CN105912754B - Drilling platform lifting unit transmission efficiency emulation mode and system based on filtering - Google Patents
Drilling platform lifting unit transmission efficiency emulation mode and system based on filtering Download PDFInfo
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Abstract
Drilling platform lifting unit transmission efficiency emulation mode and system based on filtering, comprise the following steps：(1) three-dimensional modeling：Drilling platform lifting unit transmission device is modeled；(2) model treatment：Model is imported into Adams mechanical systems, model is handled；(3) simulation analysis：Virtual prototype simulation is carried out, and exports emulation data in text；(4) low-pass filtering treatment：Low pass filter is set up, low-pass filtering treatment is carried out to each emulation data, and to carrying out the average calculating operation of low pass filter output result；(5) transmission efficiency is calculated：The average value of each emulation data is carried out to the calculating of gear-driven efficiency, efficiency curve is obtained；The present invention is different to the evaluation criterion of data dispersion degree from prior art, weaken the influence of the big data point of dispersion degree, the stronger data message for adjusting dispersion degree smaller, the anti-interference of calculating process accordingly strengthens, and obtained efficiency curve result of calculation also more conforms to reality.
Description
Technical field
The present invention relates to the technical field of drilling platforms emulation, more particularly to the drilling platform lifting unit biography based on filtering
Efficiency of movement emulation mode and system.
Background technology
Currently with multi-body Dynamic Analysis software, the model of drilling platform lifting unit planetary gears can be carried out
Emulation, obtains the rotating speed and the torque of input/output of the input/output of gear mechanism, but is due to that the collision of gear tooth is nibbled
Caused contact force change, and error present in numerical computations are closed, obtained emulation data are fluctuations, are existed some
Extreme point.
In existing technology, sample once obtain one group of emulation data point at regular intervals, then to resulting many
Group discrete data point is fitted using least square method, obtains efficiency curve.The shortcoming of least square method is exactly to all numbers
According to making no exception, the bigger point of data discrete degree, the difference with average value is bigger, also further amplification after square；Data discrete
The smaller point of degree, then effect exist to data dispersion degree on the contrary, therefore least square method is more influenceed by extreme point
Evaluation criterion it is single, obtained result is inconsistent, the problem of simulated effect is undesirable.
The content of the invention
It is an object of the invention to propose a kind of drilling platform lifting list based on LPF for weakening extreme point influence
First transmission efficiency emulation mode.
It is another object of the present invention to propose a kind of drilling platform lifting unit transmission efficiency based on LPF
Analogue system.
For up to this purpose, the present invention uses following technical scheme：
A kind of drilling platform lifting unit transmission efficiency emulation mode based on LPF, comprises the following steps：
(1) three-dimensional modeling：Drilling platform lifting unit transmission device is modeled；
(2) model treatment：Model is imported into Adams mechanical systems, the need for being analyzed according to Adams mechanical systems, to mould
Type is handled；
(3) simulation analysis：Virtual prototype simulation is carried out, and exports emulation data in text；
(4) low-pass filtering treatment：Low pass filter is set up, each emulation data is carried out low-pass filtering treatment to remove number
It is worth noise, and carries out the average calculating operation of the low pass filter output result；
(5) transmission efficiency is calculated：The average value of each emulation data is carried out to the calculating of gear-driven efficiency, efficiency is obtained
Curve.
Further illustrate, the emulation data include motor speed, motor torque, output gear unit loads and output gear
Wheel speed.
Further illustrate, the three-dimensional modeling is to tooth by Solidworks softwares to drilling platform lifting unit
If wheel, bearing, gear-box and dry hole are modeled.
Further illustrate, it is described that following content is included to model progress processing：
A creates complete entity assembling model, and part is simplified, the part of self-movement is integrally saved as into .x_t
File format；
B imports parts in Adams, sets the assembly information, the material information of component, the title and matter of component of system
Measure information；
C sets up Adams dynamics simulation boundary conditions, determines the relative motion relation of each component, additional primary condition.
Further illustrate, the simulation analysis carry out virtual prototype simulation, by setting motor angle speed and load to turn
Square, simulation time, solver and simulation step length run emulation, and export the emulation data in text.
A kind of drilling platform lifting unit transmission efficiency analogue system based on LPF, including three-dimensional modeling module,
Model processing modules, simulation analysis module and transmission efficiency computing module, in addition to low-pass filtering treatment module, the low pass filtered
Ripple processing module includes the filtering process to each emulation data, and to the average fortune of the low pass filter output result
Calculate；
The transmission efficiency computing module includes the calculating of the gear-driven efficiency of the average value of each emulation data.
Further illustrate, the three-dimensional modeling module is included by Solidworks softwares to drilling platform lifting unit
If the modeling to gear, bearing, gear-box and dry hole.
Further illustrate, the model processing modules include the place to model the need for being analyzed according to Adams mechanical systems
Reason.
Further illustrate, the simulation analysis module includes carrying out the emulation of virtual prototype and emulates the output of data.
Beneficial effects of the present invention：The present invention is different to the evaluation criterion of data dispersion degree from prior art, it is to avoid
The influence of extreme point, adds the process of low-pass filtering treatment, by the adjustable low pass filter of cut-off frequency to emulation data
Smoothly filtered, then carry out the calculating of transmission efficiency, efficiency curve is obtained, so as to weaken the big data point of dispersion degree
Influence, emphasizes the smaller data message of dispersion degree, and as a result uniformity more preferably, makes simulated effect more accurately, intuitively, conveniently,
The anti-interference of calculating process accordingly strengthens, and obtained efficiency curve result of calculation also more conforms to reality.
Brief description of the drawings
Fig. 1 is a kind of drilling platform lifting unit transmission efficiency emulation based on LPF of one embodiment of the invention
The flow chart of method；
Fig. 2 is a kind of drilling platform lifting unit transmission efficiency emulation based on LPF of one embodiment of the invention
The frame diagram of system；
Fig. 3 is the drilling platform lifting unit transmission device simulation architecture schematic diagram of one embodiment of the invention.
Embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
A kind of drilling platform lifting unit transmission efficiency emulation mode based on LPF, comprises the following steps：
(1) three-dimensional modeling：Drilling platform lifting unit transmission device is modeled；
(2) model treatment：Model is imported into Adams mechanical systems, the need for being analyzed according to Adams mechanical systems, to mould
Type is handled；
(3) simulation analysis：Virtual prototype simulation is carried out, and exports emulation data in text；
(4) low-pass filtering treatment：Low pass filter is set up, each emulation data is carried out low-pass filtering treatment to remove number
It is worth noise, and carries out the average calculating operation of the low pass filter output result；
(5) transmission efficiency is calculated：The average value of each emulation data is carried out to the calculating of gear-driven efficiency, efficiency is obtained
Curve.
The drilling platform lifting unit transmission device is planetary gears, by the collision engagement of gear tooth is drawn
The contact force change risen, obtained emulation data are fluctuations, therefore in each emulation data, most data point is more
Concentrate, and there are some extreme points.If emulation data directly to be carried out to the calculating of transmission efficiency, result of calculation fluctuation is larger,
It is typically that separated in time is sampled in the prior art, multiple discrete data points is obtained, finally to multiple discrete numbers
Strong point is fitted with least square method, obtains efficiency curve；And the drilling platform lifting unit transmission proposed by the present invention
Efficiency emulation mode is different to the evaluation criterion of data dispersion degree from existing method, because the shortcoming of least square method is exactly
All data are made no exception, natively the big point of stronger adjusting data dispersion degree, the bigger point of data discrete degree, with being averaged
The difference of value is bigger, also bigger after square；The smaller point of data discrete degree, then effect is opposite；Therefore the present invention is to avoid extreme value
Point influence, adding low-pass filtering treatment applies in the emulation of drilling platform lifting unit, the low pass filter be in
Set up, emulation data smoothly filtered in Matlab mathematical analysis softwares by cut-off frequency adjustable low pass filter,
Carry out the calculating of transmission efficiency again, obtain efficiency curve, so as to weaken the influence of the big data point of dispersion degree, more pay attention to from
The smaller data message of the degree of dissipating, as a result stablizes, and makes simulated effect more accurately, intuitively, conveniently, the anti-interference of calculating process
Corresponding enhancing, obtained efficiency curve result of calculation also more conforms to reality.
The general expression of linear digital filter model is：
Wherein { a1a2…amAnd { b1b2…bmIt is coefficient, z is that complex variable is z-transform operator, and m, n is model order.
Assuming that input signal is x (n), then output signal y (k) after filtering after device can be by following difference equation table
It is shown as：
Y (k)=- a1y(k-1)-...-amy(k-m)+b1x(k)+b2x(k-1)+...+bn+1x(k-n)
Wherein k is k-th of sampling period of system.
Above-mentioned digital filter can be set up in Matlab, i.e., using Matlab function command：Assuming that wave filter can
To need the signal filtered to be input vector x by a, two vector representations of b, and hypothesis, then filter () function can be called straight
Meeting the signal vector y calculated after filtering is：
Y=filter (b, a, x)
In above formula, x is the primary signal of non-filtered device processing, and y is the result after filtered processing.By setting a, b
Two vectorial values, you can constitute corresponding wave filter；It is arranged to low pass filter in the present invention.
Further illustrate, the emulation data include motor speed, motor torque, output gear unit loads and output gear
Wheel speed.
In order to carry out the calculating of transmission efficiency, then the emulation data are included to motor speed, motor torque, output gear
The output data of unit loads and output gear rotating speed, i.e. transmission efficiency value=(output gear unit loads × output gear rotation
Speed)/(motor torque × motor speed).
Further illustrate, the three-dimensional modeling is to tooth by Solidworks softwares to drilling platform lifting unit
If wheel, bearing, gear-box and dry hole are modeled.
The emulation of the drilling platform lifting unit transmission efficiency, the i.e. emulation to the transmission efficiency between gear, bearing,
Threedimensional model is set up to drilling platform lifting unit firstly the need of in Three-dimensional Design Software, it is therefore desirable to gear, bearing, tooth
If roller box and dry hole are modeled, calculate and provide for follow-up model treatment, simulation analysis, low-pass filtering treatment and transmission efficiency
Model basis, the Solidworks softwares can be substituted using other Three-dimensional Design Softwares in theory, such as use Pro/E generations
Replace.
Further illustrate, it is described that following content is included to model progress processing：
A creates complete entity assembling model, and part is simplified, the part of self-movement is integrally saved as into .x_t
File format；
B imports parts in Adams, sets the assembly information, the material information of component, the title and matter of component of system
Measure information；
C sets up Adams dynamics simulation boundary conditions, determines the relative motion relation of each component, additional primary condition.
Using Solidworks Software Create threedimensional models, it is conducted into after Adams mechanical systems, carries out above-mentioned model
Processing, kinematic pair, contact force are added to each component, the need for meeting the analysis of Adams mechanical systems, so as to meet drilling platforms
The simulation requirements of lifting unit, Solidworks is combined with Adams and Matlab, is driven the drilling platform lifting unit
The emulation of efficiency is more easily and effectively.
Further illustrate, the simulation analysis carry out virtual prototype simulation, by setting motor angle speed and load to turn
Square, simulation time, solver and simulation step length run emulation, and export the emulation data in text.
After virtual prototype simulation is carried out, by the emulation data output into text, that is, lifting unit is obtained
Input and output torque, rotary speed data, in order to carry out LPF to each emulation data in Matlab mathematical analysis softwares
Processing and the calculating of transmission efficiency.
A kind of drilling platform lifting unit transmission efficiency analogue system based on LPF, including three-dimensional modeling module,
Model processing modules, simulation analysis module and transmission efficiency computing module, in addition to low-pass filtering treatment module, the low pass filtered
Ripple processing module includes the filtering process to each emulation data, and to the average fortune of the low pass filter output result
Calculate；
The transmission efficiency computing module includes the calculating of the gear-driven efficiency of the average value of each emulation data.
Low-pass filtering treatment module is provided with the drilling platform lifting unit transmission efficiency analogue system, is to be used for
Low pass filter is set up in Matlab mathematical analysis softwares, so that emulation data can be filtered smoothly, then by transmission efficiency
Computing module obtains efficiency curve, weakens the influence of the big data point of dispersion degree, the smaller data of selection dispersion degree
Information, it is to avoid the influence of extreme value in emulation data, makes simulated effect more accurate, directly perceived, conveniently, so as to get efficiency curve
Also it is more accurate.
Further illustrate, the three-dimensional modeling module is included by Solidworks softwares to drilling platform lifting unit
If the modeling to gear, bearing, gear-box and dry hole.
Model is set up to drilling platform lifting unit by three-dimensional modeling module, pair of drilling platform lifting unit is realized
If gear, bearing, the emulation of gear-box and dry hole, basis is provided for follow-up resume module.
Further illustrate, the model processing modules include the place to model the need for being analyzed according to Adams mechanical systems
Reason.
The processing of institute's established model is carried out by the model processing modules, is the dress that system is carried out in Adams mechanical systems
Setting with information, the material information of component, the title of component and quality information, determines relative motion relation of each component etc.,
To meet the simulation requirements of drilling platform lifting unit.
Further illustrate, the simulation analysis module includes carrying out the emulation of virtual prototype and emulates the output of data.
Virtual prototype simulation is being carried out by the simulation analysis module, the input and output torque of lifting unit can be obtained, turned
The emulation data of fast data, and output this in text, it is low-pass filtering treatment module and transmission efficiency computing module
Data basis is provided.
A kind of embodiment-drilling platform lifting unit transmission efficiency emulation mode based on LPF
As shown in figure 1, a kind of drilling platform lifting unit transmission efficiency emulation mode based on LPF, including it is following
Step：
(1) three-dimensional modeling：Pass through parts gear, bearing, tooth of the Solidworks softwares to drilling platform lifting unit
If roller box and dry hole carry out three-dimensional modeling；
(2) model treatment：Model is imported into Adams mechanical systems, the need for being analyzed according to Adams mechanical systems, to mould
Type is handled, and kinematic pair, contact force is added to each component, to meet the simulation requirements of drilling platform lifting unit；
(3) simulation analysis：Virtual prototype simulation is carried out, by setting motor angle speed and load torque, simulation time,
Solver and simulation step length run emulation, and obtain and export the emulation data motor speed, motor torque, output gear
Unit loads and output gear rotating speed are in text；
(4) low-pass filtering treatment：Low pass filter is set up in Matlab mathematical analysis softwares, to each described emulation number
Carry out low-pass filtering treatment to remove numerical value according to motor speed, motor torque, output gear unit loads and output gear rotating speed
Noise, and carry out the average calculating operation of the low pass filter output result；
(5) transmission efficiency is calculated：The average value of each emulation data is carried out to the calculating of gear-driven efficiency, efficiency is obtained
Curve, i.e. transmission efficiency value=(output gear unit loads × output gear rotating speed)/(motor torque × motor speed).
The technical principle of the present invention is described above in association with specific embodiment.These descriptions are intended merely to explain the present invention's
Principle, and limiting the scope of the invention can not be construed in any way.Based on explanation herein, the technology of this area
Personnel, which would not require any inventive effort, can associate other embodiments of the present invention, and these modes are fallen within
Within protection scope of the present invention.
Claims (6)
1. a kind of drilling platform lifting unit transmission efficiency emulation mode based on LPF, it is characterised in that：Including following
Step：
(1) three-dimensional modeling：Drilling platform lifting unit transmission device is modeled；
(2) model treatment：Model is imported into Adams mechanical systems, the need for being analyzed according to Adams mechanical systems, model entered
Row processing；
(3) simulation analysis：Virtual prototype simulation is carried out, and exports emulation data in text；
(4) low-pass filtering treatment：Low pass filter is set up in Matlab mathematical analysis softwares, each emulation data is filtered
Ripple processing carries out the average calculating operation of the low pass filter output result to remove numerical value noise；
(5) transmission efficiency is calculated：The average value of each emulation data is carried out to the calculating of gear-driven efficiency, efficiency is obtained bent
Line；
Wherein, the step of setting up low pass filter in Matlab mathematical analysis softwares be：
Set the expression formula of linear digital filter model as：
Wherein { a1 a2…amAnd { b1 b2…bmIt is coefficient, z is that complex variable is z-transform operator, and m, n is model order；
Assuming that input signal is x (n), then output signal y (k) after filtering after device is expressed as by following difference equation：
Y (k)=- a1y(k-1)-...-amy(k-m)+b1x(k)+b2x(k-1)+...+bn+1x(k-n)
Wherein k is k-th of sampling period of system；
Use Matlab function command：Assuming that wave filter is by a, two vector representations of b, and assume to need the signal filtered to be defeated
Incoming vector x, the signal vector y for calling filter () function directly to calculate after filtering are：
Y=filter (b, a, x)
In above formula, x is the primary signal of non-filtered device processing, and y is the result after filtered processing；
By setting a, two vectorial values of b constitute the low pass filter.
2. a kind of drilling platform lifting unit transmission efficiency emulation mode based on LPF according to claim 1,
It is characterized in that：The emulation data include motor speed, motor torque, output gear unit loads and output gear rotating speed.
3. a kind of drilling platform lifting unit transmission efficiency emulation mode based on LPF according to claim 1,
It is characterized in that：The three-dimensional modeling is the gear, bearing, gear to drilling platform lifting unit by Solidworks softwares
If case and dry hole are modeled.
4. a kind of drilling platform lifting unit transmission efficiency emulation mode based on LPF according to claim 1,
It is characterized in that：It is described that following content is included to model progress processing：
A creates complete entity assembling model, and part is simplified, the part of self-movement is integrally saved as into .x_t files
Form；
B imports parts in Adams, sets assembly information, the material information of component, the title of component and the quality letter of system
Breath；
C sets up Adams dynamics simulation boundary conditions, determines the relative motion relation of each component, additional primary condition.
5. a kind of drilling platform lifting unit transmission efficiency emulation mode based on LPF according to claim 1,
It is characterized in that：The simulation analysis carry out virtual prototype simulation, by setting motor angle speed and load torque, during emulation
Between, solver and simulation step length run emulation, and export the emulation data in text.
6. a kind of drilling platform lifting unit transmission efficiency analogue system based on LPF, including three-dimensional modeling module, mould
Type processing module, simulation analysis module and transmission efficiency computing module, the three-dimensional modeling module include passing through Solidworks
If modeling to gear, bearing, gear-box and dry hole of the software to drilling platform lifting unit；The model processing modules include
Processing the need for being analyzed according to Adams mechanical systems to model；The simulation analysis module includes carrying out the imitative of virtual prototype
True and emulation data outputs；It is characterized in that：Also include low-pass filtering treatment module, the low-pass filtering treatment module bag
Include and set up low pass filter in Matlab mathematical analysis softwares, to the filtering process of each emulation data, and to described low
The average calculating operation of bandpass filter output result；
The transmission efficiency computing module includes the calculating of the gear-driven efficiency of the average value of each emulation data；
Wherein, the step of setting up low pass filter in Matlab mathematical analysis softwares be：
Set the expression formula of linear digital filter model as：
Wherein { a1 a2…amAnd { b1 b2…bmIt is coefficient, z is that complex variable is z-transform operator, and m, n is model order；
Assuming that input signal is x (n), then output signal y (k) after filtering after device is expressed as by following difference equation：
Y (k)=- a1y(k-1)-...-amy(k-m)+b1x(k)+b2x(k-1)+...+bn+1x(k-n)
Wherein k is k-th of sampling period of system；
Use Matlab function command：Assuming that wave filter is by a, two vector representations of b, and assume to need the signal filtered to be defeated
Incoming vector x, the signal vector y for calling filter () function directly to calculate after filtering are：
Y=filter (b, a, x)
In above formula, x is the primary signal of non-filtered device processing, and y is the result after filtered processing；
By setting a, two vectorial values of b constitute the low pass filter.
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104699905A (en) * | 2015-03-18 | 2015-06-10 | 中国航空工业集团公司雷华电子技术研究所 | Identification modeling method for gear transmission mechanism of speed regulating system based on frequency domain response |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104699905A (en) * | 2015-03-18 | 2015-06-10 | 中国航空工业集团公司雷华电子技术研究所 | Identification modeling method for gear transmission mechanism of speed regulating system based on frequency domain response |
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