CN102566438B - Modelica language-based simulation modeling method of amplitude-changing mechanism of automobile crane - Google Patents
Modelica language-based simulation modeling method of amplitude-changing mechanism of automobile crane Download PDFInfo
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Abstract
The invention relates to the technical field of simulation systems of amplitude-changing mechanisms of automobile cranes, particularly to a Modelica language-based simulation modeling method of the amplitude-changing mechanism of the automobile crane. The Modelica language-based simulation modeling method comprises the following steps: 1) dismantling the system; 2) performing component-level modeling; 3) performing sub-system-level modeling; 4) performing system-level modeling; 5) performing simulation control; and 6) finally demonstrating a simulation result. The Modelica language-based simulation modeling method disclosed by the invention adopts a modeling language Modelica of a multi-domain uniform object-oriented physical system for performing mechanical, hydraulic, control and other multi-domain coupled modeling and simulation on the amplitude-changing mechanism of the automobile crane, and various performance curves in two models, namely control and non-control, are analyzed and compared, so that the model adopting the method is proved to be capable of greatly improving the stability of the whole machine in comparison with mechanical and hydraulic models, and avoiding great hydraulic shock and vibration.
Description
[technical field]
The present invention relates to truck-mounted crane derricking gear analogue system technical field, specifically a kind of truck-mounted crane derricking gear emulation modelling method based on Modelica language.
[background technology]
Truck-mounted crane, owing to utilizing automobile chassis, has travelling by performance of automobile, maneuverability, and travel speed is fast, transfers to the advantage such as can devote oneself to work rapidly after Active workings, is widely used in cargo handling, transfer, equipment is installed and the occasion such as work high above the ground.And derricking gear is the important component part of truck-mounted crane, its structural shape and working condition are various, and work characteristics intermittently, repeat, circulation.Starting, braking procedure Zhong， mechanism and structure are being born strong shock and vibration frequently, are the multi-field coupled systems such as typical machinery, hydraulic pressure, control.So, to truck-mounted crane derricking gear rationally, science, comprehensively Dynamic Modeling emulation multi-field and that deposit just seems particularly important and urgent.
The changing-breadth system of truck-mounted crane is mainly comprised of machinery and two fields of hydraulic pressure, and traditional particular area modeling and simulation analysis tool, the obviously task of not competent its overall performance simulation analysis.For further studying and improve the dynamic perfromance of truck-mounted crane changing-breadth system, also must take into full account the impact of control section on machine system dynamic response.Like this, the modeling of system just relates to a plurality of fields such as machinery, hydraulic pressure and control.And if consider merely the characteristic of truck-mounted crane derricking gear self mechanical system, can adopt machinery system dynamics analysis software instrument (for example MSC_ADMAS) to carry out emulation; If but consider whole changing-breadth system dynamic property, stability etc., these characteristics not only relate to the dynamics of mechanical system, and relate to hydraulic systems, electronics electric-control system etc., therefore adopt single instrument to be difficult to these because the characteristic that the coupling of a plurality of different field subsystems causes is analyzed accurately, and can not consider the Energy Coupling effect of machinery, hydraulic pressure and control.
For the multi-field problem of typical case in above truck-mounted crane derricking gear, in engineering, also produced particular area emulation tool has been carried out to method integrated or that carry out multi-field continuation, for example, the model of machinery system dynamics simulation analysis software ADAMS is exported to MATLAB/Simulink model, then be integrated in MATLAB/Simulink software, and carry out large-scale associative simulation with hydraulic power simulation analysis software AMSim.Although this thinking provides a kind of method that solves the Coupled Dynamics emulation of multipotency territory, this kind of method is difficult to accomplish the seamless integrated of multiple different instruments.And the problem of different field adopts different instruments to set up different models to carry out emulation, certainly will to run into the challenge that data are transmitted, model repeats and is not reusable, can cause the problem of the aspects such as simulation accuracy, modeling efficiency, simulation velocity.
Modelica language is OO emulational language, and it is the modeling basis of Mworks.Modelica language is for solving unified Modeling and the collaborative simulation of multi-field physical system, on the basis of conclusion and unified previous multi-modeling language, and a kind of declarative modeling language based on equation proposing in 1997.It adopts math equation to describe physics law and the phenomenon of different field subsystem, assembly connection mechanism implementation model according to the topological structure of physical system based on language inherence forms and is multi-field integrated, by solving differential algebraic equations system, realizes simulation run.
[summary of the invention]
Object of the present invention is exactly will solve above-mentioned deficiency and a kind of truck-mounted crane derricking gear emulation modelling method based on Modelica language is provided, there is modularization, stratification, standardization and parametrization, and realistic model interoperability and the strong feature of reusability.
Design for achieving the above object a kind of truck-mounted crane derricking gear emulation modelling method based on Modelica language, it comprises the steps:
1) system is disassembled: first real car variable amplitude mechanism for crane is carried out to system-level disassembling, build series of physical system model, comprise mechanical subsystem, hydraulic subsystem and control subsystem, and then the mechanical subsystem obtaining, hydraulic subsystem and control subsystem are decomposed, obtain the element of different field;
2) component-level modeling: the primary element obtaining for decomposition carries out modeling analysis, build the interface of element, first build the interface of 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 guarantee 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) subsystem irrespective of size modeling: the element that utilizes component-level modeling to obtain, and in conjunction with the element in the basic storehouse of Modelica and Hylib storehouse, mechanical subsystem to truck-mounted crane derricking gear, hydraulic subsystem and control subsystem are built, described mechanical subsystem comprises brace table, revolute pair, arm, described hydraulic subsystem comprises oil cylinder, hydraulic pump, hydraulic cylinder, surplus valve, proportional servo valve, equalizing valve, retaining valve, described control subsystem comprises speed pickup, displacement transducer, totalizer, subtracter and control element, the signal that speed pickup is recorded, by closed loop Differential negative feedback, process to control the openings of sizes of proportional servo valve in hydraulic cylinder,
4) system-level modeling: the realistic model that replaces element or subsystem by corresponding " void " model in use parts; By the graphic interface function of platform: window management, drag and drop, movement " void " model icon, interface connect and add parameter, system of equations builds;
5) Simulation Control;
6) last, simulation result demonstration.
Described component-level modeling, the modeling of subsystem irrespective of size, system-level modeling adopt open modeling pattern.
The described parametric modeling that adopts when building element.
Beneficial effect of the present invention: this method is for the deficiencies in the prior art, the modeling and simulation that adopts a kind of modeling language Modelica of multi-field unified object-oriented physical system to carry out the multi-field couplings such as machinery, hydraulic pressure and control of truck-mounted crane derricking gear, and by analyzing the various performance curves in relatively control and two kinds of models of non-control, thereby proof adopts the model of this kind of method, can make complete machine stability obtain larger raising compared with mechanical-hydraulic model, and avoid large hydraulic shock and vibration.
[accompanying drawing explanation]
Fig. 1 is the physical construction schematic diagram of derricking gear;
Fig. 2 is the luffing hydraulic cylinder twisted point position view of Fig. 1;
Fig. 3 is the hydraulic part schematic diagram of derricking gear;
Fig. 4 is the control element icon schematic diagram after encapsulating;
Fig. 5 is uncontrolled derricking gear Mworks platform model schematic diagram;
The derricking gear Mworks platform model schematic diagram that Fig. 6 controls for band;
Fig. 7 is the 3D flash demo schematic diagram of derricking gear system;
Fig. 8 is the proportional servo valve input signal contrast schematic diagram without controlling and have control system;
Fig. 9 is the contrast schematic diagram without controlling and have the suspension arm variable-amplitude angle of control system;
Figure 10 is the contrast schematic diagram without controlling and have the suspension arm variable-amplitude angular velocity of control system;
Figure 11 is the pivoting support center vertical direction stress curve contrast schematic diagram without controlling and have control system;
Figure 12 is the contrast schematic diagram without controlling and have the luffing hydraulic cylinder top hydraulic coupling of control system;
Figure 13 is the contrast schematic diagram without controlling and have the hydraulic pump top hole pressure of control system;
In figure: 1 is that brace table, 2 is that luffing hydraulic cylinder, 3 is back that the revolute pair, 4 between brace table and arm is that arm, 5 is that control element TimeTable, 6 is that angular transducer, 7 is that totalizer, 8 is that angular-rate sensor, 9 is that negative feedback component, 10 is that angular velocity constant, O are that arm root twisted point, C are that luffing hydraulic cylinder root twisted point, A (B) are the supporting twisted point of luffing hydraulic cylinder and arm.
[embodiment]
Below in conjunction with accompanying drawing, the present invention is done to following further illustrating:
The truck-mounted crane derricking gear simulation modeling step that the present invention is based on Modelica language comprises: system is disassembled, component-level modeling, the modeling of subsystem irrespective of size and system-level modeling, comprises top-down system decomposition and system building from bottom to top.First, deviser carries out system-level disassembling to real car variable amplitude mechanism for crane, builds series of physical system model, comprises mechanical system, hydraulic system and control system etc., and then the subsystem obtaining is decomposed, and obtains the element of different field; Then the primary element obtaining for decomposition carries out modeling analysis, uses above primary element to be built into respectively the subsystems of derricking gear, and then uses and build the subsystem obtaining and set up complete truck-mounted crane derricking gear system.For truck-mounted crane derricking gear system, mechanical subsystem comprises brace table, revolute pair, arm etc., hydraulic system comprises oil cylinder, hydraulic pump, hydraulic cylinder, surplus valve, proportional servo valve, equalizing valve, retaining valve etc., and control subsystem comprises speed pickup, displacement transducer, totalizer, subtracter and control element TimeTable.Above model element not only can be used on the MWorks platform of Suzhou Tong Yuanruankong company exploitation, can also support the dymola platform of the Sweden of Modelica linguistic norm to use.The present invention simultaneously adopts open modeling pattern, and user in use can expand this software library according to the demand of self.
In the process of component-level modeling, the basic storehouse of Modelica and other business or non-commercial storehouse provide some primary elements that can directly use, singularity for practical set-up system, the element that some are not included in the basic storehouse of Modelica and business storehouse or non-commercial storehouse, can build by self-developing.While building the interface of element, first be same class element, namely the above-mentioned system of carrying out is disassembled and middle machinery, hydraulic pressure etc. is respectively 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 guaranteed 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 guarantee 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.When 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.
In the process of subsystem irrespective of size modeling, the element that utilizes component-level modeling to obtain, and in conjunction with the element in the basic storehouse of Modelica and Hylib storehouse, the mechanical system of truck-mounted crane derricking gear, Hydraulic system and control system are built.The realistic model that replaces element or subsystem by corresponding " void " model (being component icon) in use parts; By the graphic interface function of platform: window management, drag and drop, movement " void " model icon, interface connects and adds the structures such as parameter, system of equations.
As shown in annex map 1, Fig. 2, the physical construction of truck-mounted crane derricking gear is comprised of arm, brace table and luffing hydraulic cylinder.By controlling the flexible of luffing hydraulic cylinder, drive arm to rotate in perpendicular relative to brace table, to realize luffing.The research object QY100 truck-mounted crane of the present embodiment adopts FC single hydraulic cylinder changing-breadth system, and derricking gear designs according to the physical dimension of 31 heavy industry QY100 model cranes.Fig. 2 is the mutual alignment of arm and luffing hydraulic cylinder twisted point, and arm root twisted point O point and hydraulic cylinder root twisted point C point can be determined according to the criterion of variable amplitude mechanism for crane system.And the supporting twisted point A(B of luffing hydraulic cylinder and arm) position determine by the following method, twisted point A(B) need satisfied structural condition be: when arm lays respectively at minimum angle of elevation and maximum elevation state, luffing hydraulic cylinder length is shortest length
and maximum length
owing to adopting single-stage luffing hydraulic cylinder, therefore its maximum length and fundamental length have the L of relation
max=(1.7～1.8) L
min.Available triangle formula is tried to achieve the position of A (B) point thus.The pass at its limit and angle is:
As shown in annex map 3, Multi-disciplinary Modeling for the luffing hydraulic cylinder of truck-mounted crane, in Modelica hydraulic pressure Hylib2.4 storehouse, hydraulic cylinder is unidimensional system, stroke that can only output hydraulic pressure cylinder, thrust, speed etc., but can not express the direction of corresponding output, and many rigid bodies storehouse of using is three-dimensional in crane amplitude variation system modelling process shown in the present.Many rigid bodies of two dimension storehouse element is converted into three-dimensional machinery power by the hydraulic coupling of hydraulic cylinder, and the three-dimensional exploded of power determines by inputting, export physical construction.In model, the major parameter of hydraulic cylinder is: piston rod length 4m, hydraulic cylinder length 4.3m, rodless cavity area 0.1 ㎡, piston rod area 0.04 ㎡.
As shown in annex map 4, be the control element TimeControl input and output icon after encapsulation, realize by programming its inside.For realizing suspension arm variable-amplitude angle, control the control element TimeControl of function, this element can accurately be controlled luffing hydraulic cylinder bi-directional expansion by controlling the openings of sizes of solenoid directional control valve, and avoid solenoid directional control valve moment standard-sized sheet or the moment hydraulic shock that causes of full cut-off, at t
0valve is slowly opened constantly, and when physical location is about to reach behind target location, valve is slowly closed, to guarantee that when the derricking gear first motion, the smooth starting of arm energy, when arm is about to run to target location, adjust in time control signal, make variable phase angle speed be reduced to gradually zero.Control element TimeControl provides the output between-1～1, and its output form is as follows:
(a) TimeControl output when arm hoists | TimeControl output when (b) arm declines
Wherein, t
0and t
2be respectively that arm hoists and the initial time that declines, with parametric form setting; t
1and t
3be respectively soon arrival of arm and hoist and decline target location constantly, by angular transducer measurement, calculated.Be input as the measured arm of arm and the brace table twisted point place angular transducer angle that hoists.
As shown in annex map 5, Fig. 6, the mechanical part of arm and brace table is mainly that interface, element, kinematic pair, the sensor based in the basic storehouse of Modelica built by distortion and secondary development, and the unification of all metal material density is set to 7.7g/cm
3.Hydraulic unit is mainly that the various Hydraulic Elements such as surplus valve, proportional servo valve, retaining valve etc. are out of shape and secondary development two is built based on oil cylinder, hydraulic pump, hydraulic cylinder in Hylib2.4 storehouse.In modeling, adopt 3-position 4-way proportional reversing valve, maximum oil pressure relief is set as 80MPa, and the delivery rate of hydraulic pump is set as 40L/min.Based on above-mentioned theory and principle, the MWorks platform model that the QY100 model truck-mounted crane derricking gear of take is simulation object structure as shown in Figure 5 and Figure 6.
In the present invention, angular transducer AngleSensor is used for measuring change angle, SpeedSensor is used for measuring variable phase angle speed, the signal finally sensor being recorded, by closed loop Differential negative feedback, process to control the openings of sizes of hydraulic proportional servo-valve in hydraulic cylinder, to guarantee when the luffing starting and ending, telescopic arm energy smooth starting and stopping, luffing can remain a constant speed in amplitude changing process.
Annex map 8 is to Figure 13 shows that the visual simulation result of part, and wherein dotted line and solid line represent respectively in changing-breadth system without the various change curves of controlling and have control system.By contrast, can see intuitively, adopt truck-mounted crane model that the method for the invention sets up when at luffing starting and ending, telescopic arm energy smooth starting and stopping, and the luffing that can remain a constant speed in amplitude changing process.The changing-breadth system of not controlling by PD, has large hydraulic shock in its luffing hydraulic cylinder, and very large impulsive force is caused in revolution centre of support, not only can avoid hydraulic shock, and can obtain derricking speed stably and control by PD.
In the present invention, deviser be take QY100 truck-mounted crane as research object, the Mworks platform of utilization based on modelica language set up the Dynamics Simulation Model of the multi-field couplings such as the machinery, hydraulic pressure of its changing-breadth system, and the amplitude that hoists of derricking gear and speed are carried out to accurate PD control model, write control program; The truck-mounted crane changing-breadth system course of work is carried out to dynamic simulation, analyze and compared in control and two kinds of situations of non-control, the stress curve of the Hydraulic Elements such as hydraulic cylinder, and the effect force and moment to truck-mounted crane revolution supporting mechanism.Simulation result shows, PD controls and guaranteed that arm can smooth starting when luffing starting and ending and stop, and the luffing that can remain a constant speed in amplitude changing process.Make the stability of whole system the highest, avoid producing large shock and vibration; Result verification science and the feasibility of the multi-field multiple physical field coupling model of modelica of setting forth herein.For the engineering design of truck-mounted crane changing-breadth system provides theoretical foundation, in the middle of the modeling and dynamic analysis of the Construction Machinery System that its method and program can be widely used in is mechanical, electrical, liquid, control are coupled, the research of large complicated Construction Machinery System is had to certain directive significance.
Claims (3)
1. the truck-mounted crane derricking gear emulation modelling method based on Modelica language, is characterized in that, comprises the steps:
1) system is disassembled: first real car variable amplitude mechanism for crane is carried out to system-level disassembling, build series of physical system model, comprise mechanical subsystem, hydraulic subsystem and control subsystem, and then the mechanical subsystem obtaining, hydraulic subsystem and control subsystem are decomposed, obtain the element of different field;
2) component-level modeling: the primary element obtaining for decomposition carries out modeling analysis, build the interface of element, first build the interface of 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 guarantee 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) subsystem irrespective of size modeling: the element that utilizes component-level modeling to obtain, and in conjunction with the element in the basic storehouse of Modelica and Hylib storehouse, mechanical subsystem to truck-mounted crane derricking gear, hydraulic subsystem and control subsystem are built, described mechanical subsystem comprises brace table, revolute pair, arm, described hydraulic subsystem comprises oil cylinder, hydraulic pump, hydraulic cylinder, surplus valve, proportional servo valve, equalizing valve, retaining valve, described control subsystem comprises speed pickup, displacement transducer, totalizer, subtracter and control element, the signal that speed pickup is recorded, by closed loop Differential negative feedback, process to control the openings of sizes of proportional servo valve in hydraulic cylinder,
4) system-level modeling: the realistic model that replaces element or subsystem by corresponding " void " model in use parts; By the graphic interface function of platform: window management, drag and drop, movement " void " model icon, interface connect and add parameter, system of equations builds;
5) Simulation Control;
6) last, simulation result demonstration.
2. the method for claim 1, is characterized in that: described component-level modeling, the modeling of subsystem irrespective of size, system-level modeling adopt open modeling pattern.
3. method as claimed in claim 2, is characterized in that: the described parametric modeling that adopts when building element.
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| CN103064297B (en) * | 2012-09-25 | 2016-01-13 | 大连理工大学 | Hoisting simulation method is worked in coordination with based on kinematics and dynamic (dynamical) two-track dynamic formula crane |
| CN105329788B (en) * | 2015-12-10 | 2017-05-17 | 青岛海西重机有限责任公司 | Uniform velocity amplitude-varying control method for jib crane |
| CN108732938A (en) * | 2017-04-14 | 2018-11-02 | 北京空间技术研制试验中心 | Dynamics and control of spacecraft model base construction method based on Modelica models |
| CN110245378A (en) * | 2019-05-09 | 2019-09-17 | 上海大学 | The mechanical-hydraulic coupling modeling method of bridge crane hoisting system |
| CN111414695A (en) * | 2020-03-19 | 2020-07-14 | 苏州同元软控信息技术有限公司 | Modelica-based joint simulation system and construction method thereof |
| CN113562640B (en) * | 2021-08-19 | 2023-08-15 | 三一汽车起重机械有限公司 | Amplitude-changing test method and test system for crane |
| CN113569341B (en) * | 2021-09-23 | 2022-07-01 | 中汽研汽车检验中心（天津）有限公司 | Design method of cross-platform simulation architecture of automobile domain |
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