CN102402638B - 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-driven Lift Mechanism Simulation system field, specifically a kind of hydraulic-driven Lift Mechanism Simulation modeling method based on Modelica language.
[background technology]
Hydraulic lifting mechanism is one of groundwork device of truck-mounted crane and crawler crane, and for realizing the perpendicular displacement of weight, it is made up of parts such as oil motor, brake retarder, reel, wire rope, pulley blocks and suspension hooks conventionally.Therefore be a kind of by multisystem, multidisciplinary, multi-field integrated very complicated engineer equipment, between each mechanism, between subsystem, have the mutual and coupling of the different ambits such as very complicated mechanics, hydraulic pressure, control.
Through the literature search of prior art is found, the people such as Wang Bangfeng are in the simulation study of process " the crane hydraulic lifting mechanism hoist " literary composition, lifting mechanism is equivalent to mass-spring system, set up the multiple degrees of freedom non-linear dynamic model than more complete hydraulic lifting mechanism, application Matlab software carries out emulation and solves.This technology can not accurate description mechanical system and the coupled relation of hydraulic system, and control system is for the impact of lifting mechanism, cannot set up complete multi-field model.The people such as Ma Changlin are in " the hydraulic-driven Lift Mechanism Simulation research based on Simulink " literary composition, set up hydraulic lifting mechanism model based on 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 hydraulic system model, then according to the parameter association relation of hydraulic pressure, mechanical system, two system model organic integration are got up, obtain comparatively complete hydraulic-driven Lift Mechanism Simulation model.
In Multi-Domain Simulation-Mechanics and Hydraulics of an Excavator (raise simulation: the mechanics of an excavator and hydraulic) literary composition more, propose, based on Modelica/dymola, excavator system is carried out to simulation modeling, the complete model that this model has comprised the three-dimensional mechanism of envelope, comprise movement arm, dipper, scraper bowl and fluid-percussion model of isolated, Modelica language has well solved multi-body system, the compatibling problem of hydraulic system, different hydraulic circuits are well assessed, and by means of Dymola simulated properties, make user likely almost in real situation, observe motion.But model is to control by a series of equations of motion, model buildings is too complicated, can not represent vivid, intuitively excavator system, is difficult to use, learn for user.
[summary of the invention]
Object of the present invention is exactly will solve above-mentioned deficiency and a kind of hydraulic-driven Lift Mechanism Simulation modeling method based on Modelica language is provided, and has modularization, stratification, standardization and parametrization, and realistic model interoperability and the strong feature of reusability.
Design for achieving the above object a kind of hydraulic-driven Lift Mechanism Simulation modeling method based on Modelica language, it comprises the steps:
1) system is disassembled: first hydraulic lifting system is disassembled, decomposed according to the functions of actual physical system, its decomposition is divided into mechanical system module and hydraulic system module; Described hydraulic lifting system is disassembled out a series of component modules that have standalone feature, and these modules, by certain rule, are organized into the partial model storehouse with relative independentability, and by model simplification tectonic model storehouse;
2) component modeling: the interface that first builds same class element, interface is divided into input interface and output interface, the output interface of last element is connected with the input interface of a rear element, transmission between dissimilar element will ensure that it has identical interface, and the physical model of same parts is described by the system of equations between its input interface, output interface;
3) system-level modeling: by using corresponding " void " model in parts to replace hydraulic lifting mechanism realistic model, graphic interface function by platform: window management, drag and drop, movement " void " model icon, interface connection and interpolation parameter, system of equations build;
4) Simulation Control: Simulation Control mainly comprises algorithm setting, control time setting, parameter setting;
5) last, the demonstration of simulation result curve.
Described mechanical system module is disassembled into reel, wire rope, pulley blocks and suspension hook module, and described hydraulic system module is disassembled into engine, hydraulic pump, directional control valve, surplus valve, equalizing valve and oil motor module.
Described in the time of component modeling, adopt parametric modeling, the component models building is encapsulated.
Described the mechanical system module building and hydraulic system module are checked and be divided into functional inspection and grammer inspection.
Described simulation result curve demonstration comprises the poor curve of oil motor pressure at two ends, 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 built hydraulic lifting mechanism model, the hydraulic lifting mechanism model storehouse building according to the feature of Modelica language object-oriented and applicable complication system, Multi-disciplinary Modeling, hydraulic lifting train of mechanism level model and partial model, and even component-level Models Sets becomes a holistic approach, thereby the process that hoisting system inside is more complicated is carried out to simulation analysis, realized the Data support of Computer Simulation to design.In addition, Modelica language can well merge hydraulic pressure, machinery, the control in hydraulic lifting train of mechanism, Modularization modeling, the description characteristic of Modelica language non-causal simultaneously, with and powerful Mathematical ability, do not need developer to carry out any conversion to Nonlinear System of Equations, greatly improved modeling efficiency.Therefore, the present invention is integrated multidisciplinary, multi-level realistic model, can be from different perspectives with details on the parts of complicated hydraulic lifting mechanism are interacted and are influenced each other and overall performance is studied, thereby reduce cyclic design and test number (TN), system and modular construction improvement etc. are provided support.
[brief description of the drawings]
Fig. 1 is structured flowchart schematic diagram of the present invention;
Fig. 2 is modeling schematic diagram one of the present invention;
Fig. 3 is modeling schematic diagram two of the present invention;
Fig. 4 is simulation flow schematic diagram in the present invention;
Fig. 5 is realistic model schematic diagram in the present invention.
[embodiment]
Below in conjunction with accompanying drawing, the present invention is done to following further illustrating:
The hydraulic-driven Lift Mechanism Simulation modeling procedure that the present invention is based on Modelica language comprises: system is disassembled, component modeling and system-level modeling.According to modularization decomposition principle and Object-Oriented Simulation method, in this model of structure process, first hydraulic lifting system is disassembled, decompose according to the functions of actual physical system, first its decomposition is divided into mechanical system and hydraulic system.
Mechanical system module is made up of reel, wire rope, pulley blocks and suspension hook.Hydraulic system module provides the power of hydraulic lifting mechanism kinematic, and in engineering machinery, hydraulic system is a most important ring, and hydraulic system is determining maximum lifting height, transmission power etc.In hydraulic system, split according to actual physics system, be divided into a series of elements that have standalone feature 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 by model simplification tectonic model storehouse.
In ministerial level modeling, first build the interface of same class element, so-called same class element, namely the above-mentioned system of carrying out is disassembled and middle machinery, hydraulic pressure etc. can be classified as to a class, the most obvious feature of class is exactly identical physics background, interface is divided into input interface and output interface, interface has ensured the parameter transmission between element, and the output interface of last element is connected with the input interface of a rear element.Transmission between dissimilar element will ensure that it has identical interface, as oil motor can be connected with rotating element, is mainly that they have common revolute interface.The physical model of same parts is described by the system of equations between its input interface, output interface.In the time building parts, also adopt parametric modeling, be conducive to reusing of model.The parts that build are encapsulated, and user only need to revise its parameter, just applicable different model system.
System-level modeling, by using corresponding " void " model (being component icon) in parts to replace hydraulic lifting mechanism realistic model; Graphic interface function by platform: window management, drag and drop, movement " void " model icon, the structures such as interface connection and interpolation parameter, system of equations.
The present invention breaks through the limitation that in the past built hydraulic lifting mechanism model, on hydraulic lifting mechanism model builds in the past, or builds hydraulic lifting train of mechanism by procedure-oriented, and model reusability is poor, and workload is large.Be that model only relates to particular area Ru Zhihan mechanism, be difficult to complicated oil circuit and the interactional nonlinear relationship of mechanism kinematic of correction lifting machine.Make simulation result depart from real data.And the hydraulic lifting mechanism model storehouse building according to the feature of Modelica language object-oriented and applicable complication system Multi-disciplinary Modeling, hydraulic lifting train of mechanism level model and partial model, and even component-level Models Sets becomes a holistic approach, can carry out simulation analysis to the more complicated process in hoisting system inside.Overcome above-mentioned two shortcomings, realized the Data support of Computer Simulation to design.
The present invention has also changed and only payes attention at present concrete model programming 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 complicated pump truck are interacted and are influenced each other and overall performance is studied, thereby reduce cyclic design and test number (TN), system and modular construction improvement etc. are provided support.
As shown in Figure 1, in the present invention, mechanical system module becomes model bank with hydraulic system module construction, these model banies have formed hydraulic lifting train of mechanism jointly, this system-level model connects simulation control subsystem by Modelica language after having built, and simulation control subsystem mainly comprises algorithm setting, control time setting, parameter setting and simulation result output.
As shown in Figure 2, first, according to the principle of Modularization modeling and the actual physics process of object, the order needing according to system-level demand → subsystem irrespective of size needs → component-level, hydraulic lifting train of mechanism is carried out to modularization decomposition, be broken down into the system by component combination; According to the characteristic feature of subsystem or parts and corresponding physical law, set up mathematical model, use Modelica language, in existing module basis, inherit or work out new program or package interface; There is component models, according to the order in component models storehouse → subsystem module storehouse → system module storehouse, set up complete module library; There is module library, just can utilize component models to be combined into the object of required research, i.e. hydraulic lifting train of mechanism model.Module in module library can customize as required, and the interface that only need to understand under normal conditions module just can use module, does not need to understand the realization of module.Next to utilize exactly existing module, set up the model of whole object, carry out simulation calculation.According to the difference of the pump truck type of required research, user can directly use existing modular model, or further expands on the basis of inheriting original model.Then on the basis of these module combinations, set up the complete model of hydraulic lifting train of mechanism, and the parameter of all parts and the initial value of parameter in setting model, finally so just obtain the new complete realistic model of hydraulic lifting train of mechanism that need to set up according to user.
As shown in Figure 3, 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 Modelica language provides, as the interface in primary element storehouse etc., in modeling process, adopt parametric modeling, the advantage of parametric modeling is exactly directly perceived, understand, reusability is strong, then the model building is checked, check and be mainly divided into functional inspection and grammer inspection, can the main inspection model of functional inspection reach designing requirement, can the main inspection model of grammer inspection move, functional mistake will be got back on initial mathematical modeling, grammer mistake mainly appears in programming.After final mask moves successfully, can encapsulate model.
As shown in Figure 4, in building hydraulic lifting train of mechanism model bank, the first step is that the component such as machinery, hydraulic pressure by pulling model bank is built real physical system, second step is that the model to putting up carries out pattern checking, 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 met, nature is failed at this model of simulation process, the 2nd, the grammer of operational applications platform, logical check, MWorks and dymola have this function, whether compatible between checking module, whether grammer is correct, can meet logic, in the time occurring that the namely software inspection of the second situation makes mistake, calculating cannot go on, and checking the wrong situation that occurs, model is not mistake of grammer likely, just function does not reach requirement, therefore in order to ensure the correct of simulation result, two kinds of inspections must all be carried out, the 3rd step is model compiling and emulation, before the compiling of model and emulation, require each parameter of module to set, because the present invention adopts modularization, parametric modeling, parameter is apparent on the impact of model emulation result, in the time carrying out emulation, must ensure that parameter meets physical conditions, parametrization has ensured the strong feature of reusability of module simultaneously, after putting up a class lifting machine model, can be preserved, just can be carried out dynamics simulation to the lifting mechanism of different model as long as then revise wherein parameter, the 4th step is to check sim file, carries out after emulation software systems output sim file, the 5th step is to check Output rusults, Output rusults is mainly the demonstration of curve result, curve result can provide oil motor pressure at two ends poor curve, the results such as drum speed curve, jib and lift heavy displacement curve, steel wire rope tension curve, can meet nearly all designing requirement parameter of deviser.
As shown in Figure 5, after mechanical system module and hydraulic system module are set up, according to the principle of work of hydraulic lifting train of mechanism, under MWorks platform, by drag and drop element, element interface connection, component parameters, the modeling realizing lifting mechanism system is set.Hydraulic system model is connected by oil motor with mechanical system model, in modeling process, changing-breadth system and jib are equivalent to mass-spring system to be connected with lifting mechanism, support ground and also regard elastic body as, obtain the realistic model of certain hydraulic lift lifting mechanism on MWorks platform shown in this figure, the dynamic response of simulation analysis lift heavy liftoff instant system.
Many coupling hydraulic pressure lifting mechanism analogue systems that the present invention is based on Modelica language and Mworks platform, have modularization, stratification, standardization and parametrization, the feature that realistic model interoperability and reusability are strong.The seamless links such as many body machineries storehouse, rotating machinery storehouse and the signal library that meanwhile, the present invention can provide with Modelica language are used.Not only can on the MWorks platform with exploitation Ruan Kong company of unit, use in Suzhou, can also use at the dymola platform of the Sweden that supports Modelica linguistic norm, software library of the present invention can carry out dynamics simulation to different model hydraulic lifting machine system, user can be known the motion of lift heavy and wire rope by this analogue system, a series of dynamic perfromances such as vibration, impact and hydraulic load, for hydraulic lifting machine, deviser provides reference data and technical support.The present invention adopts open modeling pattern, and user in use can expand this software library according to the demand of self.
Claims (1)
1. the hydraulic-driven Lift Mechanism Simulation modeling method based on Modelica language, is characterized in that, it comprises the steps:
1) system is disassembled: first hydraulic lifting system is disassembled, decomposed according to the functions of actual physical system, its decomposition is divided into mechanical system module and hydraulic system module; Described hydraulic lifting system is disassembled out a series of component modules that have standalone feature, and these modules, by certain rule, are organized into the partial model storehouse with relative independentability, and by model simplification tectonic model storehouse; Described mechanical system module is disassembled into reel, wire rope, pulley blocks and suspension hook module, and described hydraulic system module is disassembled into engine, hydraulic pump, directional control valve, surplus valve, equalizing valve and oil motor module;
2) component modeling: in the time of component modeling, adopt parametric modeling, the component models building is encapsulated, concrete steps are: the interface that first builds same class element, interface is divided into input interface and output interface, the output interface of last element is connected with the input interface of a rear element, and the transmission between dissimilar element will ensure that it has identical interface, and the physical model of same parts is described by the system of equations between its input interface, output interface;
3) system-level modeling: by using corresponding " void " model in parts to replace hydraulic lifting mechanism realistic model, graphic interface function by platform realizes: window management, drag and drop, movement " void " model icon, interface connects and adds parameter, system of equations structure, and the mechanical system module building and hydraulic system module are carried out to functional inspection and grammer inspection;
4) Simulation Control: Simulation Control mainly comprises algorithm setting, control time setting, parameter setting;
5) last, the demonstration of simulation result curve, comprises the poor curve of oil motor pressure at two ends, drum speed curve, jib and lift heavy displacement curve, steel wire rope tension curve.
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| CN102663196B (en) * | 2012-04-17 | 2014-04-16 | 中南大学 | Automobile crane hoisting simulation method on basis of virtual reality |
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| CN112560266B (en) * | 2020-12-15 | 2024-05-28 | 北京动力机械研究所 | Method and device for constructing simulation platform with same design for multiple types and specialized parts |
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| CN114721776B (en) * | 2021-04-13 | 2024-09-10 | 三峡大学 | Modelica simulation component generation method of Matlab language |
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