CN108920773A - A kind of the ultraprecise kinematic system detailed protocol design method and system of kinetics-driven - Google Patents
A kind of the ultraprecise kinematic system detailed protocol design method and system of kinetics-driven Download PDFInfo
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Abstract
The invention discloses the ultraprecise kinematic system detailed protocol design methods and system of a kind of kinetics-driven.Method of the invention was proposed in any specific design phase, from the system overall situation, for the design and modification of system schema and/or key component, is carried out Dynamic Modeling, simulation and analysis to system schema, to analyze result as foundation, is driven design process；Key component, the modeling of subsystem and/or system schema, simulation and analysis operation can get the support of design data and tool by corresponding Row control, guidance；Using model template, the dynamic analysis and Equivalent Modeling of key component and/or subsystem are completed.System of the invention provides tool for the above method and supports, including：Row control and data management system, system model assembly platform, system model emulator, reprocessing analysis tool set, instance data administrative center, Template Manager center, template wound grow up to be a useful person, model generator, l-G simulation test administrative center, solver.
Description
Technical field
The invention belongs to ultraprecise kinematic system design fields, more particularly, to a kind of ultraprecise kinematic system scheme
Complete machine electromechanical model modeling and analysis methods and system realize.
Background technique
Manufacturing equipment, precision finishing machine, in biomedical instrument, ultraprecise kinematic system needs while meeting big row
The extreme movements performance requirements such as journey, high speed, high acceleration, sub-micron even nano grade positioning precision, design difficulty is big, cost
It is expensive.
As shown in Figure 1, the traditional design method of ultraprecise kinematic system includes programme budget, component design and system design
Three phases.Designer first carries out static estimation to conceptual scheme according to motion range and precision；Then according to design manual or
Reference example is completed the design and type selecting of primary clustering, and is checked to the mechanical property of component itself；Finally carry out system
Design, and the system detailed protocol for meeting performance requirement is obtained by trial-production, test, Curve guide impeller.
Since traditional design method considers not in dynamic characteristic of the component design phase to component and its influence to system
Foot, and lack comprehensively and accurately assessment to system detailed protocol comprehensive performance, it is not up to standard to often lead to system design, needs
The design modification of component or system is repeated, or even needs repeatedly to carry out the repacking or recasting of physical prototyping, not only researches and develops
Excessive cycle, and research and develop cost and also remain high.
However, applied in ultraprecise kinematic system flexible structural member, floating support, direct drive unit, high-performance every
The key components such as vibration device, high precision position measuring system, subsystem and corresponding driving, vibration damping control strategy.These components,
The design feature difference of subsystem is very big, and working principle and behavioral trait are related to different ambits.How in component
When characteristic Design, for the work characteristics of each key component, subsystem in ultraprecise kinematic system, accurate modeling analyzes it
Dynamic characteristic is one and is related to multi-disciplinary Complex Modeling problem analysis.
Moreover, the dynamic behaviour of these components, subsystem can connect phase by structure during ultraprecise system motion
Mutual coupling enables structural vibration show irregular complex transfer so that the dynamic characteristic of ultraprecise kinematic system complicates, right
The dynamic motion precision of ultraprecise kinematic system generates detrimental effects.How in the Mechatronic Systems model of complete machine detailed protocol table
Now each component, the dynamic characteristic of subsystem and coupling effect to each other, and assess, control coupling effect to system dynamic error
Influence and ultraprecise kinematic system detailed protocol design a major issue.
Currently, the problem of about key component, the analysis of subsystem Dynamic Characteristic Modeling, usual way is for specific
Component, subsystem design example, and the simulation model of corresponding subject, the behavior of analysis design example are constructed under professional CAE software
Characteristic, however there are some problems for the method：
Firstly, the operating process of the building of subject simulation model and analysis is sufficiently complex, cumbersome；
Secondly, in order to create correct instance model under professional CAE software, and carry out accurate specificity analysis and equivalent
Modeling, designer not only needs skillfully to grasp the profession modeling of related discipline, analysis method, but also needs to have profession abundant
CAE software operating experience；Which results in key component, subsystem Dynamic Characteristic Modelings to analyze the problem of difficulty is high, time-consuming；
Moreover, a kind of modeling and analysis methods and operating experience are often directed to the particular design example types of certain component, when
There is a little variation in the structure, topology, performance design feature for designing example, and modeling and analysis methods or operating experience are possible to no longer
It is applicable in completely, lacks a kind of organization of unity means of key component modeling analysis knowledge, to support different types of design example
Modeling analysis operation.
And about creation, the multidisciplinary coupling model of analysis system detailed protocol, generally use two methods：
First, creating the simulation model of each component, subsystem under special disciplines CAE software, multidisciplinary analysis quotient is utilized
The system coupling based on data flow is built in data interaction and necessary calculating analysis sequence between each simulation model of industry software definition
Molding type, so that multiple professional CAE softwares be driven to realize that the associative simulation of system calculates simultaneously.However, in the method, no matter
It is the system coupling model under the component model or multidisciplinary analysis software under special disciplines CAE software, creation process is all non-
It is often complicated；The system model of this method creation is pulled one hair and move the whole body：When a component design alteration, generally require modification with
Its connected component simulation model, in some instances it may even be possible to need to redefine system coupling model；The system of this method creation
Model is excessively complicated, when emulation error or larger error, is difficult judgement error reason.
Second, the Modeling and simulation platform business software based on achievable multidomain uniform modeling, is advised according to the modeling of platform
Model and system model form need key component, subsystem to carry out accurate equivalent-simplification, to construct system detailed protocol
Multidisciplinary unified model.The process that this method constructs system model is relatively simple, and model is easily modified；But designer must be ripe
Practice the model equivalent method and skill for grasping different type component, subsystem, to ensure the correctness of constructed system model
And accuracy, the requirement to designer is excessively high, is unfavorable for promoting the use of.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of ultraprecise of kinetics-driven fortune
Dynamic system detailed protocol design method and system, it is intended that being component, system by each stage in design process
Dynamic Modeling and analysis provide the support of three levels：Existing similar Design example, automation modeling simulation analysis behaviour are provided
Make, targetedly process guidance and design data are provided, thus reduces design difficulty, improves design efficiency, it can be from component level
Start, effectively ensures that ultraprecise kinematic system detailed protocol has excellent dynamic property.
To achieve the above object, according to one aspect of the present invention, a kind of ultraprecise movement of kinetics-driven is proposed
System detailed protocol design method, including conceptual phase and component and system design stage, in any specific stage,
The kinetic characteristics of ultraprecise kinematic system require to meet corresponding design requirement, wherein：
In conceptual phase, dynamical property analysis is carried out to the organization plan of ultraprecise kinematic system, and to analysis
As a result determined, when only analysis result meets the design requirement of ultraprecise kinematic system, just can be carried out component and system is set
Meter；
In component and system design stage, for each or every group of key component and/or system in ultraprecise kinematic system
The design and modification of scheme, require in time to the key component and system schema carry out corresponding Dynamic Modeling, emulation with
Analysis, and analysis result is determined, if analysis result is unsatisfactory for the design requirement of ultraprecise kinematic system, modify the pass
The design of key asembly and/or system schema, and re-start judgement；And if only if the judgement of current key component and system schema
When as a result meeting the requirements simultaneously, into the design phase of next key component, until completing whole system scheme and all keys
The design of component, finally obtains detailed protocol.
Further, above-mentioned design method includes the following steps：
(1) according to ultraprecise kinematic system design objective target, example is designed with reference to existing system detailed protocol, is completed
Corresponding model template is called in conceptual design, inputs design parameter, obtains the organization plan model of ultraprecise kinematic system, and
Carry out dynamical property analysis；
If analysis result is unsatisfactory for the design requirement of ultraprecise kinematic system, to the organization plan of ultraprecise kinematic system
Model is accordingly modified；
(2) one or a set of key component or subsystem are selected from the organization plan of ultraprecise kinematic system, with reference to or
Existing key component or subsystem design example are reused, the characteristic Design of key component or subsystem is completed, selects corresponding
Model template inputs type, duty parameter, structural characteristic parameter and the performance characteristics data of key component or subsystem, generates
The equivalent model of key component or subsystem；
If performance characteristics data can not be directly determined, process guide can provide, guide user according to specific step, root
According to the key component of input or the duty parameter of subsystem and structural characteristic parameter, corresponding Parametric Analysis function is called, into
Mobile state specificity analysis obtains performance performance data；
(3) in the organization plan model of the ultraprecise kinematic system generated to step (1) steps for importing (2) generate it is all
Key component and/or subsystem equivalent model, corresponding part in replacement, modification and refinement organization plan model and is mended
Infrastructure component model needed for filling creation；Define each key component equivalent model, subsystem equivalent model and/or infrastructure component mould
Relationship between type, assembling obtain system schema model；
(4) according to the design conditions and performance requirement of ultraprecise kinematic system, and the ultraprecise kinetic system being presently in
It unites the design cycle stage, the simulation flow of corresponding ultraprecise kinematic system performance test is selected, to system detailed protocol model
L-G simulation test is carried out, simulation calculation baseline results are exported；
(5) simulation calculation baseline results are based on, according to the simulation flow of selected ultraprecise kinematic system performance test,
Analyze corresponding system detailed protocol kinetic characteristics and dynamic property feature；
(6) if the analysis result of step (5) is unsatisfactory for the design requirement of ultraprecise kinematic system, return step (1) is repaired
The conceptual design and/or return step (2) for changing ultraprecise kinematic system, to the key component and/or son of ultraprecise kinematic system
The characteristic Design of system is accordingly modified；
If the analysis result of step (5) meets the design requirement of ultraprecise kinematic system, repeatedly step (2)~(5),
Until completing the characteristic Design of all key components and/or subsystem, complete system detailed protocol is obtained；
(7) step (2)~(6) are repeated, to the duty parameter of ultraprecise kinematic system and its key component and/or subsystem
It further refined, supplemented and perfect with structural characteristic parameter, until obtaining can be used to carry out components detailed design
System detailed protocol.
Further, it is pre-designed the control boot scheme and relevant design data and corresponding tool of whole flow process,
In step (1)~(6), according to the ultraprecise kinematic system design cycle stage being presently in, designer carry out key component,
When modeling, emulation, the analysis of subsystem and/or system schema operate, the control guidance of corresponding process can get, and related
The support of design data and corresponding tool.
Further, key component includes gas suspension, motion guide rail, driving motor, vibration absorber, compliant mechanism, survey
Measure device and motion-control module；Subsystem includes combining having of being formed according to scheduled syntagmatic by each key component
The Spatial infrastructure of the system of specific function and its hardware；
Model template is with the design feature of the key component of ultraprecise kinematic system, subsystem and/or system detailed protocol
It is input with performance characteristics, for automatically generating the equivalent model of key component, subsystem and/or system detailed protocol；
Model template the case where can not being directly determined also directed to performance characteristics of key component, subsystem, process is provided and is referred to
Corresponding Parametric Analysis function is called according to duty parameter and structural characteristic parameter in south, for automatically analyze key component,
The performance characteristics of subsystem design example.
To achieve the goals above, the present invention provides a kind of ultraprecise kinematic system detailed protocols of kinetics-driven to set
Meter systems, for providing tool branch for the ultraprecise kinematic system detailed protocol design method of any one aforementioned kinetics-driven
It holds, including：Control layer and tool layer；
Control layer includes Row control and data management system；
Tool layer includes system model assembly platform, system model emulator, reprocessing analysis tool set, instance data pipe
Reason center, Template Manager center, template wound grow up to be a useful person, model generator, l-G simulation test administrative center and solver；
Row control and data management system are used to be provided according to the ultraprecise kinematic system design cycle stage being presently in
The executable procedural model of corresponding sub-process, guiding user according to operating procedure defined in executable procedural model and
Logic is executed, the modeling, emulation and analysis work of component and/or subsystem are gradually completing, and is provided in the work of each step
Corresponding design data is corresponding functional module in user's calls tool layer；The executable procedural model of sub-process includes should
It needs to call in execution logic and data input/output relation and every single stepping in sub-process between each operating procedure
Functional module in design data and tool layer；
System model assembly platform is used for the control instruction according to Row control and data management system, from model generator
The equivalent model of key component and/or subsystem is obtained, system dynamic modeling is carried out；
System model emulator is used for according to the control instruction of Row control and data management system, organization and administration solver and
L-G simulation test administrative center carries out system model emulation to system dynamic modeling result；
Reprocessing analysis tool set is used for original to system model according to the control instruction of Row control and data management system
Simulation result carries out reprocessing analysis.
Further, the instance data administrative center in tool layer, Template Manager center, template wound grow up to be a useful person, model generate
Device and system model assembly platform are supported for providing tool for building ultraprecise kinematic system detailed protocol model；
Instance data administrative center calls ultraprecise kinematic system and its key component and/or subsystem detailed for storing
The design example and/or product data of scheme；
Template Manager center is used to organize the pattern die of ultraprecise kinematic system and its key component and/or subsystem
Plate；
Template creates the pattern die grown up to be a useful person for making and encapsulating ultraprecise kinematic system and its key component and/or subsystem
Plate；
Model generator calls the pattern die of key component, subsystem and/or system detailed protocol from Template Manager center
Plate, and setting for corresponding, existing key component, subsystem and/or system detailed protocol is extracted from instance data administrative center
Example and/or product data are counted, by design feature parameter therein and performance characteristics data input model template, generate crucial group
The equivalent model of part, subsystem and/or system detailed protocol；
The data of the new design example of key component, subsystem that model generator can also design user, input pair
The model template answered, guidance user call corresponding Parametric Analysis function to carry out performance specificity analysis according to specific step,
And the design feature parameter in binding performance specificity analysis result and design instance data, generate key component and/or subsystem
Equivalent model；
Model generator is also used to special from the external design feature and performance for extracting, being loaded into key component and/or subsystem
Property data, as the input data of model template, to generate equivalent model；
Model generator exports the equivalent model of generation to system model assembly platform；
Further, system model assembly platform includes the infrastructure component model of subject involved by ultraprecise kinematic system,
For by the equivalent model of ultraprecise kinematic system and its key component and/or subsystem and required infrastructure component model
It is combined, constructs the unified model of ultraprecise kinematic system design scheme, realize the modeling of ultraprecise kinematic system；
The multidisciplinary unified model includes each key component and or subsystem in the system design scheme of ultraprecise kinematic system
Design feature, performance characteristics and the correlation of system.
Further, the l-G simulation test administrative center in tool layer, solver and system model emulator, for being to carry out
Ultraprecise kinematic system detailed protocol model emulation is tested offer tool and is supported；
L-G simulation test administrative center is used for organization management system performance simulation test module；One simulation test
Module, the simulation flow of corresponding one or a set of ultraprecise kinematic system performance test, for sequentially one or more being called to ask
Device is solved, the simulation calculation of ultraprecise kinematic system model is completed；
System model emulator includes script calling module, model conversion module and Simulation drive module；System model
Emulator is input with the ultraprecise kinematic system model under system model assembly platform, according to the design of ultraprecise kinematic system
It is required that selecting corresponding simulation test module from l-G simulation test administrative center by script calling module, and set
Fixed emulation setting and input/output condition；
Model conversion module is used to ultraprecise kinematic system model and input/output condition being converted to corresponding solver institute
The input data needed, is input to corresponding solver；
Simulation drive module is used to that driving solver to be arranged according to emulation and completes to calculate according to input data, and extracts emulation
Calculate baseline results.
Further, the simulation result that reprocessing analysis tool set is used to export with system model emulator is input, root
According to the simulation test module of selection, corresponding reprocessing analysis tool is called, analyzes corresponding ultraprecise kinetic system
The kinetic characteristics and dynamic property feature of system, and analysis is exported as a result, for the dynamic of analysis ultraprecise kinematic system detailed protocol
Mechanical characteristic and dynamic property feature provide tool and support.
If analysis result meets design requirement, the kinetic characteristics and dynamic property signature analysis knot of ultraprecise kinematic system
Fruit may make up a complete system detailed protocol design in conjunction with the design feature and performance characteristics data of system detailed protocol
Example is stored into instance data administrative center, can be reused in design process later.
Further, instance data administrative center, Template Manager center, l-G simulation test administrative center, reprocessing analysis work
Tool collection, Row control and data management system, it can be achieved that function extension, specific method is：
Instance data administrative center can add the design instance number of new key component, subsystem and system detailed protocol
According to；Template Manager center can add the model template of new key component, subsystem；L-G simulation test administrative center can add new
Simulation test module；Reprocessing analysis tool set can add new reprocessing analysis script, algoritic module and tool；
Row control and data management system can add and edit new executable procedural model and design data.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, mainly have below
Technological merit：
(1) present invention carries out Dynamic Modeling analysis to component, system by each stage in design process, can be from
Component level starts, and effectively ensures that ultraprecise kinematic system detailed protocol has excellent dynamic property.
(2) present invention reduces the difficulty that key component, subsystem design are analyzed in ultraprecise kinematic system.Firstly, real
The data of the design example and product that store in example control data corporation can be directly used in key component, subsystem design, or mention
For reference；Secondly, in design method of the invention, key component, subsystem need to only complete structure relevant to working characteristics,
Performance characteristic design does not need the geometry designs for carrying out details；Furthermore by application model generator and Template Manager center,
The modeling analysis knowledge of key component, subsystem can be effectively managed, be organized, realizes modeling analysis automation；Moreover, model is raw
It grows up to be a useful person and the model template in Template Manager center, is by summary, extraction, the design of materialization a variety of key components, subsystem
The common feature of feature and modeling and analysis methods forms, and has stronger adaptability, can support different key components, subsystem
The modeling analysis and equivalent model for designing example generate.
(3) it present invention reduces the difficulty of ultraprecise kinematic system detailed protocol modeling, realizes to system schema performance
Comprehensive assessment.Firstly, by application model generator, so that key component, subsystem equivalent model generating process automate；
Secondly, system model assembly platform is designed based on unified model expression method, with stringent modeling specification by system schema model
It is expressed as installation between the design feature and component, subsystem of component, subsystem, interactively, there is stronger adaptability, just
It is safeguarded in modification；Furthermore since l-G simulation test administrative center is not directly to the system schema model under system model assembly platform
It is calculated, but is automatically converted to input data/model needed for various solvers, not only can effectively support a variety of ask
Device is solved, required complete feature describes number when also system schema model only and need to have to be converted into the input of different solvers
According to without with subject equation scheduling algorithm information, therefore reducing the modeling difficulty of system schema model；Moreover, emulation
The emulation testing mould of trial center and reprocessing analysis Tool integration towards different performance index request and typical condition
Block and analysis method, the performance characteristics of energy comprehensive simulation analysis system scheme model.
(4) Row control can provide process with data management system in ultraprecise kinematic system detailed protocol design process and refer to
It leads, and calls all kinds of tools in the present invention, automation is realized to the modeling analysis process of some key components, subsystem.
(5) present invention has stronger functional expansionary.In use process of the invention, in Modeling Analysis System
Design instance data, model template, simulation test module, reprocessing analysis script, algoritic module and tool can be held
Row procedural model can be added with design guidance data, be edited.
Detailed description of the invention
Fig. 1 is the traditional design method schematic diagram of ultraprecise kinematic system；
Fig. 2 is the ultraprecise kinematic system design method and system schematic of kinetics-driven；
Fig. 3 be l-G simulation test administrative center, solver, system model emulator program architecture figure；
Fig. 4 is certain H-type ultraprecise kinematic system schematic structure diagram
The H-type ultraprecise kinematic system conceptual design and analysis example flow chart that Fig. 5 is Fig. 4.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below that
Not constituting conflict between this can be combined with each other.
As shown in Fig. 2, the present invention emphasizes that Dynamic Modeling, emulation and analysis are designed in ultraprecise kinematic system detailed protocol
Importance in the process：
In conceptual phase, it is necessary to carry out Dynamic Modeling, emulation to the organization plan of ultraprecise kinematic system and divide
Analysis, the analysis result of only organization plan integral power characteristic meet the design requirement of ultraprecise kinematic system, just can be carried out
Component and system design；
In component and system design stage, the component design and system design of ultraprecise kinematic system are blended：For every
The design and modification of a or every group of key component require to create or modify corresponding key component equivalent model in time, and
The kinetic model of building or modification ultraprecise kinematic system scheme, carries out dynamics simulation and the analysis of system schema, if point
Analysis result is unsatisfactory for the design requirement of ultraprecise kinematic system, it is necessary to modify the design of the key component and/or system schema.
And in ultraprecise kinematic system detailed protocol design process, key component, the modeling of subsystem and system, emulation
, can be by the control or driving of corresponding process with the specific operation process of analysis, and corresponding design data and tool can be obtained
Support.
The ultraprecise kinematic system detailed protocol designing system of kinetics-driven in the present invention includes control layer and tool
Layer.Wherein, have Row control and data management system in control layer, for control ultraprecise kinematic system modeling, emulation and point
Analyse operating process；And tool layer includes：System model assembly platform, system model emulator, reprocessing analysis tool set, example
Control data corporation, Template Manager center, template wound grow up to be a useful person, model generator, l-G simulation test administrative center, the portions such as solver
Point, it is supported for providing tool for the modeling of ultraprecise kinematic system, emulation and analysis operating process.
The realization of system model assembly platform, can by self-developing program, may be based on business modeling simulation software into
Row secondary development is realized.Platform can completely, accurately record the component of various ultraprecise kinematic systems, system designs setting for example
Count feature and performance characteristics.Other parts in tool layer can be realized integrated centered on system model assembly platform：Example
Control data corporation, Template Manager center, model generator, template wound grow up to be a useful person, l-G simulation test administrative center, system model emulation
Device, reprocessing analysis tool set can be implementing procedure or software function module, and designer can be under system model assembly platform
Call them.
Instance data administrative center may be designed as database program, and classification storage ultraprecise kinematic system detailed protocol is set
Count example and structural configuration, gas suspension, motion guide rail, driving motor, vibration absorber, compliant mechanism, measuring device, fortune
Key components, the design example of subsystem and the data of product such as dynamic control module.Each design example includes component
Or the design feature and performance characteristics data of the structure of system schema, material, physical characteristic, control etc..With gas suspension
For database program, wherein storing a variety of gas suspension design examples, each gas suspension design example contains spy
The pressure for levying key area in the data such as structural parameters, duty parameter, dynamic performance parameter and gas suspension flow field is distributed song
The performance characteristics analysis pictures such as line, pressure cloud atlas and velocity profile.
Template Manager center is also designed to database program, square in detail for organizing a variety of ultraprecise kinematic systems
The component level model template of the system-level model template of case and all kinds of key components, subsystem.Model template is for super
Common key component, subsystem design example in precise motion system, analyze their design feature and performance characteristics comprehensively
Parameter, model structure and information, the operation object of modeling and analysis methods, process step, algorithm and tool are summarized and are abstracted wherein
Common feature made of parametrization knowledge entity, have stronger adaptability.
Model template is input with key component, the design feature of subsystem and performance characteristics, for automatically generating key
Business CAE software platform can be used according to the embodiment of system model assembly platform in the equivalent model of component, subsystem
Model script, revisable model file and editable parameterized model (such as Simulink parameterized model) form.And
The key component directly determined, subsystem are difficult to for some performance characteristics, model template needs to provide process guide, is used for
User is guided to be called corresponding according to specific step according to key component or the duty parameter and structural characteristic parameter of subsystem
Parametric Analysis function, carry out key component, sub-system features design example dynamic performance characteristics analysis；Wherein, parameter
Change analytic function can be used business CAE software platform modeling and analysis script (grid creation script) under such as ICEM CFD,
The forms such as small-sized Parametric Analysis calculation procedure are realized.
As the preferred embodiment of the present embodiment, the stereotype stored in Template Manager center mainly includes：System is detailed
Scheme and structural configuration, gas suspension, motion guide rail, driving motor, vibration absorber, compliant mechanism, measuring device, movement
The key components such as the key components such as control module, subsystem, subsystem.
Template is created program of growing up to be a useful person and be may be designed as：Designer grows up to be a useful person in template wound using importing preprepared mould on interface
The main body of pattern plate is (as the modeling script, revisable model file and editable of business CAE software platform parameterize mould
Type etc.), and calling/Starting mode of Definition Model main template body, as model template input design feature parameter and dynamic
The title and type of characterisitic parameter, program automatic packaging is at model template；And for Parametric Analysis that model template need to call
Function, designer grow up to be a useful person in template wound using importing the main body of preprepared analytic function on interface (such as business CAE software
The modeling of platform and analysis script, small-sized Parametric Analysis calculation procedure etc.), and define Starting mode, as input set
Count characteristic parameter title, type and value range, as output performance characteristic parameter title and type, program is automatically right
Analytic function is packaged, and associated with model template；
Model generator program may be designed as：Designer is according to the characteristic Design example of key component or subsystem, in mould
Type generator is using selecting corresponding model template, and the design features parameter such as input structure, operating condition, material on interface；Model
Generator program automatically by model template call parameters analytic function, calculates analysis of key component or subsystem on backstage
The dynamic characteristic of characteristic Design example, and dynamic analysis result and design feature parameter are combined, automatic calling model template,
The equivalent model of key component or subsystem is generated, and is exported to system model assembly platform.Model generator program should also prop up
It holds from exterior and extracts, is loaded into key component, the design feature of subsystem and performance characteristics data (such as key component product
Product structure and performance characteristic data in handbook) and/or designer be manually entered necessary design feature and performance characteristics number
According to as the input data of model template, to generate equivalent model.
The component equivalent model generated in model generator, output to system model assembly platform；By in system mould
The relationship between various components equivalent model is defined in type assembly platform, constructs the unified model of system detailed protocol.
As the preferred embodiment of the present embodiment, system model assembly platform requires stringent, unified model formulation rule
Model towards various applications or is present in and may will appear in component, the subsystem in ultraprecise kinematic system design process
System, system design example, can it is correct, complete, accurately record its design feature and performance characteristics.For key component, subsystem
It unites model, system model assembly platform requires completely record its design feature parameter and performance characteristic parameter, and its and its
The linkage interface of his component interaction, but do not need characteristic equation or working mechanism that the component, subsystem are described in detail；For system mould
Type, system model assembly platform require can the linkage interface based on component, subsystem, correctly define the mutual peace of different inter-modules
It fills, interactively, mechanical structure topology, control stream in accurate description system, signal transmitting, pneumatically/hydraulic circuit, circuit
Deng, but do not need to carry out these correlations calculation processing or building simultaneous equations.
L-G simulation test administrative center, solver, the relationship of system model emulator are as shown in Figure 3.In system of the invention
In, solver may be either independently developed calculation procedure, module, script, can also be business simulation analysis software.L-G simulation test pipe
Reason center is similar with Template Manager center, for organizing typical simulation test module, including system mode
Kinematic accuracy test under characteristic Simulation test, typical condition, the initial displacement test bias under system static balance state, system
Machinery Transfer Function emulation testing etc..One simulation test module, towards one or a set of ultraprecise kinematic system
Performance evaluation assessment requires, and can sequentially call one or more relevant solvers, complete the simulation calculation of system detailed protocol
And performance evaluation.
System model emulator is input with the system detailed protocol model under system model assembly platform, by setting when use
Meter person selects simulation test module, and inputs necessary emulation setting and input/output condition.System model emulation
Device program finds corresponding simulation test module by script calling module from l-G simulation test administrative center；Pass through
Model conversion module, input data needed for system detailed protocol model and input/output condition are converted to corresponding solver；
By Simulation drive module, driving solver is arranged according to emulation and completes to calculate, and extracts simulation result.
The program of reprocessing analysis tool set may be designed as：The simulation results with the output of system model emulator are behaviour
Make object, the modal frequency of system detailed protocol is sought in analysis and the kinematic error of all directions under vibration shape feature, typical condition is equal
Value and mean square deviation, stepping follow the control of movement to stablize the time, and system mechanics pass letter and open loop passes the characteristic performances such as letter, and can
Display analysis result curve or cloud atlas.
It is post-processed as the preferred embodiment of the present embodiment for meeting the system detailed protocol design result of design requirement
Analysis tool collection can extract and arrange its design feature and performance characteristics data, constitute a complete system detailed protocol design
Case is stored into instance data administrative center.
Row control and data management system in the present invention can call the other parts in inventive article layer, at crucial group
Operating Guideline is provided for designer in part or system modelling, emulation and analytic process, and can realize operation automation, is embodied
Mode is as follows：
The programming of Row control and data management system can refer to ModelCentor and iSight.Designer can be in frame
In schema editing interface, executable procedural model is built in a manner of similar drafting flow chart；Procedural model can be performed by multiple
Design, modeling, analytic activity, by defining logical relation composition to each other；In the activity of each of executable procedural model,
Designer needs specified used tool or program (not only to include each section of system of the invention, further include business modeling
Analyze software and third party's implementing procedure etc.), the movable inputoutput data of statement and entry condition, it is also necessary to addition activity is right
The design data etc. answered.
Row control and data management system provide design guidance interface, can be stored and be shown big in a manner of webpage, document etc.
It measures ultraprecise kinematic system and designs related data, including：Conceptual design process, the concept of different type ultraprecise kinematic system are set
Count estimation and the checking algorithm, the various ultraprecise kinematic systems of system design stage of stage system dynamic characteristic and important indicator
The use of the component design cycle, the construction method, l-G simulation test script of system detailed protocol entirety electromechanical model of typical configurations
With setting main points, comprehensive estimation method of system detailed protocol etc..
When using executable procedural model, Row control can define designer with data management system according in procedural model
It is movable execute sequence, successively open corresponding tool or program, and open at design guidance interface that activity operations are corresponding to be set
Meter data, design person manually complete active operation, or load input data automatically, execute activity operations.
As the preferred embodiment of the present embodiment, in ultraprecise kinematic system detailed protocol design process, in control layer
Row control and data management system can instruct designer to complete the specific component of different design stage, system dynamic modeling point
The model and data, all kinds of tools that may call upon in tool layer generated during analysis work, management design mentions for designer
It is supported for efficient tool.
As the preferred embodiment of the present embodiment, instance data administrative center, Template Manager center, in l-G simulation test management
The heart, reprocessing analysis tool set, Row control and data management system, it can be achieved that function extension, specific method is：
Instance data administrative center can add, edit the design instance data of key component and system schema；Template Manager
Center can be created by template grows up to be a useful person, and adds new model template；And l-G simulation test administrative center has system emulation test module
Maintenance function supports designer's addition and edits new system emulation test module；Reprocessing analysis tool set can add new
Reprocessing analysis script, algoritic module and tool；The modeling of new key component, system or analysis process can be defined as can be performed
The form of procedural model is packaged in Row control and data management system.
Using the design and analysis process of some H-type ultraprecise kinematic system scheme as shown in Figure 4 as example, illustrate this hair
A kind of specific implementation process of the ultraprecise kinematic system detailed protocol design method of bright kinetics-driven.
H-type ultraprecise kinematic system conceptual design and the flow chart of analytic process are as shown in Figure 5：It is super that designer completes H-type
The design of precise motion system structure scheme, and building structure scheme model；On the basis of organization plan model, designer is set
Key component and subsystem are counted, creates corresponding equivalent model, and complete the assembling of system detailed protocol model；Designer is to being
Detailed protocol model of uniting carries out the l-G simulation test of dynamic characterization measurement and the l-G simulation test of typical condition lower plane movement, and root
According to the kinetic characteristics and precision property of test result analysis system detailed protocol.
Step (1)：Interface is instructed in the conceptual design that designer opens in Row control and data management system, super according to H-type
The design requirement and applying working condition of precise motion system select ultraprecise kinematic system conceptual design process, the ginseng of suitable type
Relevant conceptual design data is examined, mechanical solution design is carried out.
As the preferred embodiment of the present embodiment, the conceptual design in Row control and data management system instructs interface with net
The modes such as page, document record and show the related data of conceptual design.These data are emphasized to consider ultraprecise in conceptual design
The dynamic performance of kinematic system, including：The conceptual design process of different type ultraprecise kinematic system, consider movement operating condition and
The system architecture design method of weighted load, the selection method of the main parts size of consideration kinetic characteristics, system dynamics are special
Checking algorithm and interpretational criteria of sign etc..
In this course, designer can open instance data administrative center by Row control and data management system,
Example is designed with reference to suitable H-type ultraprecise kinematic system.After completing mechanical solution design, determining structure feature, if
Meter person opens model generator by Row control and data management system, and selection " generates ultraprecise kinematic system mechanical structure structure
Type scheme model "；And Template Manager center is entered by model generator, it finds and is consistent with mechanical solution design result
H-type configuration scheme model template, input structure characteristic parameter generate H-type ultraprecise kinematic system mechanical solution model.
For the H-type ultraprecise kinematic system mechanical solution model of generation, designer needs to analyze its dynamics spy
Property, including system vibration mode, structural key position to the response characteristic of driving excitation and typical disturbance, main motion parts
Machinery passes letter etc..If analysis result is unsatisfactory for the design requirement of H-type ultraprecise kinematic system, needs to modify organization plan and set
Meter.
Step (2.1)：What designer's opening gas suspension component in Row control and data management system designed instructs boundary
Face is wanted with reference to wherein gas suspension design cycle and the applying working condition feature of different type gas suspension, structure feature design
The data such as point；And instance data administrative center is opened by Row control and data management system, it searches, used with reference to suitable support
Gas suspension designs example, and the characteristic Design of gas suspension is used in the support for completing H-type ultraprecise kinematic system, defines gas suspension
Flow field portion structure feature and operating mode feature.Then, designer opens model generator, and selection " generates gas suspension mould
Type ", model generator can recall Template Manager center；Designer is according to the structure feature class of support gas suspension design result
Type and distribution form are searched in Template Manager center, select corresponding gas suspension model template；Designer is in process guide
Guidance under, call corresponding Parametric Analysis function, input specific structure, operating mode feature parameter, it is dynamic to carry out gas suspension
The calculating of step response is analyzed, and is obtained gas suspension dynamic performance characteristics and is analyzed result；Designer is loaded into dynamic in model template
Performance characteristics analyze result and structure, operating mode feature parameter；Model generator can automatically generate the support gas suspension of customization
The equivalent model of group.
Step (2.2)：Designer is in the gas suspension component design guidance interface that step (2.1) is opened, with reference to difference
The data such as the applying working condition feature of type gas suspension product, type selecting points for attention are used in the selected suitable guiding of exterior
Gas suspension product.Designer is by taking pictures or the means such as screenshot, by selected air bearing from gas suspension product sample handbook
Picture file is made in the dynamic property curve of bearing product.Then, designer opens mould by Row control and data management system
Type generator is extracted from dynamic property curve picture file and is set out using the external data abstraction function in model generator
State performance data.Then, designer is loaded into the dynamic performance data of selected gas suspension product in model generator, and defeated
Structure, the operating mode feature parameter for entering gas suspension product, form complete gas suspension product example.Finally, designer is in mould
In type generator, selection " generates gas suspension model ", selects corresponding gas suspension model template, is loaded into gas suspension product
Example generates corresponding guiding gas suspension group equivalent model.And for the gas suspension product example of formation, designer can
Instance data administrative center is recalled by model generator, gas suspension product example is saved into instance database, so as to
It is reused in design process from now on.
Step (3)：According to the specific stage for the ultraprecise kinematic system detailed protocol design being presently in, designer is flowing
That scheme Design is opened in process control and data management system instructs interface, with reference to wherein system detailed protocol model construction
Related data；In system model assembly platform, H-type ultraprecise kinematic system mechanical solution model is opened；Before importing
The guiding generated in step with and support gas suspension group equivalent model, in replacement system mechanical solution model
Corresponding part, and create in system model assembly platform the infrastructure component model of necessary mechanical structure；Define infrastructure component
Model, guiding are used between the equivalent model and system mechanics organization plan model other parts of support gas suspension group
Correlation, assembling obtain the system schema unified model of current generation.
Using the basic pattern checking and time domain, frequency-domain analysis function of system model assembly platform, unite to system schema
One model check and basic time domain, frequency-domain analysis, it is ensured that model is correct.
Step (4)：Designer opens system model emulator by Row control and data management system, is loaded into step (3)
In assembled system schema model.Designer is by system model emulator, into l-G simulation test administrative center, according to H-type
The structure type of ultraprecise kinematic system, finds the simulation test module of corresponding dynamic characterization measurement, and selects
With system model emulator will appear corresponding l-G simulation test set interface.The control of designer's reference flowchart and data management system
Instruct in interface about corresponding construction type system schema dynamic performance test design data, l-G simulation test be arranged
The emulation examinations such as output channel, pumping signal, the disturbing signal that definition excitation and disturbance input channel, structural vibration are observed in interface
Test setting.
After l-G simulation test is provided with, designer starts emulation, and system model emulator can select automatically and configuration reasoning
Device system schema model and l-G simulation test is arranged, input data needed for being converted to solver together, and driving solver is completed
The l-G simulation test of the dynamic characterization measurement of system schema model exports simulation calculation baseline results.
Step (5)：The reprocessing analysis that designer opens in Row control and data management system instructs interface, according to H-type
Structure type, design requirement and the applying working condition of ultraprecise kinematic system search simultaneously reference driving force specificity analysis main points, judge
The reprocessing analysis related data such as criterion.
Designer is loaded into the system emulation meter of the dynamic characterization measurement of step (4) output in reprocessing analysis tool set
Baseline results are calculated, and select " system dynamics test " analysis type, reprocessing analysis tool set automatically switches to accordingly
Assay surface.Then, designer is under the assay surface of reprocessing analysis device, the structural modal characteristic of analysis system scheme,
The kinetic characteristics such as the sensitivity that the Machinery Transfer Function of major moving parts, key position disturb typical case, display analysis result
Data, curve.
If the analysis result of system dynamics is difficult to receive, designer can pass through Row control and data management system
Design guidance interface is searched and is diagnosed with reference to the design of ultraprecise kinematic system detailed protocol, modifies relevant design data (ratio
Such as：The failure case of system detailed design plan design, the diagnostic experiences for designing failure cause and method, different structure configuration
The design feature sensitivity analysis main points of system schema, modified point of typical scheme Design Failure Mode etc.), modification
Support is used and the characteristic Design of guiding gas suspension group, or remodifies system structure scheme.
Step (6)：The step of according to (2.1)~(5), completes driving motor, flexible connection, measuring system, control strategy
With the characteristic Design of the other key components and subsystem such as vibration absorber, corresponding equivalent model is generated, assembling obtains complete
System schema model, thus complete system tentative programme design.
Step (7)：Designer opens system model emulator, is loaded into system detailed protocol model obtained in step (6).
Designer controls and closes in data management system according to the design requirement and applying working condition of H-type ultraprecise kinematic system, reference flowchart
The related data that kinematic accuracy performance simulation is tested under corresponding typical condition；By system model emulator, into emulation
Trial center selects corresponding H-type ultraprecise kinematic system typical condition plane to transport according to design requirement and applying working condition
Dynamic simulation test module；The defeated of l-G simulation test is defined in the l-G simulation test set interface of system model emulator
Enter, displacement input, the typical input signal disturbed of output channel and plane motion different directions, solver is set and is imitated
True test configurations.
Designer starts emulation, and system model emulator can be selected automatically and solver is driven to complete system schema model
Typical condition plane motion l-G simulation test exports simulation calculation baseline results.
Step (8)：The reprocessing analysis that designer opens in Row control and data management system instructs interface, according to H-type
The design requirement and applying working condition of ultraprecise kinematic system, search the related data of reprocessing analysis, and determination should be analyzed main
Performance indicator and analysis method.
Designer is loaded into the system emulation of the typical condition plane motion of step (7) output in reprocessing analysis tool set
Baseline results are calculated, and select " motion control time-domain-simulation " analysis type.Then, designer is in reprocessing analysis tool set
Under assay surface, all directions kinematic error mean value of analysis system detailed protocol, motion control stablize time, control error window etc.
Kinematic accuracy performance indicator shows analysis result data, curve, and display system detailed protocol moves under operating condition in Typical Planar
Motion profile figure.
Step (9)：If the analysis result of step (8) is unsatisfactory for the design requirement of ultraprecise kinematic system, reference stream
Process control and data management system instruct ultraprecise kinematic system detailed protocol design diagnosis in interface, modify relevant design money
Material, determines the modification of component, subsystem；Then gas suspension, driving motor, flexibility are modified in return step (1) or (2)
The Scheme design of the components such as connection, vibration absorber, the characteristic Design of subsystem or ultraprecise kinematic system.
Step (10)：If component, system schema there is still a need for further perfect, return step (2)~(8), addition or
The characteristic Design of the components such as refinement gas suspension, driving motor, flexible connection, vibration absorber and machine system simultaneously analyses whether
Meet perfection requirements.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (9)
1. a kind of ultraprecise kinematic system detailed protocol design method of kinetics-driven, which is characterized in that including conceptual design
Stage and component and system design stage, in any specific stage, the kinetic characteristics of ultraprecise kinematic system are all necessary
Meet corresponding design requirement, wherein：
In conceptual phase, dynamical property analysis is carried out to the organization plan of ultraprecise kinematic system, and to analysis result
Determined, when only analysis result meets the design requirement of ultraprecise kinematic system, just can be carried out component and system design；
In component and system design stage, for each or every group of key component and/or system schema in ultraprecise kinematic system
Design and modification, require to carry out corresponding Dynamic Modeling, simulation and analysis to the key component and system schema in time,
And analysis result is determined, if analysis result is unsatisfactory for the design requirement of ultraprecise kinematic system, modify the key group
The design of part and/or system schema, and re-start judgement；And if only if the judgement result of current key component and system schema
When meeting the requirements simultaneously, into the design phase of next key component, until completing whole system scheme and all key components
Design, finally obtain detailed protocol.
2. a kind of ultraprecise kinematic system detailed protocol design method of kinetics-driven as described in claim 1, feature
It is, includes the following steps：
(1) according to ultraprecise kinematic system design objective target, example is designed with reference to existing system detailed protocol, completes concept
Corresponding model template is called in design, inputs design parameter, obtains the organization plan model of ultraprecise kinematic system, and carry out
Dynamical property analysis；
If analysis result is unsatisfactory for the design requirement of ultraprecise kinematic system, to the organization plan model of ultraprecise kinematic system
Accordingly modified；
(2) one or a set of key component or subsystem, reference or reuse are selected from the organization plan of ultraprecise kinematic system
Existing key component or subsystem design example, complete the characteristic Design of key component or subsystem, select corresponding model
Template inputs type, duty parameter, structural characteristic parameter, the performance characteristics data of key component or subsystem, generates crucial group
The equivalent model of part or subsystem；
If performance characteristics data can not be directly determined, process guide can provide, guide user according to specific step, according to defeated
The duty parameter and structural characteristic parameter of the key component or subsystem that enter call corresponding Parametric Analysis function, are moved
Step response analysis, obtains performance performance data；
(3) all passes that steps for importing (2) generates in the organization plan model of the ultraprecise kinematic system generated to step (1)
Key asembly and/or subsystem equivalent model, replacement are modified and refine corresponding part in organization plan model, and supplement wound
Build required infrastructure component model；It defines between each key component equivalent model, subsystem equivalent model and/or infrastructure component model
Relationship, assembling obtain system schema model；
(4) according to the design conditions and performance requirement of ultraprecise kinematic system, and the ultraprecise kinematic system being presently in is set
Flow stages are counted, the simulation flow of corresponding ultraprecise kinematic system performance test is selected, system detailed protocol model is carried out
L-G simulation test exports simulation calculation baseline results；
(5) simulation calculation baseline results are based on, according to the simulation flow of selected ultraprecise kinematic system performance test, analysis
Corresponding system detailed protocol kinetic characteristics and dynamic property feature；
(6) if the analysis result of step (5) is unsatisfactory for the design requirement of ultraprecise kinematic system, return step (1) modification is super
The conceptual design of precise motion system and/or return step (2), to the key component and/or subsystem of ultraprecise kinematic system
Characteristic Design accordingly modified；
If the analysis result of step (5) meets the design requirement of ultraprecise kinematic system, repeatedly step (2)~(5), until
The characteristic Design for completing all key components and/or subsystem obtains complete system detailed protocol；
(7) step (2)~(6) are repeated, to the duty parameter and knot of ultraprecise kinematic system and its key component and/or subsystem
Structure characteristic parameter further refined, is supplemented and perfect, until obtaining the system that can be used to carry out components detailed design
Detailed protocol.
3. a kind of ultraprecise kinematic system detailed protocol design method of kinetics-driven as claimed in claim 2, feature
It is, the control boot scheme and relevant design data and corresponding tool of whole flow process is pre-designed, in step (1)~(6)
In, according to the ultraprecise kinematic system design cycle stage being presently in, designer carry out key component, subsystem and/or
When the modeling of system schema, emulation, analysis operation, can get corresponding process control guidance and relevant design data and
The support of corresponding tool.
4. a kind of ultraprecise kinematic system detailed protocol design method of kinetics-driven as described in claims 1 to 3, special
Sign is, key component include gas suspension, motion guide rail, driving motor, vibration absorber, compliant mechanism, measuring device and
Motion-control module；Subsystem include combined by each key component according to scheduled syntagmatic formed have specific function
The Spatial infrastructure of system and its hardware；
Model template with ultraprecise kinematic system and its key component, subsystem and/or system detailed protocol design feature and
Performance characteristics are input, for automatically generating the equivalent model of key component, subsystem and/or system detailed protocol；
Model template the case where can not directly determining also directed to performance characteristics of key component, subsystem, provide process guidance, root
According to duty parameter and structural characteristic parameter, corresponding Parametric Analysis function is called, for automatically analyzing key component, subsystem
Design the performance characteristics of example.
5. the ultraprecise kinematic system detailed protocol designing system of a kind of kinetics-driven, for being that Claims 1 to 4 is any one
A kind of ultraprecise kinematic system detailed protocol design method of kinetics-driven described in provides tool and supports, feature exists
In, including：Control layer and tool layer；
Control layer includes Row control and data management system；
Tool layer include system model assembly platform, system model emulator, reprocessing analysis tool set, instance data management in
The heart, Template Manager center, template wound grow up to be a useful person, model generator, l-G simulation test administrative center and solver；
Row control and data management system are used to be provided corresponding according to the ultraprecise kinematic system design cycle stage being presently in
Sub-process executable procedural model, to guide user according to operating procedure defined in executable procedural model and execution
Logic, is gradually completing the modeling, emulation and analysis work of component and/or subsystem, and provides accordingly in the work of each step
Design data, be user's calls tool layer in corresponding functional module；The executable procedural model of sub-process includes the subflow
The design for needing to call in execution logic and data input/output relation and every single stepping in journey between each operating procedure
Functional module in data and tool layer；
System model assembly platform is used for the control instruction according to Row control and data management system, obtains from model generator
The equivalent model of key component and/or subsystem carries out system dynamic modeling；
System model emulator is used for the control instruction according to Row control and data management system, organizes solver and emulation
Trial center carries out system model emulation to system dynamic modeling result；
Reprocessing analysis tool set is used for according to the control instruction of Row control and data management system to the original emulation of system model
As a result reprocessing analysis is carried out.
6. a kind of ultraprecise kinematic system detailed protocol designing system of kinetics-driven as claimed in claim 5, feature
It is,
Instance data administrative center, Template Manager center in tool layer, template wound grow up to be a useful person, model generator and system model group
Assembling platform is supported for providing tool for building ultraprecise kinematic system detailed protocol model；
Ultraprecise kinematic system and its key component and/or subsystem detailed protocol are called for storing by instance data administrative center
Design example and/or product data；
Template Manager center is used to organize the model template of ultraprecise kinematic system and its key component and/or subsystem；
Template creates the model template grown up to be a useful person for making and encapsulating ultraprecise kinematic system and its key component and/or subsystem；
Model generator calls the model template of key component, subsystem and/or system detailed protocol from Template Manager center, and
The design example and/or production of corresponding key component, subsystem and/or system detailed protocol are extracted from instance data administrative center
Product data, by design feature parameter therein and performance characteristics data input model template, generate key component, subsystem and/
Or the equivalent model of system detailed protocol, and export to system model assembly platform；
Model generator is also used to from the external design feature and performance characteristics number for extracting, being loaded into key component and/or subsystem
According to as the input data of model template, to generate equivalent model.
7. special such as a kind of ultraprecise kinematic system detailed protocol designing system of kinetics-driven described in claim 5 or 6
Sign is that system model assembly platform includes the infrastructure component model of subject involved by ultraprecise kinematic system, is used for superfinishing
The equivalent model and required infrastructure component model of close kinematic system and its key component and/or subsystem are combined, structure
The unified model of ultraprecise kinematic system design scheme is built, realizes the modeling of ultraprecise kinematic system；
The multidisciplinary unified model includes each key component and or subsystem in the system design scheme of ultraprecise kinematic system
Design feature, performance characteristics and correlation.
8. a kind of ultraprecise kinematic system detailed protocol of kinetics-driven as described in claim 5~7 any one designs
System, which is characterized in that
L-G simulation test administrative center, solver and system model emulator in tool layer, for being to carry out ultraprecise kinetic system
Detailed protocol model emulation test offer tool of uniting is supported；
L-G simulation test administrative center is used for organization management system performance simulation test module；One simulation tests mould
Block, the simulation flow of corresponding one or a set of ultraprecise kinematic system performance test call one or more solve for sequence
Device completes the simulation calculation of ultraprecise kinematic system model；
System model emulator includes script calling module, model conversion module and Simulation drive module；System model emulation
Device is input with the ultraprecise kinematic system model under system model assembly platform, is wanted according to the design of ultraprecise kinematic system
It asks, selects corresponding simulation test module from l-G simulation test administrative center by script calling module, and set
Emulation setting and input/output condition；
Model conversion module is for being converted to ultraprecise kinematic system model and input/output condition needed for corresponding solver
Input data is input to corresponding solver；
Simulation drive module is used to that driving solver to be arranged according to emulation and completes to calculate according to input data, and extracts simulation calculation
Baseline results.
9. a kind of ultraprecise kinematic system detailed protocol of kinetics-driven as described in claim 5~8 any one designs
System, which is characterized in that
The simulation result that reprocessing analysis tool set is used to export with system model emulator is input, according to the systematicness of selection
Energy emulation testing module, calls corresponding reprocessing analysis tool, analyzes the kinetic characteristics of corresponding ultraprecise kinematic system
With dynamic property feature, and export analysis as a result, for analysis ultraprecise kinematic system detailed protocol kinetic characteristics and dynamic
Performance characteristic provides tool and supports.
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