CN104050312B - Electromechanical combination emulation mode - Google Patents
Electromechanical combination emulation mode Download PDFInfo
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- CN104050312B CN104050312B CN201410084709.4A CN201410084709A CN104050312B CN 104050312 B CN104050312 B CN 104050312B CN 201410084709 A CN201410084709 A CN 201410084709A CN 104050312 B CN104050312 B CN 104050312B
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Abstract
The present invention relates to a kind of electromechanical combination emulation modes.It is characterized in that designing the mechanical part of electronic product at UGNX, electric part is designed at Matlab/Simulink, then the two carries out associative simulation, analyzes the dynamic characteristic of some products.The present invention uses associative simulation, can reflect in control system the physical characteristic of mechanical part and kinetic characteristics more fully hereinafter, make the confidence level higher of Mechano-Electronic System Simulation.
Description
Technical field
The present invention relates to a kind of electromechanical combination emulation modes.
Background technology
With the promotion of the market demand and advancing by leaps and bounds for science and technology, the requirement of electromechanical product design exploitation is also increasingly
It is high.Traditional exploitation often uses physical varification method, and research cycle is long, costly, efficiency is low, and it is impossible to meet the modern times
The rapidity and diversity requirements of design can not cope with the market demand complicated and changeable, therefore according to dynamic performance index
It is required that carrying out deisgn product, each section is designed from the orientation optimization of system, can just design the product of function admirable, meets and increasingly swashs
Strong market competition and the requirement of further harsh technology, so structure electromechanical integration union simulation platform, there is product development
Strategic meaning.Traditional electromechanical integration emulation, often uses rigid motor or desired motor, with electronic product to
At a high speed, the development of high-precision aspect, therefore it is necessary to build the dynamic simulation platform of Mechatronic Systems, design initial stage just in Mechatronic Systems
The dynamic characteristic of consideration system.
Invention content
According to the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is to：There is provided one kind can be joined
Close the electromechanical combination emulation mode of emulation.
Electromechanical combination emulation mode provided by the present invention, characterized in that the Machinery Ministry of electronic product is designed at UGNX
Point, electric part is designed at Matlab/Simulink, then the two carries out associative simulation, and the dynamic for analyzing some products is special
Property.
Design procedure under UGNX is to design mechanical structure first, then carry out mechanical structure Kinematics Simulation, then into
Entering dynamics Collaborative Simulation Environment, then the revolute pair of setting input driving torque, then setting needs the detection parameters exported,
Then the interface of input/output is set, then solve and obtain the required information exchange mdl files of Matlab/Simulink；
Design procedure under Matlab/Simulink is to select motor type first, then builds driver and control strategy, then right
Motor position, speed are emulated, and output interface is then arranged, and then add the mechanical structure module generated under UGNX, then
Analyze various parameters；
Design under UGNX comprises the concrete steps that UGNX uses 8.0 versions,
1) start UGNX, " file → utility → user's default setting → motion analysis → analysis →
In ReccurDyn ", " control/dynamics → MATLAB executable files " finds matlab.exe by browsing, weight after determining
It is new to start UGNX, so that environmental variance is worked；
2) cylinder, diameter 50mm height 100mm are established under the modeling environment of UG, basic point is absolute coordinate (0,0,0),
Axial is Z-direction, material acquiescence；The moment of inertia Izc that cylinder is measured by " analysis → measurement body " is 480.48205267Kg.mm
^2；Also can manual calculations rotary inertia, for cylindrical pivot inertia, calculation formula isWherein M is cylinder constitution
Amount, can directly measure in software, and value 1.537542569Kg, D are cylinder diameter 50mm, can be calculated rotary inertia
For 0.000480482kgm2, as measured value；
3) enter Motion modules, select " dynamics " analysis type, advanced resolving Scheme Choice " collaborative simulation "；
4) connecting rod is set, qualitative attribute selects " automatic ", and system can calculate the barycenter and rotary inertia of connecting rod automatically, wherein
Izz is 480.482052673953Kg.mm^2, and Izz is the rotary inertia around z-axis, the Izc which measures and calculate with step 2)
It is worth identical；
5) be arranged kinematic pair J001, select revolute, connecting rod be above-mentioned connecting rod, origin be connecting rod the center of circle, that is, (0,
0,0) point, direction vector are Z-direction；
6) two Plant inputs are added：Pin_fuzai and Pin_T, the former is load torque, and the latter is the output of motor
Torque, that is, mechanical system input torque；
7) two scalar torque T _ fuzai, T_input of addition, the method for the amplitude use " f (x) functions " of torque,
Pin_fuzai and Pin_T is respectively added in torque, i.e., Pin_fuzai is added in T_fuzai, Pin_T is added to T_
In input；Then T_fuzai, T_input are respectively acting on the revolute defined in step 5)；When defined function,
Selection " movement → factory's input ", finds selected Plant inputs from insertion, and unit selects " sec " and " N-m "；
8) sensor Se001 is created, the effect of sensor is the acceleration for detecting revolute J001 around Z-direction；
9) it creates Plant and exports Pou_J001_AMAG, by Pou_J001_AMAG adding corresponding to sensor Se001
Speed passes in Simulink；
10) clearing scheme is created, analysis type is " control/dynamics ", and 0.5 second time, analysis step number is 1000, then
It solves, collaborative simulation mainframe program is " Simulink "；
11) by above step, two files are generated in the case where emulating current directory：* _ Plant.m and * _ PlantIO.m；
In Matlab/Simulink, steps are as follows for electric motor and controller system modelling, and Matlab versions are 2012A；
1) catalogue where working directory being set as UGNX simulation documents in Matlab, that is, * _ Plant.m and * _
Catalogue where PlantIO.m files runs * _ Plant.m files, obtains NXMotion Plant Block；Wherein Pin_T is
Simulink is transmitted to the input torque of mechanical structure in UGNX, and Pin_FuZai is load torque, and Pou_J001_AMAG is
UGNX feeds back to the angular acceleration of Simulink；
2) motor Controlling model is established, power supply uses three-phase alternating-current supply, frequency 50HZ, motor to use in Simulink
Three-phase asynchronous Ac motor in SimPowerSystems/Machines；The parameter of electric machine is：Rated power 3*746W, line voltage
220V, frequency 50HZ, 0.435 Ω of stator resistance, stator inductance 2*2.0e-3H, 0.816 Ω of rotor resistance, inductor rotor 2.0e- 3H, mutual inductance 69.31e-3H, rotor moment of inertia 0.089Kg.m^2, friction coefficient 0, number of pole-pairs 2, original state [1,0 0,0,0
0,0,0]；
3) output motor rotating speed and motor torque, the rotating speed Mecnanical.Rotor Speed (ω/m) of motor output,
It is then converted to common rev/min of dimension；Output torque Mechanical.Electromagnetic torque Te (N*m),
The rotating speed and output torque of motor output are separately connected oscillograph；
4) according to dynamic equilibrium principle, have for mechanism input shaft For angular speed, wherein load torque
T' preset values are 20N.m, and rotary inertia is directly measured from UGNX softwares, because being about the z axis, only to need to measure Jz, Jz
For the rotary inertia of z around the shaft, its value is 480.482052673953Kg.mm^2, and rotor also has rotation in Simulink
Inertia, therefore the rotary inertia that actually enters of motor is sum of the two, thus in UGNX mechanism rotary inertia, it is necessary to plus electricity
The rotary inertia of machine rotor, therefore self-defined Izz is sum of the two, that is, 480.482052673953+89000Kg.mm^2；
5) motor output torque is connected to Pin_T in NXMotion Plant Block to input, is 20 preset value
Load torque is connected to Pin_fuzai, and Pou_J001_AMAG is after mechanical structure angular acceleration, with rotary inertia quadrature and negative
Set torque is added, and together as the input torque of motor, forms closed loop；
6) NXMotion_step of Dynamic Model in NXMotion Plant Block is revised as 1000, makes UG
Simulation accuracy it is identical as Simulink；
7) setting simulation time is 0.5 second, operation emulation.
Advantageous effect possessed by the present invention is, can be by the physical characteristic and power of mechanical part using associative simulation
It learns characteristic more fully hereinafter to reflect in control system, makes the confidence level higher of Mechano-Electronic System Simulation.
Description of the drawings
Fig. 1 is the rotating speed of mechanical structure revolute in UGNX；
Fig. 2 is motor speed curve in Simulink；
Fig. 3 is motor torque curve in Simulink；
Fig. 4 is accelerating curve in UGNX；
Fig. 5 is load change curves in Simulink；
Specific implementation mode
The embodiment of the present invention is described further below in conjunction with the accompanying drawings：
Electromechanical combination emulation mode as shown in Figure 1, characterized in that the mechanical part of electronic product is designed at UGNX,
Electric part is designed at Matlab/Simulink, then the two carries out associative simulation,
Analyze the dynamic characteristic of some products.
Design procedure under UGNX is to design mechanical structure first, then carry out mechanical structure Kinematics Simulation, then into
Entering dynamics Collaborative Simulation Environment, then the revolute pair of setting input driving torque, then setting needs the detection parameters exported,
Then the interface of input/output is set, then solve and obtain the required information exchange mdl files of Matlab/Simulink；
Design procedure under Matlab/Simulink is to select motor type first, then builds driver and control strategy, then right
Motor position, speed are emulated, and output interface is then arranged, and then add the mechanical structure module generated under UGNX, then
Analyze various parameters；
Design under UGNX comprises the concrete steps that UGNX uses 8.0 versions,
1) start UGNX, " file → utility → user's default setting → motion analysis → analysis →
In ReccurDyn ", " control/dynamics → MATLAB executable files " finds matlab.exe by browsing, weight after determining
It is new to start UGNX, so that environmental variance is worked；
2) cylinder, diameter 50mm height 100mm are established under the modeling environment of UG, basic point is absolute coordinate (0,0,0),
Axial is Z-direction, material acquiescence；The moment of inertia Izc that cylinder is measured by " analysis → measurement body " is 480.48205267Kg.mm
^2；Also can manual calculations rotary inertia, for cylindrical pivot inertia, calculation formula isWherein M is cylinder constitution
Amount, can directly measure in software, and value 1.537542569Kg, D are cylinder diameter 50mm, can be calculated rotary inertia
For 0.000480482kgm2, as measured value；
3) enter Motion modules, select " dynamics " analysis type, advanced resolving Scheme Choice " collaborative simulation "；
4) connecting rod is set, qualitative attribute selects " automatic ", and system can calculate the barycenter and rotary inertia of connecting rod automatically, wherein
Izz is 480.482052673953Kg.mm^2, and Izz is the rotary inertia around z-axis, the Izc which measures and calculate with step 2)
It is worth identical；
5) be arranged kinematic pair J001, select revolute, connecting rod be above-mentioned connecting rod, origin be connecting rod the center of circle, that is, (0,
0,0) point, direction vector are Z-direction；
6) two Plant inputs are added：Pin_fuzai and Pin_T, the former is load torque, and the latter is the output of motor
Torque, that is, mechanical system input torque；
7) two scalar torque T _ fuzai, T_input of addition, the method for the amplitude use " f (x) functions " of torque,
Pin_fuzai and Pin_T is respectively added in torque, i.e., Pin_fuzai is added in T_fuzai, Pin_T is added to T_
In input；Then T_fuzai, T_input are respectively acting on the revolute defined in step 5)；When defined function,
Selection " movement → factory's input ", finds selected Plant inputs from insertion, and unit selects " sec " and " N-m "；
8) sensor Se001 is created, the effect of sensor is the acceleration for detecting revolute J001 around Z-direction；
9) it creates Plant and exports Pou_J001_AMAG, by Pou_J001_AMAG adding corresponding to sensor Se001
Speed passes in Simulink；
10) clearing scheme is created, analysis type is " control/dynamics ", and 0.5 second time, analysis step number is 1000, then
It solves, collaborative simulation mainframe program is " Simulink "；
11) by above step, two files are generated in the case where emulating current directory：* _ Plant.m and * _ PlantIO.m；
In Matlab/Simulink, steps are as follows for electric motor and controller system modelling, and Matlab versions are 2012A；
1) catalogue where working directory being set as UGNX simulation documents in Matlab, that is, * _ Plant.m and * _
Catalogue where PlantIO.m files runs * _ Plant.m files, obtains NXMotion Plant Block；Wherein Pin_T is
Simulink is transmitted to the input torque of mechanical structure in UGNX, and Pin_FuZai is load torque, and Pou_J001_AMAG is
UGNX feeds back to the angular acceleration of Simulink；
2) motor Controlling model is established, power supply uses three-phase alternating-current supply, frequency 50HZ, motor to use in Simulink
Three-phase asynchronous Ac motor in SimPowerSystems/Machines；The parameter of electric machine is：Rated power 3*746W, line voltage
220V, frequency 50HZ, 0.435 Ω of stator resistance, stator inductance 2*2.0e-3H, 0.816 Ω of rotor resistance, inductor rotor 2.0e- 3H, mutual inductance 69.31e-3H, rotor moment of inertia 0.089Kg.m^2, friction coefficient 0, number of pole-pairs 2, original state [1,0 0,0,0
0,0,0]；
3) output motor rotating speed and motor torque, the rotating speed Mecnanical.Rotor Speed (ω/m) of motor output,
It is then converted to common rev/min of dimension；Output torque Mechanical.Electromagnetic torque Te (N*m),
The rotating speed and output torque of motor output are separately connected oscillograph；
4) according to dynamic equilibrium principle, have for mechanism input shaft For angular speed, wherein load torque
T' preset values are 20N.m, and rotary inertia is directly measured from UGNX softwares, because being about the z axis, only to need to measure Jz, Jz
For the rotary inertia of z around the shaft, its value is 480.482052673953Kg.mm^2, and rotor also has rotation in Simulink
Inertia, therefore the rotary inertia that actually enters of motor is sum of the two, thus in UGNX mechanism rotary inertia, it is necessary to plus electricity
The rotary inertia of machine rotor, therefore self-defined Izz is sum of the two, that is, 480.482052673953+89000Kg.mm^2；
5) motor output torque is connected to Pin_T in NXMotion Plant Block to input, is 20 preset value
Load torque is connected to Pin_fuzai, and Pou_J001_AMAG is after mechanical structure angular acceleration, with rotary inertia quadrature and negative
Set torque is added, and together as the input torque of motor, forms closed loop；
6) NXMotion_step of Dynamic Model in NXMotion Plant Block is revised as 1000, makes UG
Simulation accuracy it is identical as Simulink；
7) setting simulation time is 0.5 second, operation emulation.
The rotating speed of mechanical structure revolute in UGNX as shown in Figure 1, motor speed in Simulink shown in Fig. 2, two figure waves
Shape is identical, rotating speed comparison when randomly choosing 0.4 second, and motor speed is 1437.76 revs/min in Simulink, and UG emulates data
8619 degrees seconds, corresponding rotating speed is 1436.5 revs/min, and numerical value difference is less than one thousandth, therefore joint simulation method is correct.
Fig. 3 is motor output torque curve, it can be seen that torque ripple is larger when startup, then gradually steady；
Fig. 4 is the angular acceleration curve of mechanical structure in UGNX, and acceleration is very big on startup, after operating steadily, is accelerated
Degree is zero；Fig. 5 is that motor input load change curve, startup start in Simulink, and acceleration is larger, so load is larger,
It is steady at load 20N.m after startup.Threephase asynchronous machine, which can be obtained, by associative simulation drives the dynamic of mechanical structure operation
State process compares speed conditions, obtains the correct conclusion of associative simulation, and obtains load variation, machinery in dynamic running process
Structure
The curves such as operating condition are laid a good foundation for more complicated Mechatronic Systems operational process dynamic analysis.
Claims (1)
1. a kind of electromechanical combination emulation mode, characterized in that the mechanical part that electronic product is designed at UGNX, in Matlab/
Electric part is designed under Simulink, then the two carries out associative simulation, analyzes the dynamic characteristic of electronic product；
Design procedure under UGNX is to design mechanical structure first, then carries out mechanical structure Kinematics Simulation, subsequently into dynamic
Mechanics Collaborative Simulation Environment, the then revolute pair of setting input driving torque, then setting need the detection parameters exported, then
The interface of input/output is set, then solves and obtains the required information exchange mdl files of Matlab/Simulink；
Design procedure under Matlab/Simulink is to select motor type first, then builds driver and control strategy, then right
Motor position, speed are emulated, and output interface is then arranged, and then add the mechanical structure module generated under UGNX, then
Analyze various parameters；
Design under UGNX comprises the concrete steps that UGNX uses 8.0 versions,
1) start UGNX, in " file → utility → user's default setting → motion analysis → analysis → ReccurDyn ",
" control/dynamics → MATLAB executable files " finds matlab.exe by browsing, restarts UGNX after determining, make
Environmental variance works；
2) cylinder, diameter 50mm height 100mm are established under the modeling environment of UG, basic point is absolute coordinate (0,0,0), axial
For Z-direction, material acquiescence；The moment of inertia Izc that cylinder is measured by " analysis → measurement body " is 480.48205267Kg.mm^2；
Also can manual calculations rotary inertia, for cylindrical pivot inertia, calculation formula isWherein M is cylinder weight,
It can directly measure in software, value 1.537542569Kg, D are cylinder diameter 50mm, and can be calculated rotary inertia is
0.000480482kg·m2, as measured value；
3) enter Motion modules, select " dynamics " analysis type, advanced resolving Scheme Choice " collaborative simulation "；
4) connecting rod is set, and qualitative attribute selects " automatic ", and system can calculate the barycenter and rotary inertia of connecting rod, wherein Izz automatically
It is the rotary inertia around z-axis, the Izc values which measures and calculate with step 2) for 480.482052673953Kg.mm^2, Izz
It is identical；
5) kinematic pair J001 is set, and it is above-mentioned connecting rod to select revolute, connecting rod, and origin is the center of circle of connecting rod, that is, (0,0,0)
Point, direction vector are Z-direction；
6) two Plant inputs are added：Pin_fuzai and Pin_T, the former is load torque, and the latter is the output torque of motor,
The namely input torque of mechanical system；
7) two scalar torque T _ fuzai, T_input, the method for the amplitude use " f (x) functions " of torque, Pin_ are added
Fuzai and Pin_T is respectively added in torque, i.e., Pin_fuzai is added in T_fuzai, Pin_T is added to T_
In input；Then T_fuzai, T_input are respectively acting on the revolute defined in step 5)；When defined function,
Selection " movement → factory's input ", finds selected Plant inputs from insertion, and unit selects " sec " and " N-m "；
8) sensor Se001 is created, the effect of sensor is the acceleration for detecting revolute J001 around Z-direction；
9) it creates Plant and exports Pou_J001_AMAG, by Pou_J001_AMAG the acceleration corresponding to sensor Se001
It passes in Simulink；
10) clearing scheme is created, analysis type is " control/dynamics ", and 0.5 second time, analysis step number is 1000, is then asked
Solution, collaborative simulation mainframe program are " Simulink "；
11) by above step, two files are generated in the case where emulating current directory：* _ Plant.m and * _ PlantIO.m；
In Matlab/Simulink, steps are as follows for electric motor and controller system modelling, and Matlab versions are 2012A；
12) catalogue where working directory being set as UGNX simulation documents in Matlab, that is, * _ Plant.m and * _
Catalogue where PlantIO.m files runs * _ Plant.m files, obtains NXMotion Plant Block；Wherein Pin_T is
Simulink is transmitted to the input torque of mechanical structure in UGNX, and Pin_FuZai is load torque, and Pou_J001_AMAG is
UGNX feeds back to the angular acceleration of Simulink；
13) motor Controlling model is established, power supply uses three-phase alternating-current supply, frequency 50HZ, motor to use in Simulink
Three-phase asynchronous Ac motor in SimPowerSystems/Machines；The parameter of electric machine is：Rated power 3*746W, line voltage
220V, frequency 50HZ, 0.435 Ω of stator resistance, stator inductance 2*2.0e-3H, 0.816 Ω of rotor resistance, inductor rotor 2.0e- 3H, mutual inductance 69.31e-3H, rotor moment of inertia 0.089Kg.m^2, friction coefficient 0, number of pole-pairs 2, original state [1,0 0,0,0
0,0,0]；
14) output motor rotating speed and motor torque, the rotating speed Mecnanical.Rotor Speed (ω/m) of motor output, then
It is converted into common rev/min of dimension；Output torque Mechanical.Electromagnetic torque Te (N*m), motor
The rotating speed and output torque of output are separately connected oscillograph；
15) according to dynamic equilibrium principle, have for mechanism input shaft For angular speed, wherein load torque T' is pre-
If value is 20N.m, rotary inertia directly measures from UGNX softwares because being about the z axis, only to need to measure Jz, Jz be around
Its value of the rotary inertia of shaft z is 480.482052673953Kg.mm^2, and rotor also has rotation used in Simulink
Amount, therefore the rotary inertia that actually enters of motor is sum of the two, thus in UGNX mechanism rotary inertia, it is necessary to add motor
The rotary inertia of rotor, therefore self-defined Izz is sum of the two, that is, 480.482052673953+89000Kg.mm^2；
16) motor output torque is connected to Pin_T in NXMotion Plant Block to input, the load for being 20 preset value
Torque is connected to Pin_fuzai, and Pou_J001_AMAG is to turn with load after mechanical structure angular acceleration, with rotary inertia quadrature
Square is added, and together as the input torque of motor, forms closed loop；
17) NXMotion_step of Dynamic Model in NXMotion Plant Block is revised as 1000, makes UG's
Simulation accuracy is identical as Simulink；
18) setting simulation time is 0.5 second, operation emulation.
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| CN107609316B (en) * | 2017-10-25 | 2021-01-26 | 南京康尼机电股份有限公司 | Virtual prototype building method for railway traffic vehicle sliding plug door |
| CN107977518B (en) * | 2017-12-06 | 2021-09-07 | 北京精密机电控制设备研究所 | Multidisciplinary joint simulation method for servo motor design |
| CN109101753B (en) * | 2018-08-31 | 2023-06-27 | 周建全 | Method for improving complexity of mechanical equipment overhaul system |
| CN109002663B (en) * | 2018-09-14 | 2021-01-01 | 中车齐齐哈尔车辆有限公司 | Simulation method and simulation platform |
| CN110717258A (en) * | 2019-09-25 | 2020-01-21 | 太原科技大学 | Bridge crane dynamics electromechanical combined simulation method |
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| CN101853317A (en) * | 2010-04-20 | 2010-10-06 | 北京航空航天大学 | Method for constructing turbine disc structure probability design system |
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| CN101853317A (en) * | 2010-04-20 | 2010-10-06 | 北京航空航天大学 | Method for constructing turbine disc structure probability design system |
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