requirement parameter of deviser.
Shown in accompanying drawing 5, after mechanical system module and hydraulic system module are set up,, under the MWorks platform, the modeling of realization to the lifting mechanism system is set through drag and drop element, element interface connection, component parameters according to the principle of work of hydraulic lifting train of mechanism.The hydraulic system model is connected through oil motor with the mechanical system model; In modeling process; With changing-breadth system and jib equivalence is that mass-spring system links to each other with lifting mechanism; Support ground and also regard elastic body as, promptly obtain the realistic model of certain hydraulic lift lifting mechanism on the MWorks platform shown in this figure, the dynamic response of simulation analysis lift heavy liftoff instant system.
The present invention is based on many coupling hydraulic pressure lifting mechanism analogue systems of Modelica language and Mworks platform, have modularization, stratification, standardization and parametrization, the characteristics that realistic model interoperability and reusability are strong.Simultaneously, the present invention can use with the seamless links such as many body machineries storehouse, rotating machinery storehouse and library that the Modelica language provides.Not only can on the MWorks platform of Suzhou, use with the soft control of exploitation company of unit; Can also use at the dymola platform of the Sweden that supports the Modelica linguistic norm; Software library of the present invention can carry out dynamics simulation to different model hydraulic lifting machine system; The user can be known the motion of lift heavy and wire rope through this analogue system, vibration, impacts and a series of dynamic perfromances such as hydraulic load, and the deviser provides reference data and technical support for the hydraulic lifting machine.The present invention adopts open modeling pattern, and the user in use can expand this software library according to the demand of self.
Claims (5)
1. the hydraulic lifting mechanism simulation modeling method based on the Modelica language is characterized in that it comprises the steps:
1) system disassembles: at first the hydraulic lifting system is disassembled, decompose according to the each several part function of actual physical system, its decomposition is divided into mechanical system module and hydraulic system module; Said hydraulic lifting system disassembles out a series of component modules that standalone feature is arranged, and these modules are organized into the partial model storehouse with relative independentability by certain rule, and through model simplification tectonic model storehouse;
2) parts modeling: the interface that at first makes up same class component; Interface is divided into input interface and output interface; The output interface of last element is connected with the input interface of back one element; Transmission between the different types of components will guarantee that it has identical interface, and the physical model of same parts is described through the system of equations between its input interface, the output interface;
3) system-level modeling: corresponding " void " model replaces hydraulic lifting mechanism realistic model in the parts through using; Graphic interface function through platform: window management; Drag and drop, mobile " void " model icon, interface connection and interpolation parameter, system of equations make up;
4) Simulation Control: Simulation Control comprises that mainly algorithm setting, control time are provided with the parameter setting;
5) last, the demonstration of simulation result curve.
2. the method for claim 1; It is characterized in that: said mechanical system module is disassembled into reel, wire rope, pulley blocks and suspension hook module, and said hydraulic system module is disassembled into engine, hydraulic pump, directional control valve, surplus valve, equalizing valve and oil motor module.
3. according to claim 1 or claim 2 method is characterized in that: said when the parts modeling, adopt parametric modeling, and the component models that builds is encapsulated.
4. method as claimed in claim 3 is characterized in that: the said mechanical system module that builds and hydraulic system module are checked is divided into functional inspection and the inspection of grammer property.
5. according to claim 1 or claim 2 method, it is characterized in that: said simulation result curve demonstration comprises oil motor pressure at two ends difference curve, drum speed curve, jib and lift heavy displacement curve, steel wire rope tension curve.
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| CN102663196A (en) * | 2012-04-17 | 2012-09-12 | 中南大学 | Automobile crane hoisting simulation method on basis of virtual reality |
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| CN106354924A (en) * | 2016-08-29 | 2017-01-25 | 中冶赛迪工程技术股份有限公司 | FMI-based equipment cooperation simulation system and construction method |
| CN107077339A (en) * | 2014-10-02 | 2017-08-18 | 西门子公司 | It is prgraming automatized in the 3D graphic editors logically and physically emulated using close-coupled |
| CN107169169A (en) * | 2017-04-20 | 2017-09-15 | 上海交通大学 | The Simulation Methods of soft aircraft mechanical manipulation system |
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| CN102662331A (en) * | 2012-04-17 | 2012-09-12 | 中南大学 | Method for simulating deflection of automobile suspension arm on the basis of virual reality |
| CN102663196A (en) * | 2012-04-17 | 2012-09-12 | 中南大学 | Automobile crane hoisting simulation method on basis of virtual reality |
| CN102663196B (en) * | 2012-04-17 | 2014-04-16 | 中南大学 | Automobile crane hoisting simulation method on basis of virtual reality |
| CN107077339A (en) * | 2014-10-02 | 2017-08-18 | 西门子公司 | It is prgraming automatized in the 3D graphic editors logically and physically emulated using close-coupled |
| CN105067271A (en) * | 2015-07-17 | 2015-11-18 | 安徽江淮汽车股份有限公司 | Modelica language-based engine cooling system simulation modeling method |
| CN106354924A (en) * | 2016-08-29 | 2017-01-25 | 中冶赛迪工程技术股份有限公司 | FMI-based equipment cooperation simulation system and construction method |
| CN107169169A (en) * | 2017-04-20 | 2017-09-15 | 上海交通大学 | The Simulation Methods of soft aircraft mechanical manipulation system |
| CN107169169B (en) * | 2017-04-20 | 2020-05-05 | 上海交通大学 | Simulation implementation method of mechanical control system of soft airplane |
| CN107272447A (en) * | 2017-08-07 | 2017-10-20 | 深圳市光速达机器人科技有限公司 | A kind of emulation mode, simulator and robot emulation system |
| CN112560266A (en) * | 2020-12-15 | 2021-03-26 | 北京动力机械研究所 | Multi-type and multi-professional component same design simulation platform architecture method and device |
| CN112883501A (en) * | 2021-04-06 | 2021-06-01 | 河南科技大学 | Method for constructing digital research and development platform system architecture of tractor |
| CN113238491A (en) * | 2021-04-12 | 2021-08-10 | 湖南三一智能控制设备有限公司 | Simulation test method and device for actuating mechanism, intelligent arm support and engineering vehicle |
| CN114706592A (en) * | 2021-04-13 | 2022-07-05 | 三峡大学 | Object-oriented and process language-oriented Modelica simulation component generation method |
| CN114706592B (en) * | 2021-04-13 | 2024-04-19 | 三峡大学 | Modelica simulation component generation method facing object and process language |
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