CN104267611A - Step forwarding self-moving type engine tail system control analogy method based on virtual prototype - Google Patents
Step forwarding self-moving type engine tail system control analogy method based on virtual prototype Download PDFInfo
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Abstract
The invention discloses a step forwarding self-moving type engine tail system control analogy method based on a virtual prototype to achieve the technical purpose of overcoming the defects in the prior art. A mechanical system model is established with virtual prototype series software as a basis and through Solidworks and ADAMS virtual prototype software, a hydraulic system is established through AMESIM software which is also used for measuring various moving parameters and generating various control signals, and multi-software, multi-system and multi-field computer joint simulation is achieved. By means of the virtual prototype technology, a physical prototype can be simulated and replaced to the maximum extent on the basis of not manufacturing the physical prototype, the experiment period of the physical prototype is shortened, and the experiment cost of the physical prototype is reduced. The step forwarding self-moving type engine tail system control analogy method has high practicality and good economical efficiency.
Description
Technical field
The present invention relates to the technical fields such as tail design, automatically control, specifically relate to the automatic moving type tail Systematical control analogy method of taking a step based on virtual prototype.
Background technology
In today of coal technology fast development, the lasting exploit of Coal Mechanical, comprehensive mechanization, automated mining are the inevitable directions that it develops, and this is just higher to the requirement of performing comprehensive coal mining machinery.Present stage down-hole combined mining working and the conveying equipment of crossheading be scraper conveyor and extensible belt conveyor, its working condition and degree of stability directly have influence on mining progress and the efficiency in colliery.
On the coal face of down-hole, due to the continuous change of getting working face, scraper conveyor machine, elevating conveyor is needed dynamically to overlap from extensible belt conveyor according to different working environments and step and have coordinated, and the work efficiency of the automatic moving type tail of elevating conveyor and extensible belt conveyor lap-joint is the key factor affecting fully-mechanized mining working overall efficiency, the exploitation of research to coal of automatic moving type tail has great significance.
Present stage, China more single from mobile tail product, only have a few producer to have corresponding product, and its similar, model and specification could not form standardization, seriation.Such as, on its bandwidth sum stroke, alternative specification is few, main based on the product of bandwidth 1200 on market, and 1400 has occupied very large ratio in the bandwidth series of belt feeder, the tail causing the belt feeder of large bandwidth cannot find it to mate; For another example, because it passes the restriction of stroke, when overlapping with the elevating conveyor of certain model, its stroke can not form desirable integral multiple, cause the waste of stroke and the instability of duty in the process of overlap joint, the transit time in actual working environment of its product is accounted for very large part, reduces the overall production efficiency of fully-mechanized mining working.
Due to the restriction of himself principle of work, the hardness requirement of automatic moving type tail to tunnel inner bottom plating is higher, if hardness is easy to the phenomenon causing the sunken end, the end of gnawing not, and sole mass is comparatively large, is difficult to carry out adjusting and remedying after generation above-mentioned condition.Actual investigation is learnt, in the production run of fully-mechanized mining working, if the hardness of base plate is lower, its serviceability directly can be caused not good, have larger bad impact to the manufacturing schedule of workplace.
In present stage, the development process of coal mine machinery generally defers to such order: first carry out conceptual design and demonstration, then carries out product design, then manufactures physical prototyping, finally tests, to verify the correctness of design.Wherein the test of some product is destructive, after discovery defect, wish to get the product that quality is comparatively perfect, need to carry out corresponding Amending design to original design parameter, physical prototyping after improving after solving corresponding problem in theory makes, and the physical prototyping after recycling improvement is verified.---test---Curve guide impeller process of only having the design by going round and beginning again, just can complete whole design cycles, and final suitability for industrialized production product just can be made just to reach the requirement of expection, realize the function of expection.Tediously long design---manufacture---test cycle process, setup time before engineering goods not only can be made to come into the market is long, also the cost of development of product can be increased, and due to the operating mode limitednumber adopted in test, engineering goods are inadequate natural endowment possibly, is difficult in actual use reach design performance.Therefore, under market background increasingly competitive at present, what this traditional method for designing of the design verification of physically based deformation prototype experiment can have a strong impact on product designs and develops the time, and raising, the cost of limit product quality reduce and market share.
Summary of the invention
Technical matters to be solved by this invention is for above-mentioned the deficiencies in the prior art, there is provided one with the virtual prototype groupware for relying on, mechanical system model is built by Soildworks and ADAMS virtual prototype software, by AMESIM software building hydraulic system, and be responsible for measuring various kinematic parameter and generating various control signal, realize many software, multisystem, multi-field computing machine associative simulation, utilize Virtual Prototype Technique can under the basis that need not manufacture physical prototyping, simulate to greatest extent and substitute model machine in kind, and reduce cycle and the cost of physical prototyping experiment.
For achieving the above object, the technical solution adopted in the present invention is: a kind of automatic moving type tail Systematical control analogy method of taking a step based on virtual prototype,
The first step, build step type self-movable foot end model machine at ADAMS, automatic moving type tail mainly comprises dolly, head, guide rail, tail, saddle.Carry out the overall assembling of automatic moving type tail after each several part assembled being completed again, while assembling, note the working condition ensureing each kinematic pair, guarantee the correctness of model.
This model is to the microcomputer modelling of the three-dimensional that relevant parts carry out, and corresponding kinematic pair is arranged, the various moving situations of automatic moving type tail can accurately be simulated, the Digital Three-Dimensional model that the modeling for next step virtual prototype mechanical model platform provides the foundation.
Wherein with the addition of corresponding sliding motion at the cylinder efficient such as piston shoes, guide rail place secondary, can the corresponding sports of implementation model, its oil cylinder and kinematic pair as follows for situation:
1. offseting oil cylinder---the slippage between piston shoes base and saddle is secondary;
2. lifting oil cylinder---the slippage between lifting oil-cylinder guide sleeve and body is secondary;
3. pass oil cylinder---the rolling friction pair of car wheel and guide rail;
4. the revolute of angle modulation oil cylinder------saddle and body junction;
Second step, builds hydraulic pressure model machine at AMESIM and utilizes AMESIM to build detecting and controlling system, and the hydraulic system of automatic moving type tail is primarily of constant pressure source, throttling valve, reversal valve, oil cylinder, surplus valve and corresponding pipeline composition.By handling reversal valve, its spool position at work can be changed and can realize different hydraulic loops, thus make oil cylinder can complete different job steps, the cooperating of each reversal valve just can realize the corresponding actions of each oil cylinder, coordinates with corresponding slippage pair the workflow realizing tail.Hydraulic system dummy model in virtual prototype system is set up by corresponding overlap joint by Hydraulic Elements submodel corresponding in hydraulic module in AMESIM.The constant pressure source that rated pressure is 31.5MPa provides power for system, is delivered to the entrance of each reversal valve after one-way throttle valve respectively, and each oil cylinder realizes corresponding action under the control of respective valve.The opening and closing of valve is provided by corresponding control signal, and each valve realizes opening and closing in various degree under different signals, thus realizes the corresponding actions of each execution oil cylinder.Described control system practical function, 1) only automatically realize the soft start of oil cylinder, soft stop, reduce in the course of the work because starting, stopping the impact shock causing; 2) automatically control the sequence of movement of each oil cylinder of automatic moving type tail, reach the robotization of its workflow; 3) according to the operating environment requirements of reality, regulate the running parameter of each oil cylinder easily, stop the accident because misoperation causes.
3rd step, utilizes power bond to build interface module, and sets up virtual prototype platform.ADAMS and AMESIM interface can be used for connecting AMESIM realistic model and the multi-body Dynamics Model adopting ADAMS to set up, and by by above-mentioned two kinds of Model coupling, can carry out more complete system emulation, obtain better computational accuracy.Interface module is the tie of two software simulating exchanges data, is the passage of exchanges data.The computing flow process of data is as follows: oil cylinder piston in cylinder force-interface module-ADAMS in oil cylinder displacement-AMESIM in AMESIM-and by oil cylinder piston displacement in corresponding mechanical model computing-ADAMS-feed back to AMESIM.
Build increment machine in corresponding software after, corresponding interface module just can be utilized to connect, build virtual prototype that is theoretical based on power bond and method of operating.Described model machine take AMESIM as main control software, is that path is to call the mechanical model in ADAMS in its working environment with interface module.Can be observed the working condition of model machine intuitively by ADAMS software when virtual prototype runs, the situation of change of each parameter of display that the instrument panel interfacial energy simultaneously in AMESIM is real-time, has good prototype experiment to observe interface.
Compared with prior art, the present invention has following advantage: the present invention utilizes virtual prototype software to set up three-dimensional model accurately, particularly key position, critical data will reflect in a model accurately, so that the various performances of analog equipment under practical working situation to greatest extent.Virtual prototype of the present invention can complete corresponding action, demonstrates the three-dimensional motion picture of its work intuitively.Control system of the present invention can complete the function automatically detected, and realizes the Real-time Collection of data, the basis of image data utilizes its corresponding control module can realize the function automatically controlled.The present invention is mechanical-electrical-hydraulic integration associative simulation, for single virtual prototype software, have obvious superiority, utilizes corresponding interface to be the important means improving virtual prototype data accuracy.The present invention utilizes the method for designing of virtual prototype, carries out all kinds of simulation test fast to substitute traditional physical prototyping test, can reduce design cost greatly, shorten the design cycle.The present invention adopts automatic moving type structure of taking a step greatly can improve the work operating mode of automatic moving type tail.Improved by structure, make it have a lot of original product and to be beyond one's reach performance.By the relevant actual tests of model machine in kind, demonstrate the superiority of modified node method, feasibility further.
Accompanying drawing explanation
Fig. 1 is Product Desing Flow figure;
Fig. 2 is ADAMS three-dimensional model diagram;
Fig. 3 is AMESIM hydraulic system principle figure;
Fig. 4 is ADAMS and AMESIM associative simulation process flow diagram;
Fig. 5 is AMESIM hydraulic control system structural drawing;
Fig. 6 is virtual prototype platform schematic diagram;
Fig. 7 is associative simulation surface chart;
Fig. 8 is virtual prototype control flow chart;
Fig. 9 is solenoid control signal graph;
Figure 10 is oil cylinder stroke schematic diagram;
Figure 11 is cylinder force schematic diagram.
Embodiment
Be below specific embodiments of the invention and by reference to the accompanying drawings, technical scheme of the present invention be further described.
A kind of with the virtual prototype groupware for relying on, mechanical system model is built by Soildworks and ADAMS virtual prototype software, by AMESIM software building hydraulic system, and be responsible for measuring various kinematic parameter and generating various control signal, realize many software, multisystem, multi-field computing machine associative simulation, utilize Virtual Prototype Technique under the basis that need not manufacture physical prototyping, can simulate to greatest extent and substitute model machine in kind, and reduce cycle and the cost of physical prototyping experiment.
For achieving the above object, the technical solution adopted in the present invention is: a kind of automatic moving type tail Systematical control analogy method of taking a step based on virtual prototype,
The first step, build step type self-movable foot end model machine at ADAMS, automatic moving type tail mainly comprises dolly, head, guide rail, tail, saddle.Carry out the overall assembling of automatic moving type tail after each several part assembled being completed again, while assembling, note the working condition ensureing each kinematic pair, guarantee the correctness of model.
This model is to the microcomputer modelling of the three-dimensional that relevant parts carry out, and corresponding kinematic pair is arranged, the various moving situations of automatic moving type tail can accurately be simulated, the Digital Three-Dimensional model that the modeling for next step virtual prototype mechanical model platform provides the foundation.
Wherein with the addition of corresponding sliding motion at the cylinder efficient such as piston shoes, guide rail place secondary, can the corresponding sports of implementation model, its oil cylinder and kinematic pair as follows for situation:
1. offseting oil cylinder---the slippage between piston shoes base and saddle is secondary;
2. lifting oil cylinder---the slippage between lifting oil-cylinder guide sleeve and body is secondary;
3. pass oil cylinder---the rolling friction pair of car wheel and guide rail;
4. the revolute of angle modulation oil cylinder------saddle and body junction;
Second step, builds hydraulic pressure model machine at AMESIM and utilizes AMESIM to build detecting and controlling system, and the hydraulic system of automatic moving type tail is primarily of constant pressure source, throttling valve, reversal valve, oil cylinder, surplus valve and corresponding pipeline composition.By handling reversal valve, its spool position at work can be changed and can realize different hydraulic loops, thus make oil cylinder can complete different job steps, the cooperating of each reversal valve just can realize the corresponding actions of each oil cylinder, coordinates with corresponding slippage pair the workflow realizing tail.Hydraulic system dummy model in virtual prototype system is set up by corresponding overlap joint by Hydraulic Elements submodel corresponding in hydraulic module in AMESIM.The constant pressure source that rated pressure is 31.5MPa provides power for system, is delivered to the entrance of each reversal valve after one-way throttle valve respectively, and each oil cylinder realizes corresponding action under the control of respective valve.The opening and closing of valve is provided by corresponding control signal, and each valve realizes opening and closing in various degree under different signals, thus realizes the corresponding actions of each execution oil cylinder.Described control system practical function, 1) only automatically realize the soft start of oil cylinder, soft stop, reduce in the course of the work because starting, stopping the impact shock causing; 2) automatically control the sequence of movement of each oil cylinder of automatic moving type tail, reach the robotization of its workflow; 3) according to the operating environment requirements of reality, regulate the running parameter of each oil cylinder easily, stop the accident because misoperation causes.
3rd step, utilizes power bond to build interface module, and sets up virtual prototype platform.ADAMS and AMESIM interface can be used for connecting AMESIM realistic model and the multi-body Dynamics Model adopting ADAMS to set up, and by by above-mentioned two kinds of Model coupling, can carry out more complete system emulation, obtain better computational accuracy.Interface module is the tie of two software simulating exchanges data, is the passage of exchanges data.The computing flow process of data is as follows: oil cylinder piston in cylinder force-interface module-ADAMS in oil cylinder displacement-AMESIM in AMESIM-and by oil cylinder piston displacement in corresponding mechanical model computing-ADAMS-feed back to AMESIM.
Build increment machine in corresponding software after, corresponding interface module just can be utilized to connect, build virtual prototype that is theoretical based on power bond and method of operating.Described model machine take AMESIM as main control software, is that path is to call the mechanical model in ADAMS in its working environment with interface module.Can be observed the working condition of model machine intuitively by ADAMS software when virtual prototype runs, the situation of change of each parameter of display that the instrument panel interfacial energy simultaneously in AMESIM is real-time, has good prototype experiment to observe interface.
After automatic moving type tail virtual prototype is put up, can arrange the control data that it carries out the related work stage according to its flow process in real work, achieve corresponding action, complete corresponding function.According to the flow process of Fig. 8, can the setting of enterprising line correlation data at the virtual prototype put up, such as, arrange the trigger thresholds etc. of the predetermined displacement of various oil cylinder, various model handover module, arranging that it is concrete is as follows:
1. the trip objective value of lifting of lifting oil cylinder is 0.22m;
2. the passing trip objective value of passing oil cylinder is 2.70m;
3., during soft start, the time that its ramp signal fades to " 1 " by " 0 " is 1s;
4. when actual be thought of as reach predetermined stroke 95% time, start soft stop fluid stopping journey;
5. namely each oil cylinder completes retraction process after retracting completely, and namely oil cylinder stroke is 0m;
Carry out being correlated with arrange after, can carry out the trial run of being correlated with, the various parameters in the adjustment period of further, to meet the needs of actual working environment, finally complete the virtual experimental of model machine.
After associative simulation model machine virtual experimental terminates, can check various simulation parameter at AMESIM interface, also can carry out transferring of correlation parameter in ADAMS.Such as: the solenoid directional control valve of lifting oil cylinder and passing cylinder is in the test of virtual prototype, and its control signal is the key of its working condition, is the important parameter detecting its control system performance, after the test, by transferring in AMESIM interface.The traveled distance of lifting oil cylinder and passing cylinder is the important parameter in fluid-percussion model of isolated, and it has influence on the working condition of mechanical model, and the actual displacement recorded also can read in the experiment of virtual prototype.The working thrust of lifting oil cylinder and passing cylinder is important parameter physical construction being carried out to loading analysis, various stress, the deformation of the load in the real work of its impact in hydraulic system and machinery, be the important parameter weighing product work performance, the actual working resistance recorded reads in the experiment of virtual prototype.
Claims (1)
1., based on an automatic moving type tail Systematical control analogy method of taking a step for virtual prototype, it is characterized in that: the first step, build step type self-movable foot end model machine at ADAMS, automatic moving type tail mainly comprises dolly, head, guide rail, tail, saddle; Carry out the overall assembling of automatic moving type tail after each several part assembled being completed again, while assembling, note the working condition ensureing each kinematic pair, guarantee the correctness of model;
This model is to the microcomputer modelling of the three-dimensional that relevant parts carry out, and corresponding kinematic pair is arranged, the various moving situations of automatic moving type tail can accurately be simulated, the Digital Three-Dimensional model that the modeling for next step virtual prototype mechanical model platform provides the foundation;
Wherein with the addition of corresponding sliding motion at the cylinder efficient such as piston shoes, guide rail place secondary, can the corresponding sports of implementation model, its oil cylinder and kinematic pair as follows for situation:
1. offseting oil cylinder---the slippage between piston shoes base and saddle is secondary;
2. lifting oil cylinder---the slippage between lifting oil-cylinder guide sleeve and body is secondary;
3. pass oil cylinder---the rolling friction pair of car wheel and guide rail;
4. the revolute of angle modulation oil cylinder------saddle and body junction;
Second step, builds hydraulic pressure model machine at AMESIM and utilizes AMESIM to build detecting and controlling system, and the hydraulic system of automatic moving type tail is primarily of constant pressure source, throttling valve, reversal valve, oil cylinder, surplus valve and corresponding pipeline composition; By handling reversal valve, its spool position at work can be changed and can realize different hydraulic loops, thus make oil cylinder can complete different job steps, the cooperating of each reversal valve just can realize the corresponding actions of each oil cylinder, coordinates with corresponding slippage pair the workflow realizing tail; Hydraulic system dummy model in virtual prototype system is set up by corresponding overlap joint by Hydraulic Elements submodel corresponding in hydraulic module in AMESIM; The constant pressure source that rated pressure is 31.5MPa provides power for system, is delivered to the entrance of each reversal valve after one-way throttle valve respectively, and each oil cylinder realizes corresponding action under the control of respective valve; The opening and closing of valve is provided by corresponding control signal, and each valve realizes opening and closing in various degree under different signals, thus realizes the corresponding actions of each execution oil cylinder; Described control system practical function, 1) only automatically realize the soft start of oil cylinder, soft stop, reduce in the course of the work because starting, stopping the impact shock causing; 2) automatically control the sequence of movement of each oil cylinder of automatic moving type tail, reach the robotization of its workflow; 3) according to the operating environment requirements of reality, regulate the running parameter of each oil cylinder easily, stop the accident because misoperation causes;
3rd step, utilizes power bond to build interface module, and sets up virtual prototype platform; ADAMS and AMESIM interface can be used for connecting AMESIM realistic model and the multi-body Dynamics Model adopting ADAMS to set up, and by by above-mentioned two kinds of Model coupling, can carry out more complete system emulation, obtain better computational accuracy; Described interface module is the tie of two software simulating exchanges data, is the passage of exchanges data; The computing flow process of data is as follows: oil cylinder piston in cylinder force-interface module-ADAMS in oil cylinder displacement-AMESIM in AMESIM-by oil cylinder piston displacement in corresponding mechanical model computing-ADAMS-feed back to AMESIM;
Build increment machine in corresponding software after, corresponding interface module just can be utilized to connect, build virtual prototype that is theoretical based on power bond and method of operating; Described model machine take AMESIM as main control software, is that path is to call the mechanical model in ADAMS in its working environment with interface module; Can be observed the working condition of model machine intuitively by ADAMS software when virtual prototype runs, the situation of change of each parameter of display that the instrument panel interfacial energy simultaneously in AMESIM is real-time, has good prototype experiment to observe interface.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105380613A (en) * | 2015-11-13 | 2016-03-09 | 西京学院 | Sports activity monitoring system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105380613A (en) * | 2015-11-13 | 2016-03-09 | 西京学院 | Sports activity monitoring system |
| CN105380613B (en) * | 2015-11-13 | 2018-06-12 | 西京学院 | A kind of sports monitor system |
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Application publication date: 20150107 |