CN104965963B - A kind of parametric modeling method of Rigid-flexible Coupling Model - Google Patents
A kind of parametric modeling method of Rigid-flexible Coupling Model Download PDFInfo
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Abstract
The invention discloses a kind of parametric modeling method of Rigid-flexible Coupling Model, including establish rigid body part model；Establish the APDL macro documents of elastomeric model；Build Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface；Flexible body parameter is inputted in interface, APDL macro documents are read out, changed and renewal；Perform the APDL macro documents after renewal and establish elastomeric model；Rigid body model parameter is inputted, rigid model is reconstructed and imports flexible body modal neutral file, generation includes the command file of Rigid-flexible Coupling Dynamics simulation model；Command file is imported, loads virtual prototype, carries out Dynamics Simulation Analysis, exports simulation result；According to simulation result, export optimal emulation data and preserve data file.The method of the present invention can realize the parametric modeling of flexible body and automatically creating for Rigid-flexible Coupling Model, whole process is without manual intervention, solve the problems, such as that flexible body is difficult to parametrization to engineering in practice, improves modeling efficiency, has good engineering application value.
Description
Technical field
The invention belongs to mechanical engineering field, more particularly, 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 influence of the deformation of body to motion is non-negligible in multi-body system, uses
Flexible multi-body model substitutes rigid model, and considers the Flexible Multibody System Dynamics of friction, mainly studies soft
Property body deformation and its a wide range of spatial movement between interaction or intercouple, and dynamics caused by this coupling
Effect.With the development of national economy and defense technology, for many engineering problems, simple multi-rigid-body system model and reality
Differ greatly, can not meet requirement of engineering precision, it is necessary at the same consider part grand movement and component deform in itself it is mutual
Coupling, it is therefore, significant to Coupling System of Flexible Structures And Rigid Body Dynamic Modeling research.In recent years, there are many scholars to firm
Soft coupling modeling method is studied, and achieves corresponding progress, but seldom be related to flexible body parametric modeling and just
The parametric modeling of soft coupled system.(Wang Yi, Wu Lixin, the coupling dynamics model modeling side of Liu's more mechanical systems such as Wang Yi
Method research [J] Journal of System Simulation, 2007,19 (20) .4708-4710) and using the method for actual situation hybrid modeling, use machinery
System 3D sculpting software, finite element analysis software and Dynamics simulation of multi-body system software establish slider-crank mechanism
Coupling dynamics virtual prototype, realize the Accurate Model of virtual prototype.Publication No. CN101727527A Chinese patent
The method that document discloses data automatic conversion between a kind of dynamics analysis software and finite element analysis software, realizes dynamics
Data are transmitted and changed automatically between analysis software and finite element analysis software, are comprised the following steps：Start finite element software to enter
Row flexibility, output modalities neutral file .mnf；Start dynamics analysis software, load virtual prototype, read in mode
Property file, carry out dynamical motion credit analysis, output loads file；Load in load file is applied on flexible body and carried out
Stress-strain analysis, export stress-strain data；Circulation performs above-mentioned steps, exports optimum condition and stress-strain data.With
Upper patent realizes data between dynamics analysis software and finite element analysis software and transmits and change automatically, but is not carried out
Parametric modeling and Coupled Rigid-flexible automatic modeling to flexible body component.At present, flexible body is established in dynamics analysis software
Method mainly by following 3 kinds：1. discrete method, a component is separated into many sections of rigid members, connected with flexible beam；2. from
Dynamic flexibility method, the modal neutral file of flexible body is directly established in dynamics software, then substituted with flexible body original
Rigid body file；3. introducing modal neutral file method, after carrying out mesh generation and modal calculation using finite element software, mode is obtained
Neutral file, then it is directly read in into dynamics analysis software.Because discrete method and automatic flexible method are only applicable to structure phase
To simple component, so, in engineering in practice for the more complicated part of planform, generally use finite element analysis software
Establish flexible body, but when flexible body structure and size change, it is necessary to re-establish elastomeric model, and by hand to hard and soft
The kinetic model of coupling is modified, operation inconvenience, and efficiency is low, it is difficult to meets engineering actual demand.It is it is therefore proposed that a kind of
The parametric modeling method of Rigid-flexible Coupling Model, for improving modeling efficiency and simulation accuracy, shortening product design and production week
Phase etc., which all has, to be of great significance.
The content of the invention
Present invention seek to address that now with can not efficiently, accurately establish Rigid-flexible Coupling Dynamics simulation model in technology,
A kind of parametric modeling method of the Rigid-flexible Coupling Model proposed.The modeling method is simple to operate, can quickly and accurately establish just
Soft Coupling Dynamic Model, and it is applied to simulation analysis.
The present invention adopts the following technical scheme that：
A kind of parametric modeling method of Rigid-flexible Coupling Model, comprises the following steps：
(1) in dynamics analysis software ADAMS, simulated environment is initialized, rigid body part model is established, to rigid body part
Model, which applies, includes fixed joint, prismatic pair, revolute constraint, and straight-line displacement is established in prismatic pair position and is driven, and by rigid body mould
Type is converted to editable command file；
(2) the APDL macro documents of flexible object modeling in multi-body system are established, this document includes flexible body finite element modeling, had
First mesh generation is limited, load applies and output unit is set, model analysis is carried out, exports modal neutral file；
(3) MATLAB platforms are based on, build Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, the interface can perform
Step includes rigid model geometry and physical attribute parameter inputs；Backstage starts ANSYS, performs APDL macro documents；It is flexible
The information input of part geometry, physical attribute parameter and Coupled Rigid-flexible related constraint；Automatic start ADAMS, perform .cmd
File carries out dynamic analysis.
(4) input includes appearance and size, density of material, springform in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface
Amount, mesh-density, the flexible body parameter of the geometric parameter of Frequency extraction exponent number and CAE parameters, it is grand to APDL according to input parameter
File is read out, changed and renewal；
(5) start finite element analysis software ANSYS from the background in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, perform
Flexibility APDL macro documents after renewal, automatically generate comprising flexible weight, inertia, frequency, vibration shape information flexible body mould
State neutral file；
(6) rigid body shaped position, mass inertia, emulation are inputted in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface
The parameters such as control, reconstruct rigid model with ADAMS command lanuages and import flexible body, automatically generate comprising Coupled Rigid-flexible power
Learn the command file of simulation model；,
(7) start ADAMS, import command file, load virtual prototype, carry out Dynamics Simulation Analysis, output is firm
The simulation result of soft coupling model；
(8) according to simulation result, discriminate whether to need to carry out model parameter modification, if desired carry out flexible body parameter modification
Then return to step (4), rigid body parameter modification then return to step (6) are if desired carried out, it is defeated if parameter modification need not be carried out
Go out simulation result and preserve data file.
Further, the step of automatically generating flexible body modal neutral file includes：
Step 1：Backstage starts finite element analysis software ANSYS；
Step 2：According to the actual requirements, by flexible body appearance and size, density of material, modulus of elasticity, net in APDL macro documents
Lattice density, Frequency extraction exponent number geometric parameter and CAE parameters are parameterized, and establish the physical model of compliant member；
Step 3：Definition unit type, material properties, grid division, establish the FEM model of compliant member；
Step 4：Definition is outer to be connected a little, is searched for and is established rigid region；
Step 5：Output unit is set, carries out model analysis, modal neutral file is exported, exits ANSYS.
Further, the step of automatically generating Rigid-flexible Coupling Dynamics simulation model includes：
Step 1：Read the command file of rigid model；
Step 2：Input includes shaped position, mass inertia, the rigid model physical parameter of Simulation Control parameter, adds
Flexible body component；
Step 3：Flexible body, which is applied, includes the constraint of fixed joint, prismatic pair, revolute, is established in prismatic pair position straight
Displacement of the lines drives；
Step 4：The command file for including Rigid-flexible Coupling Dynamics simulation model is saved as, so that ADAMS loads hard and soft coupling
Close virtual prototype.
Further, the rigid body shaped position in the step (6), mass inertia, Simulation Control parameter include respectively
Rigid body centroid position, rotary inertia, simulation time and step-length.
Further, described command file is cmd command files, and APDL macro documents are .mac files, and mode is neutral literary
Part is .mnf files.
Above technical scheme has advantages below：Using the parametric modeling method of Rigid-flexible Coupling Model of the invention to more
When system system carries out the optimization of Rigid-flexible Coupling Dynamics simulation analysis, the parametrized drawing user interface and interface routine of exploitation
The parametric modeling of flexible body can be achieved, and Rigid-flexible Coupling Model automatically creates, whole process solves without manual intervention
Engineering the problem of flexible body is difficult to parametrization in practice, modeling efficiency is improved, there is good engineering application value.
The present invention realizes data transfer and data file by graphic user interface input parameter using each software interface
Reading and write-in, the modification to model is realized in a manner of changing command file, hard and soft coupling is quickly established in practice to engineering
Close Dynamics Simulation Model and provide a kind of scientific and efficient settling mode.
The parametric modeling method of the Rigid-flexible Coupling Model of the present invention realizes the integrated conjunctive use of various software, and
Exemplary application is carried out in the optimization of certain type Coupled Rigid-flexible cargo vehicle ride comfort simulation for engineering vehicle, using showing：The method proposed is section
Learn effectively, and automatic, efficient and reliable solution is provided for the design optimization of complex mechanical system.
Brief description of the drawings
Fig. 1 is a kind of flow chart of the parametric modeling method of Rigid-flexible Coupling Model of the present invention；
Fig. 2 is the flow chart that flexible body modal neutral file is automatically generated in the present invention；
Fig. 3 is the flow chart that Rigid-flexible Coupling Dynamics simulation model is automatically generated 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 certain type cargo vehicle of the embodiment of the present invention 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 that the present invention is implemented；
Fig. 9 is the B level road excitation curve maps that the speed that the present invention is implemented is 100Km/h.
In figure, 1 is engine assembly, and 2 be propons, and 3 be cabin front suspension, and 4 be driver's cabin front stabilizer, and 5 be driver's cabin,
6 be seat, and 7 be steering room back suspension, and 8 be container, and 9 be vehicle frame, and 10 be rear-axle balance suspension, and 11 be back axle, and 12 be tire, and 13 are
Six column test platforms.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing to the present invention's
Particular content is described further, but the embodiment not limited to this of the present invention.
Technical scheme provides a kind of flexible body parametric modeling method for dynamics simulation, and flow chart is such as
Shown in Fig. 1, comprise the following steps：
(1) in dynamics analysis software ADAMS, simulated environment is initialized, rigid body part model is established, to rigid body part
Model, which applies, includes fixed joint, prismatic pair, the related constraint of revolute, and straight-line displacement driving is established in prismatic pair position, and will
Rigid model is converted to editable command file；
(2) the APDL macro documents of flexible object modeling in multi-body system are established, this document includes flexible body finite element modeling, had
First mesh generation is limited, load applies and output unit is set, model analysis is carried out, exports modal neutral file；
(3) MATLAB platforms are based on, build Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, the interface can perform
Step includes rigid model geometry and physical attribute parameter inputs；Backstage starts ANSYS, performs APDL macro documents；It is flexible
The information input of part geometry, physical attribute parameter and Coupled Rigid-flexible related constraint；Automatic start ADAMS, perform .cmd
File carries out dynamic analysis.
(4) input includes appearance and size, density of material, springform in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface
Amount, mesh-density, Frequency extraction exponent number and the flexible body parameter of CAE parameters, read APDL macro documents according to input parameter
Take, change and renewal；
(5) start finite element analysis software ANSYS from the background in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, perform
Flexibility APDL macro documents after renewal, automatically generate comprising flexible weight, inertia, frequency, vibration shape information flexible body mould
State neutral file；
(6) rigid body shaped position, mass inertia, emulation control are inputted in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface
Parameter processed, such as rigid body centroid position, rotary inertia, simulation time and step-length, rigid model is reconstructed with ADAMS command lanuages
And flexible body is imported, automatically generate the command file for including Rigid-flexible Coupling Dynamics simulation model；
(7) start ADAMS, import command file, load virtual prototype, carry out Dynamics Simulation Analysis, output is firm
The simulation result of soft coupling model；
(8) according to simulation result, discriminate whether to need to carry out model parameter modification, if desired carry out flexible body parameter modification
Then return to step (4), rigid body parameter modification then return to step (6) are if desired carried out, it is defeated if parameter modification need not be carried out
Go out simulation result and preserve data file.
Such as Fig. 2, the step of automatically generating flexible body modal neutral file, includes：
Step 1：Backstage starts finite element analysis software ANSYS；
Step 2：According to the actual requirements, by flexible body appearance and size, density of material, modulus of elasticity, net in APDL macro documents
Lattice density, Frequency extraction exponent number geometric parameter and CAE parameters are parameterized, and establish the physical model of compliant member；
Step 3：Definition unit type, material properties, grid division, establish the FEM model of compliant member；
Step 4：Definition is outer to be connected a little, is searched for and is established rigid region；
Step 5：Output unit is set, carries out model analysis, modal neutral file is exported, exits ANSYS.
Such as Fig. 3, the step of automatically generating Rigid-flexible Coupling Dynamics simulation model, includes：
Step 1：Read the command file of rigid model；
Step 2：Input includes shaped position, mass inertia, the rigid model physical parameter of Simulation Control parameter, adds
Flexible body component；
Step 3：Flexible body, which is applied, includes the constraint of fixed joint, prismatic pair, revolute, is established in prismatic pair position straight
Displacement of the lines drives；
Step 4：The command file for including Rigid-flexible Coupling Dynamics simulation model is saved as, so that ADAMS loads hard and soft coupling
Close virtual prototype.
Illustrate that Coupled Rigid-flexible parameterizes below according to certain type cargo vehicle Rigid-flexible Coupling Dynamics simulation analysis and accompanying drawing
The specific implementation process of modeling method：
(1) rigid model of certain type cargo vehicle is established in ADAMS/View and applies relative motion pair and driving, i.e.,
Constraint and driving, such as：Relative displacement between seat and driver's cabin represents with prismatic pair, and engine and gearbox are connected pair
Represent, road excitation straight-line displacement driving represents.As shown in figure 4, the simulation model includes 54 rigid body parts, main portion
Part has：Engine assembly 1, propons 2, cabin front suspension 3, driver's cabin front stabilizer 4, driver's cabin 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 comprising 60 kinematic pairs and 7
Driving, this 7 drivings include 6 road excitations and 1 Engine Excitation, altogether comprising 63 frees degree, and pass through checking
Model is exported with .cmd formatted files.The enlarged drawing of wherein rear-axle balance suspension 10 is as shown in Figure 5.Main modeling parameters such as table 1
It is shown：
The main modeling parameters of the cargo vehicle of table 1
(2) the APDL macro documents of elastomeric model in multi-body system are established.First, vehicle frame needs are determined according to user's request
The part of parametrization, such as crossbeam size and number, longeron size, outer even point position and number, mesh generation size；Secondly,
Establish vehicle frame FEM model and carry out mesh generation；Again, ordered with " get ", obtain subnetting posterior nodal point maximum numbering,
It to be stored in NM, definition is outer to be connected a little, and is numbered in order as NM+1, NM+2, NM+n, search for and establish rigidity
Region；Finally, output unit is set, carries out model analysis, modal neutral file is exported, exits finite element analysis software.
(3) in MATLAB development platforms, build Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, the interface can
Performing step includes cargo vehicle geometry and the input of physical attribute parameter；Backstage starts ANSYS, performs APDL macro documents；
The information such as flexible motorcycle frame geometry, physical attribute parameter and Coupled Rigid-flexible related constraint input；Automatic start ADAMS, perform
.cmd file carries out dynamic analysis.
(4) it is actually needed according to user, frame shape chi is inputted in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface
The flexible body parameter such as very little, physical attribute, outer company counts out, position, as shown in table 2- tables 4.It is grand to APDL according to institute's input parameter
The reading and write-in of file, generate new ANSYS order stream files.
The flexible motorcycle frame CAE parameters of table 2
| Modulus of elasticity | 2.11×109mN/mm2 | Poisson's ratio | 0.3 |
| Density | 7.8×10-6Kg/mm3 | Cell type | SOLID45/MASS21 |
| Mesh generation size | 25 | Frequency extraction exponent number | 12 |
The flexible motorcycle frame crossbeam location parameter (unit of table 3：mm)
Connect a location parameter (unit outside the flexible motorcycle frame of table 4：mm)
(5) start finite element analysis software ANSYS from the background in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, perform
Vehicle frame flexibility APDL macro documents after renewal, automatically generate modal neutral file, after this file is opened in ADAMS, you can
See vehicle frame elastomeric model, as shown in Figure 6.Wherein, it is as follows to start ANSYS command formats for backstage：
(" ansys software installations path "-b-i APDL macro documents path .mac filename-o MNF files preserve System
Path)
(6) it is actually needed according to user, rigid body Model is inputted in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface
Parameter, reconstruct rigid model and import flexible body, addition constraint, driving, generate comprising Rigid-flexible Coupling Dynamics simulation model
Cmd command files；Concretely comprise the following steps：First, the vehicle rigid model cmd orders of generation in (1) are stored in Excel forms
In, with Excel functions and ADAMS command lanuages, cmd command files are modified and reconstructed, are realized in Excel forms
The hard and soft replacement of vehicle frame, and apply constraint, driving etc. to flexible motorcycle frame.Secondly, by the command lanuage after being reconstructed in Excel document
Automatically save as .cmd formatted files, so that ADAMS loads virtual prototype.
(7) automatic start ADAMS .cmd command files, the Rigid-flexible Coupling Dynamics emulation of loading vehicle frame flexibility are imported
Model, as shown in Figure 7；Road excitation and Engine Excitation are inputted, setting simulation time is 20s, simulation step length is 2000 steps, is entered
Action mechanics simulation analysis, export seat acceleration root-mean-square value curve, as shown in Figure 8.Wherein, automatic start ADAMS orders
Form is as follows：System (' ADAMS startups position aviewru-st i.cmd storage positions of files ')
Road excitation is that tire runout is superimposed with the B levels road surface that speed is 100Km/h：
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, discriminate whether to need to carry out model parameter modification, if desired carry out
Vehicle frame parameter changes then return to step (4), rigid body part parameter modification then return to step (6) is if desired carried out, if need not enter
Row parameter is changed, then exports simulation result and preserve data file.
Claims (5)
- A kind of 1. parametric modeling method of Rigid-flexible Coupling Model, it is characterised in that：Comprise the following steps：（1）Simulated environment is initialized, establishes rigid body part model, fixed joint, prismatic pair, revolute are applied to rigid body part model Constraint, straight-line displacement driving is established in prismatic pair position, and rigid model is converted into editable command file；（2）The APDL macro documents of flexible object modeling in multi-body system are established, the macro document includes flexible body finite element modeling, had First mesh generation is limited, load applies and output unit is set, model analysis is carried out, exports modal neutral file；（3）Based on MATLAB platforms, Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, the executable step at the interface are built Inputted including rigid model geometry and physical attribute parameter；Backstage starts ANSYS, performs APDL macro documents；Compliant member The information input of geometry, physical attribute parameter and Coupled Rigid-flexible related constraint；Automatic start ADAMS, perform cmd files and enter Action mechanical analysis；（4）In Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface input include appearance and size, density of material, modulus of elasticity, The flexible body parameter of mesh-density, Frequency extraction exponent number geometric parameter and CAE parameters, APDL macro documents are entered according to input parameter Row is read, modification is with updating；（5）Start finite element analysis software ANSYS from the background in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface, perform renewal APDL macro documents afterwards, automatically generate comprising flexible weight, inertia, frequency, vibration shape information flexible body modal neutral file；（6）Rigid body shaped position, mass inertia, Simulation Control are inputted in Coupling System of Flexible Structures And Rigid Body parametrized drawing user interface Parameter, reconstruct rigid model with ADAMS command lanuages and import flexible body, automatically generate and emulated comprising Rigid-flexible Coupling Dynamics The command file of model；（7）Start ADAMS, import command file, load virtual prototype, carry out Dynamics Simulation Analysis, export hard and soft coupling The simulation result of matched moulds type；（8）According to simulation result, discriminate whether to need to carry out model parameter modification, if desired carry out flexible body parameter modification and then return Return step（4）, if desired carry out rigid body parameter modification then return to step（6）If parameter modification need not be carried out, output is imitative True result simultaneously preserves data file.
- 2. parametric modeling method according to claim 1, it is characterised in that：Step（5）In automatically generate flexible body mould The step of state neutral file, includes as follows：1）Backstage starts finite element analysis software ANSYS；2）According to the actual requirements, by flexible body appearance and size, density of material, modulus of elasticity, mesh-density, mould in APDL macro documents State extracts exponent number geometric parameter and CAE parameters are parameterized, and establishes the physical model of compliant member；3）Definition unit type, material properties, grid division, establish the FEM model of compliant member；4）Definition is outer to be connected a little, is searched for and is established rigid region；5）Output unit is set, carries out model analysis, flexible body modal neutral file is exported, exits ANSYS.
- 3. parametric modeling method according to claim 1, it is characterised in that：Step（6）In automatically generate Coupled Rigid-flexible The step of Dynamics Simulation Model, includes as follows：1）Read the command file of rigid model；2）Input includes shaped position, mass inertia, the rigid model physical parameter of Simulation Control parameter, adds flexible body structure Part；3）Flexible body, which is applied, includes the constraint of fixed joint, prismatic pair, revolute, and straight-line displacement drive is established in prismatic pair position It is dynamic；4）Save as the command file for including Rigid-flexible Coupling Dynamics simulation model.
- 4. parametric modeling method according to claim 1, it is characterised in that：Rigid shape in the step (6) Position, mass inertia, Simulation Control parameter include rigid body centroid position, rotary inertia, simulation time and step-length respectively.
- 5. parametric modeling method according to claim 1, it is characterised in that：The command file is cmd command files, APDL macro documents are .mac files, and modal neutral file is .mnf files.
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