CN104965963A - Parametric modeling method of rigid-flexible coupled model - Google Patents
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Abstract
The invention discloses a parametric modeling method of a rigid-flexible coupled model. The method includes the steps of 1, establishing a rigid component model, 2, establishing an APDL macro file of a flexible body model, 3, establishing a rigid-flexible coupled system parametric graphical user interface, 4, inputting flexible body parameters in the interface and reading, altering and updating the APDL macro file, 5, executing the updated APDL macro file to build the flexible body model, 6, inputting rigid body model parameters, reconstructing a rigid body model, importing a flexible body modal neutral file and generating a command file containing a rigid-flexible coupled dynamics simulation model, 7, importing the command file, loading a virtual prototype model, conducting dynamics simulation analysis and outputting a simulation result and 8, outputting the optimum simulation data and storing a data file according to the simulation result. According to the rigid-flexible coupled model parametric modeling method, automatic creation of the parametric modeling of a flexible body and the rigid-flexible coupled model can be achieved, manual intervention is not needed in the whole process, the problem that it is difficult to parameterize the flexible body in the engineering practice is solved, the modeling efficiency is improved, and the method has very good engineering application value.
Description
Technical field
The invention belongs to mechanical engineering field, especially relate to a kind of parametric modeling method of Rigid-flexible Coupling Model.
Technical background
Coupling System of Flexible Structures And Rigid Body dynamics refers to when the impact of deformation of body in multi-body system on motion is not allowed to ignore, flexible multi-body model is adopted to substitute rigid model, and consider the Flexible Multibody System Dynamics of friction, the distortion of main research flexible body and its interaction on a large scale between spatial movement or intercouple, and the kinetic effect that this coupling causes.Along with the development of national economy and defense technology, for a lot of engineering problem, simple multi-rigid-body system model and actually to differ greatly, can not meet requirement of engineering precision, the effect of intercoupling of parts grand movement and component distortion itself must be considered simultaneously, therefore, significant to the research of Coupling System of Flexible Structures And Rigid Body Dynamic Modeling.In recent years, there are many scholars to be studied Coupled Rigid-flexible modeling method, and achieve corresponding progress, but seldom relate to the parametric modeling of flexible body and the parametric modeling of Coupling System of Flexible Structures And Rigid Body.(the Wang Yi such as Wang Yi, Wu Lixin, Liu Geng. coupling dynamics model modelling approach research [J] of mechanical system. Journal of System Simulation, 2007,19 (20) .4708-4710) adopt the method for actual situation hybrid modeling, use mechanical system 3D sculpting software, finite element analysis software and Dynamics simulation of multi-body system software to establish slider-crank mechanism coupling dynamics virtual prototype, achieve the Accurate Model of virtual prototype.Publication number is a kind of method that the Chinese patent literature of CN101727527A discloses that between dynamics analysis software and finite element analysis software, data are changed automatically, achieve data between dynamics analysis software and finite element analysis software automatically to transmit and change, comprise the following steps: start finite element software and carry out flexibility, output modalities neutral file .mnf; Start dynamics analysis software, load virtual prototype, read modal neutral file, carry out dynamical motion Epidemiological Analysis, output loads file; Carry out stress-strain analysis by the load applying in load file to flexible body, export stress-strain data; Circulation performs above-mentioned steps, exports optimum condition and stress-strain data.Above patent achieves data between dynamics analysis software and finite element analysis software and automatically transmits and change, but the parametric modeling do not realized flexible body component and Coupled Rigid-flexible automatic modeling.At present, in dynamics analysis software, the method for flexible body is set up primarily of following 3 kinds: 1. discrete method, is separated into many sections of rigid members by a component, connects with flexible beam; 2. automatic flexible method, directly sets up the modal neutral file of flexible body in dynamics software, then carrys out alternative original rigid body file with flexible body; 3. introduce modal neutral file method, after utilizing finite element software to carry out stress and strain model and modal calculation, obtain modal neutral file, then it is directly read in dynamics analysis software.Because discrete method and automatic flexible method are only applicable to the relative simple component of structure, so, for the part of planform more complicated in engineering reality, usually set up flexible body with finite element analysis software, but when flexible body structure, size change, need to re-establish elastomeric model, and by hand the kinetic model of Coupled Rigid-flexible is modified, operation inconvenience, inefficiency, is difficult to meet engineering actual demand.Therefore, a kind of parametric modeling method of Rigid-flexible Coupling Model is proposed, for raising modeling efficiency and simulation accuracy, shorten product design and production cycle etc. all tool be of great significance.
Summary of the invention
The present invention is intended to solve to be had now in technology and cannot set up Rigid-flexible Coupling Dynamics realistic model efficiently, accurately, the parametric modeling method of a kind of Rigid-flexible Coupling Model of proposition.This modeling method is simple to operate, can set up Rigid-flexible Coupling Dynamics model quickly and accurately, and be applied to simulation analysis.
The present invention adopts following technical scheme:
A parametric modeling method for Rigid-flexible Coupling Model, comprises the following steps:
(1) in dynamics analysis software ADAMS, initialization simulated environment, set up rigid body part model, rigid body part model is applied to comprise fixed joint, moving sets, revolute constraint and straight-line displacement and drives, and rigid model is converted to editable command file;
(2) set up the APDL macro document of flexible object modeling in multi-body system, this file comprises flexible body finite element modeling, FEM meshing, load applying and arranges output unit, carries out model analysis, derives modal neutral file;
(3) based on MATLAB platform, build Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, the performed step at described interface comprises rigid model geometric configuration and physical attribute parameters input; Backstage starts ANSYS, performs APDL macro document; The information inputs such as compliant member geometric configuration, physical attribute parameter and Coupled Rigid-flexible related constraint; Automatic startup ADAMS, performs .cmd file and carries out dynamic analysis.
(4) in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, input comprises physical dimension, density of material, elastic modulus, mesh-density, the geometric parameter of Frequency extraction exponent number and the flexible body parameter of CAE parameter, reads according to input parameter, revises and upgrades APDL macro document;
(5) in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, backstage starts finite element analysis software ANSYS, perform the flexibility APDL macro document after upgrading, automatically generate the flexible body modal neutral file comprising flexible body quality, inertia, frequency, vibration shape information;
(6) in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, the parameters such as rigid body shaped position, mass inertia, Simulation Control are inputted, use ADAMS command language reconstruct rigid model and import flexible body, automatically generating the command file comprising Rigid-flexible Coupling Dynamics realistic model; ,
(7) start ADAMS, import command file, load virtual prototype, carry out Dynamics Simulation Analysis, export the simulation result of Rigid-flexible Coupling Model;
(8) according to simulation result, differentiate the need of carrying out model parameter amendment, if desired carry out flexible body parameter modification and then return step (4), if desired carry out rigid body parameter modification and then return step (6), parameter modification is carried out, then Output simulation result preserve data file if do not need.
Further, the step automatically generating flexible body modal neutral file comprises:
Step one: backstage starts finite element analysis software ANSYS;
Step 2: according to the actual requirements, carries out parametrization by flexible body physical dimension, density of material, elastic modulus, mesh-density, Frequency extraction exponent number geometric parameter and CAE parameter in APDL macro document, sets up the physical model of compliant member;
Step 3: definition unit type, material properties, grid division, sets up the finite element model of compliant member;
Step 4: definition is outer to be connected a little, searches for and sets up rigid region;
Step 5: arrange output unit, carries out model analysis, derives modal neutral file, exits ANSYS.
Further, the step automatically generating Rigid-flexible Coupling Dynamics realistic model comprises:
Step one: the command file reading rigid model;
Step 2: input comprises the rigid model physical parameter of shaped position, mass inertia, Simulation Control parameter, adds flexible body component;
Step 3: apply to comprise fixed joint, moving sets, the constraint of revolute, driving to flexible body;
Step 4: save as the command file comprising Rigid-flexible Coupling Dynamics realistic model, so that ADAMS loads Coupled Rigid-flexible virtual prototype.
Further, the rigid body shaped position in described step (6), mass inertia, Simulation Control parameter comprise rigid body centroid position, moment of inertia, simulation time and step-length.
Further, described command file is cmd command file, and APDL macro document is .mac file, and modal neutral file is .mnf file.
Above technical scheme has the following advantages: the parametric modeling method applying Rigid-flexible Coupling Model of the present invention to multi-body system carry out Rigid-flexible Coupling Dynamics simulation analysis optimize time, the parametrized drawing user interface of exploitation and interface routine can realize the parametric modeling of flexible body, and the automatic establishment of Rigid-flexible Coupling Model, whole process is without the need to manual intervention, solve flexible body in engineering reality and be difficult to parameterized problem, improve modeling efficiency, there is good engineer applied and be worth.
The present invention is by graphic user interface input parameter, each software interface is utilized to realize reading and the write of data transmission and data file, the amendment to model is realized, to setting up the settling mode that Rigid-flexible Coupling Dynamics realistic model provides a kind of scientific and efficient in engineering reality fast in the mode revising command file.
The parametric modeling method of Rigid-flexible Coupling Model of the present invention achieves the integrated conjunctive use of various software, and exemplary application has been carried out in certain type Coupled Rigid-flexible cargo vehicle ride comfort simulation for engineering vehicle optimization, application shows: the method proposed is scientific and effective, and for the design optimization of complex mechanical system provide automatically, efficient and solution reliably.
Accompanying drawing illustrates:
Fig. 1 is the process flow diagram of the parametric modeling method of a kind of Rigid-flexible Coupling Model of the present invention;
Fig. 2 is the process flow diagram automatically generating flexible body modal neutral file in the present invention;
Fig. 3 is the process flow diagram automatically generating Rigid-flexible Coupling Dynamics realistic model in the present invention;
Fig. 4 is certain type cargo vehicle Rigid Body Dynamics Model figure of the embodiment of the present invention;
Fig. 5 is the rear-axle balance suspension enlarged drawing in the cargo vehicle Rigid Body Dynamics Model of the embodiment of the present invention;
Fig. 6 is the flexible motorcycle frame illustraton of model of the embodiment of the present invention;
Fig. 7 is that certain type cargo vehicle of the embodiment of the present invention is by the Rigid-flexible Coupling Dynamics illustraton of model of vehicle frame flexibility;
Fig. 8 is certain type Coupled Rigid-flexible cargo vehicle seat acceleration root-mean-square value curve map of the invention process;
The B level road excitation curve map of Fig. 9 to be speed of the invention process be 100Km/h.
In figure, 1 is engine assembly, and 2 is propons, and 3 is cabin front suspension, and 4 is pilothouse front stabilizer, and 5 is pilothouse, and 6 is seat, and 7 is steering room back suspension, and 8 is container, and 9 is vehicle frame, and 10 is rear-axle balance suspension, and 11 is back axle, and 12 is tire, and 13 is six column test platforms.
Embodiment:
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with accompanying drawing, particular content of the present invention is described further, but the specific embodiment of the present invention is not limited thereto.
Technical scheme of the present invention provides a kind of flexible body parametric modeling method for dynamics simulation, and process flow diagram as shown in Figure 1, comprises the following steps:
(1) in dynamics analysis software ADAMS, initialization simulated environment, set up rigid body part model, apply to comprise fixed joint, moving sets, the related constraint of revolute and driving to rigid body part model, and rigid model is converted to editable command file;
(2) set up the APDL macro document of flexible object modeling in multi-body system, this file comprises flexible body finite element modeling, FEM meshing, load applying and arranges output unit, carries out model analysis, derives modal neutral file;
(3) based on MATLAB platform, build Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, the performed step at described interface comprises rigid model geometric configuration and physical attribute parameters input; Backstage starts ANSYS, performs APDL macro document; The information inputs such as compliant member geometric configuration, physical attribute parameter and Coupled Rigid-flexible related constraint; Automatic startup ADAMS, performs .cmd file and carries out dynamic analysis.
(4) in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, input comprises the flexible body parameter of physical dimension, density of material, elastic modulus, mesh-density, Frequency extraction exponent number and CAE parameter, reads according to input parameter, revises and upgrades APDL macro document;
(5) in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, backstage starts finite element analysis software ANSYS, perform the flexibility APDL macro document after upgrading, automatically generate the flexible body modal neutral file comprising flexible body quality, inertia, frequency, vibration shape information;
(6) rigid body shaped position, mass inertia, Simulation Control parameter is inputted in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, as rigid body centroid position, moment of inertia, simulation time and step-length, use ADAMS command language reconstruct rigid model and import flexible body, automatically generating the command file comprising Rigid-flexible Coupling Dynamics realistic model;
(7) start ADAMS, import command file, load virtual prototype, carry out Dynamics Simulation Analysis, export the simulation result of Rigid-flexible Coupling Model;
(8) according to simulation result, differentiate the need of carrying out model parameter amendment, if desired carry out flexible body parameter modification and then return step (4), if desired carry out rigid body parameter modification and then return step (6), parameter modification is carried out, then Output simulation result preserve data file if do not need.
As Fig. 2, the step automatically generating flexible body modal neutral file comprises:
Step one: backstage starts finite element analysis software ANSYS;
Step 2: according to the actual requirements, carries out parametrization by flexible body physical dimension, density of material, elastic modulus, mesh-density, Frequency extraction exponent number geometric parameter and CAE parameter in APDL macro document, sets up the physical model of compliant member;
Step 3: definition unit type, material properties, grid division, sets up the finite element model of compliant member;
Step 4: definition is outer to be connected a little, searches for and sets up rigid region;
Step 5: arrange output unit, carries out model analysis, derives modal neutral file, exits ANSYS.
As Fig. 3, the step automatically generating Rigid-flexible Coupling Dynamics realistic model comprises:
Step one: the command file reading rigid model;
Step 2: input comprises the rigid model physical parameter of shaped position, mass inertia, Simulation Control parameter, adds flexible body component;
Step 3: apply to comprise fixed joint, moving sets, the constraint of revolute, driving to flexible body;
Step 4: save as the command file comprising Rigid-flexible Coupling Dynamics realistic model, so that ADAMS loads Coupled Rigid-flexible virtual prototype.
The following specific implementation process that Coupled Rigid-flexible parametric modeling method is described according to certain type cargo vehicle Rigid-flexible Coupling Dynamics simulation analysis and accompanying drawing:
(1) in ADAMS/View, set up the rigid model of certain type cargo vehicle and apply relative motion pair and drive, namely retrain and drive, as: the relative displacement between seat and pilothouse represents with moving sets, engine and wheel box are connected and fixed subtabulation and show, road excitation drives with straight-line displacement and represents.As shown in Figure 4, this realistic model comprises 54 rigid body part, and critical piece has: engine assembly 1, propons 2, cabin front suspension 3, pilothouse front stabilizer 4, pilothouse 5, seat 6, steering room back suspension 7, container 8, vehicle frame 9, rear-axle balance suspension 10, back axle 11, tire 12, six column test platforms 13 etc., also comprise 60 kinematic pairs and 7 drivings, these 7 drivings comprise 6 road excitation and 1 Engine Excitation, comprise altogether 63 degree of freedom, and are exported with .cmd formatted file by the model of checking.Wherein the enlarged drawing of rear-axle balance suspension 10 as shown in Figure 5.Main modeling parameters is as shown in table 1:
The main modeling parameters of table 1 cargo vehicle
| Seat quality (Kg) | 75 | Pilothouse quality (Kg) | 691 |
| Propons sprung mass (Kg) | 3991 | Propons unsprung mass (Kg) | 774 |
| Back axle sprung mass (Kg) | 5435 | Propons unsprung mass (Kg) | 1417 |
| Engine quality (Kg) | 586.89 | Tire radius (m) | 0.56 |
| Pilothouse moment of inertia (Kgm 2) | 453.4/476.8/382.3 | Engine moment inertia (Kgm 2) | 29.1/75.3/66.2 |
| Seat rigidity (N/mm) | 30 | Seat damping (Ns/mm) | 1.0 |
| Cabin front suspension rigidity (N/mm) | 66 | Cabin front suspension damping (Ns/mm) | 9 |
| Steering room back suspension rigidity (N/mm) | 28 | Steering room back suspension damping (Ns/mm) | 9 |
| Propons rigidity (N/mm) | 499 | Propons damping (Ns/mm) | 12 |
| Back axle rigidity (N/mm) | 3110 | Back axle damping (Ns/mm) | 15 |
(2) the APDL macro document of elastomeric model in multi-body system is set up.First, need parameterized part according to user's request determination vehicle frame, as crossbeam size and number, longeron size, outer company point position and number, stress and strain model size etc.; Secondly, set up vehicle frame finite element model and carry out stress and strain model; Again, use " get " order, obtain subnetting posterior nodal point maximal value numbering, leave in NM, definition is outer to be connected a little, and is numbered in order as NM+1, NM+2, NM+n, searches for and sets up rigid region; Finally, output unit is set, carries out model analysis, derive modal neutral file, exit finite element analysis software.
(3) in MATLAB development platform, build Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, the performed step at described interface comprises cargo vehicle geometric configuration and physical attribute parameters input; Backstage starts ANSYS, performs APDL macro document; The information inputs such as flexible motorcycle frame geometric configuration, physical attribute parameter and Coupled Rigid-flexible related constraint; Automatic startup ADAMS, performs .cmd file and carries out dynamic analysis.
(4) according to user's actual needs, in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, input frame shape size, physical attribute, outer company counts out, the flexible body parameter such as position, as shown in table 2-table 4.According to institute's input parameter to the reading of APDL macro document and write, generate new ANSYS command stream file.
Table 2 flexible motorcycle frame CAE parameter
| Elastic modulus | 2.11×10 9mN/mm 2 | Poisson ratio | 0.3 |
| Density | 7.8×10 -6Kg/mm 3 | Cell type | SOLID45/MASS21 |
| Stress and strain model size | 25 | Frequency extraction exponent number | 12 |
Table 3 flexible motorcycle frame crossbeam location parameter (unit: mm)
A location parameter (unit: mm) is connected outside table 4 flexible motorcycle frame
(5) in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, backstage starts finite element analysis software ANSYS, perform the vehicle frame flexibility APDL macro document after upgrading, automatic generation modal neutral file, open this file in ADAMS after, vehicle frame elastomeric model can be seen, as shown in Figure 6.Wherein, backstage startup ANSYS command format is as follows:
System (" ansys software installation path "-b-i APDL macro document path .mac filename-o MNF file storing path)
(6) according to user's actual needs, rigid body model parameter is inputted in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, reconstruct rigid model also imports flexible body, adds constraint, drives, generate the cmd command file comprising Rigid-flexible Coupling Dynamics realistic model; Concrete steps are: first, the car load rigid model cmd order generated in (1) is stored in Excel form, use Excel function and ADAMS command language, cmd command file is modified and reconstruct, in Excel form, realize the hard and soft replacement of vehicle frame, and flexible motorcycle frame is imposed restriction, driving etc.Secondly, the command language after reconstruct in Excel document is saved as .cmd formatted file automatically, so that ADAMS loads virtual prototype.
(7) automatically start ADAMS, import .cmd command file, load the Rigid-flexible Coupling Dynamics realistic model of vehicle frame flexibility, as shown in Figure 7; Input road excitation and Engine Excitation, arranges that simulation time is 20s, simulation step length is 2000 steps, carries out Dynamics Simulation Analysis, exports seat acceleration root-mean-square value curve, as shown in Figure 8.Wherein, ADAMS command format is automatically started as follows: system (' ADAMS enable position aview ru-st i.cmd storage positions of files ')
The B level road surface that road excitation is tire runout is 100Km/h with speed superposes:
2*sin(100/0.5625/3.6*time)+1000*AKISPL(time,0,SPLINE_V100,0)
Engine Excitation is a driving moment:
3.55E5*(1+1.3*(10/43)*cos(360*25*time)+(2/43)*cos(360*50*time)+(16/43)*cos(360*75*time)+(3/43)*cos(360*100*time)+(10/43)*cos(360*125*time)+(2/43)*cos(360*150*time))
(8) according to seat acceleration root-mean-square value curve, differentiate the need of carrying out model parameter amendment, if desired carry out vehicle frame parameter modification and then return step (4), if desired carry out rigid body part parameter modification and then return step (6), parameter modification is carried out, then Output simulation result preserve data file if do not need.
Claims (5)
1. a parametric modeling method for Rigid-flexible Coupling Model, is characterized in that: comprise the following steps:
(1) initialization simulated environment, sets up rigid body part model, imposes restriction and drive rigid body part model, and described constraint and driving comprise fixed joint, moving sets, revolute and straight-line displacement and drive, and rigid model is converted to editable command file;
(2) set up the APDL macro document of flexible object modeling in multi-body system, described macro document comprises flexible body finite element modeling, FEM meshing, load applying and arranges output unit, carries out model analysis, derives modal neutral file;
(3) based on MATLAB platform, build Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, the performed step at described interface comprises rigid model geometric configuration and physical attribute parameters input; Backstage starts ANSYS, performs APDL macro document; The information inputs such as compliant member geometric configuration, physical attribute parameter and Coupled Rigid-flexible related constraint; Automatic startup ADAMS, performs cmd file and carries out dynamic analysis;
(4) in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, input comprises the flexible body parameter of physical dimension, density of material, elastic modulus, mesh-density, Frequency extraction exponent number geometric parameter and CAE parameter, reads according to input parameter, revises and upgrades APDL macro document;
(5) in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, backstage starts finite element analysis software ANSYS, performs the APDL macro document after upgrading, and automatically generates the flexible body modal neutral file comprising flexible body quality, inertia, frequency, vibration shape information;
(6) in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, rigid body shaped position, mass inertia, Simulation Control parameter is inputted, use ADAMS command language reconstruct rigid model and import flexible body, automatically generating the command file comprising Rigid-flexible Coupling Dynamics realistic model;
(7) start ADAMS, import command file, load virtual prototype, carry out Dynamics Simulation Analysis, export the simulation result of Rigid-flexible Coupling Model;
(8) according to simulation result, differentiating the need of carrying out model parameter amendment, if desired carrying out flexible body parameter modification and then returning step (4), if desired carrying out rigid body parameter modification and then return step (6), parameter modification is carried out, then Output simulation result preserve data file if do not need.
2. parametric modeling method according to claim 1, is characterized in that: in step (5), the step of flexible body modal neutral file comprises as follows:
1) backstage starts finite element analysis software ANSYS;
2) according to the actual requirements, flexible body physical dimension, density of material, elastic modulus, mesh-density, Frequency extraction exponent number geometric parameter and CAE parameter in APDL macro document are carried out parametrization, sets up the physical model of compliant member;
3) definition unit type, material properties, grid division, sets up the finite element model of compliant member;
4) definition is outer connects a little, searches for and sets up rigid region;
5) output unit is set, carries out model analysis, derive flexible body modal neutral file, exit ANSYS.
3. parametric modeling method according to claim 1, is characterized in that: the step automatically generating Rigid-flexible Coupling Dynamics realistic model in step (6) comprises as follows:
1) command file of rigid model is read;
2) input comprises the rigid model physical parameter of shaped position, mass inertia, Simulation Control parameter, adds flexible body component;
3) apply to comprise fixed joint, moving sets, the constraint of revolute, driving to flexible body;
4) command file comprising Rigid-flexible Coupling Dynamics realistic model is saved as.
4. parametric modeling method according to claim 1, is characterized in that: the rigid body shaped position in described step (6), mass inertia, Simulation Control parameter comprise rigid body centroid position, moment of inertia, simulation time and step-length.
5. parametric modeling method according to claim 1, is characterized in that: described command file is cmd command file, and APDL macro document is .mac file, and modal neutral file is .mnf file.
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