CN110513358B - Simulation method, system, equipment and storage medium of load oil cylinder virtual prototype - Google Patents
Simulation method, system, equipment and storage medium of load oil cylinder virtual prototype Download PDFInfo
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- CN110513358B CN110513358B CN201910806006.0A CN201910806006A CN110513358B CN 110513358 B CN110513358 B CN 110513358B CN 201910806006 A CN201910806006 A CN 201910806006A CN 110513358 B CN110513358 B CN 110513358B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/007—Simulation or modelling
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Abstract
The application provides a simulation method, a simulation system, simulation equipment and a storage medium of a load oil cylinder virtual prototype, and relates to the technical field of computer software. The method comprises the steps of respectively obtaining first parameter information of an oil inlet of a hydraulic main valve and second parameter information of an oil return port of the hydraulic main valve, which are input by a first working oil port and a second working oil port; determining the simulation feedback pressure of the load oil cylinder according to the first parameter information, the second parameter information and a plurality of preset parameters; according to the simulation feedback pressure and the preset experiment acquisition pressure of the load oil cylinder, the load of the simulation oil cylinder connected with the mechanical interface is adjusted, the limitation on the stroke of the oil cylinder is avoided, even if the error of the stroke simulation result is accumulated continuously, the limit position of a virtual prototype of the load oil cylinder cannot be reached, the virtual collision cannot occur, and the simulation efficiency can be effectively improved.
Description
Technical Field
The application relates to the technical field of computer software, in particular to a simulation method, a simulation system, simulation equipment and a storage medium for a virtual prototype of a load oil cylinder.
Background
The excavator is used as an engineering machine with wide application, has more parts and flexible and changeable motion modes, the performance of the excavator needs to be evaluated from an integral system, and the virtual prototype is used as a computer digital model capable of replacing a physical product and can be used for displaying, analyzing and testing the whole life cycle of the physical product, so that the overall appearance, a mechanical system, a hydraulic system, a control system and the like of the excavator can be evaluated in multiple aspects by constructing the virtual prototype corresponding to each part of the excavator.
In the existing virtual prototype of the load oil cylinder, the load of a hydraulic main valve is established by directly utilizing a model block of the hydraulic oil cylinder.
However, if the existing hydraulic oil cylinder simulation model is used for simulation, a stroke range generally needs to be set, the hydraulic oil cylinder inevitably reaches the limit position of the stroke during simulation operation, and when the hydraulic oil cylinder reaches the limit position, the dynamic simulation model related to the hydraulic oil cylinder generates violent oscillation, which consumes a large amount of computing resources, so that the simulation efficiency is low.
Disclosure of Invention
The application aims to provide a simulation method, a simulation system, simulation equipment and a storage medium for a load oil cylinder virtual prototype aiming at the defects in the prior art, and the technical problem that the load oil cylinder virtual prototype in the prior art is low in simulation efficiency can be solved.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides a simulation method for a virtual prototype of a load cylinder, where the virtual prototype of the load cylinder includes a first working oil port, a second working oil port, and a mechanical interface, and the method includes: respectively acquiring first parameter information of an oil inlet of a hydraulic main valve and second parameter information of an oil return port of the hydraulic main valve, which are input by a first working oil port and a second working oil port, wherein the first parameter information comprises: the hydraulic pressure flow direction and the hydraulic pressure flow of hydraulic pressure main valve oil inlet, second parameter information includes: the hydraulic flow direction and the hydraulic flow of an oil return port of the hydraulic main valve; according to the first parameter information, the second parameter information and a plurality of preset parameters, determining the simulation feedback pressure of the load oil cylinder, wherein the preset parameters comprise: the hydraulic main pump controls current, the output displacement of the hydraulic main pump and the rotating speed of an engine; and adjusting the load of the simulation oil cylinder connected with the mechanical interface according to the simulation feedback pressure of the load oil cylinder and the preset experimental acquisition pressure.
Optionally, the method further includes: acquiring parameter information of action pilot, wherein the parameter information is hydraulic pressure or control current output by a handle; judging the motion direction of the simulation oil cylinder load connected with the mechanical interface according to the parameter information of the action leader and a preset action code; and determining the type of the load of the simulation oil cylinder according to the motion direction of the load of the simulation oil cylinder, wherein the type of the load of the simulation oil cylinder comprises a load and load dragging.
Optionally, when the type of the load of the simulation oil cylinder is load or load dragging, the simulation oil cylinder load connected with the mechanical interface is adjusted according to the simulation feedback pressure of the load oil cylinder and the preset experiment acquisition pressure, including: and increasing or decreasing the load of the simulation oil cylinder or adjusting the dragging strength of the load of the simulation oil cylinder according to the simulation feedback pressure of the load of the simulation oil cylinder and the preset experimental acquisition pressure.
Optionally, the determining the simulation feedback pressure of the load cylinder according to the first parameter information, the second parameter information, and the plurality of preset parameters includes: determining the output flow of the hydraulic main pump according to the first parameter information, the second parameter information and a plurality of preset parameters; and calculating and acquiring the simulation feedback pressure of the load oil cylinder according to the output flow of the hydraulic main pump.
Optionally, after the load of the simulation oil cylinder connected to the mechanical interface is adjusted according to the simulation feedback pressure of the load oil cylinder and the preset experimental acquisition pressure, the method further includes: calculating a pressure feedback parameter of the simulation oil cylinder load to the hydraulic system according to the adjusted simulation oil cylinder load connected with the mechanical interface; and feeding back pressure feedback parameters to the first working oil port and the second working oil port.
In a second aspect, an embodiment of the present application provides a simulation system for a virtual prototype of a load cylinder, where the virtual prototype of the load cylinder includes a first working oil port, a second working oil port and a mechanical interface, and the system includes: the device comprises a first acquisition module, a first determination module and an adjustment module.
The first module of acquireing for obtain the first parameter information of the hydraulic main valve oil inlet of first working fluid port, the input of second working fluid port, the second parameter information of hydraulic main valve oil return opening respectively, first parameter information includes: the hydraulic pressure flow direction and the hydraulic pressure flow of hydraulic pressure main valve oil inlet, second parameter information includes: the hydraulic flow direction and the hydraulic flow of an oil return port of the hydraulic main valve; the first determining module is used for determining the simulation feedback pressure of the load oil cylinder according to the first parameter information, the second parameter information and a plurality of preset parameters, wherein the preset parameters comprise: the hydraulic main pump controls current, the output displacement of the hydraulic main pump and the rotating speed of an engine; and the adjusting module is used for adjusting the load of the simulation oil cylinder connected with the mechanical interface according to the simulation feedback pressure of the load oil cylinder and the preset experiment acquisition pressure.
Optionally, the system further includes: the device comprises a second acquisition module, a judgment module and a second determination module; the second acquisition module is used for acquiring the parameter information of action pilot, and the parameter information is hydraulic pressure or control current output by the handle; the judging module is used for judging the motion direction of the simulation oil cylinder load connected with the mechanical interface according to the parameter information of the action pilot and a preset action code; and the second determining module is used for determining the type of the load of the simulation oil cylinder according to the motion direction of the load of the simulation oil cylinder, wherein the type of the load of the simulation oil cylinder comprises a load and load dragging.
Optionally, when the type of the load of the simulation oil cylinder is a load or load dragging, the adjusting module is specifically configured to increase or decrease the load of the simulation oil cylinder or adjust the load dragging strength of the simulation oil cylinder according to the simulation feedback pressure of the load of the simulation oil cylinder and a preset experiment acquisition pressure.
Optionally, the first determining module is specifically configured to determine an output flow of the hydraulic main pump according to the first parameter information, the second parameter information, and a plurality of preset parameters; and calculating and acquiring the simulation feedback pressure of the load oil cylinder according to the output flow of the hydraulic main pump.
Optionally, the adjusting module is further configured to calculate a pressure feedback parameter of the simulated oil cylinder load to the hydraulic system according to the adjusted simulated oil cylinder load connected to the mechanical interface; and feeding back pressure feedback parameters to the first working oil port and the second working oil port.
In a third aspect, an embodiment of the present application provides an apparatus, including: the simulation method comprises a processor, a storage medium and a bus, wherein the storage medium stores machine readable instructions executable by the processor, when the device runs, the processor and the storage medium are communicated through the bus, and the processor executes the machine readable instructions to execute the steps of the simulation method of the load cylinder virtual prototype of the first aspect.
In a fourth aspect, an embodiment of the present application provides a storage medium, where a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of performing the simulation method of the load cylinder virtual prototype according to the first aspect are executed.
The beneficial effect of this application is:
in the simulation method, the simulation system, the simulation equipment and the storage medium of the load oil cylinder virtual prototype provided by the embodiment of the application, the load oil cylinder virtual prototype comprises a first working oil port, a second working oil port and a mechanical interface, and the method comprises the steps of respectively obtaining first parameter information of an oil inlet of a hydraulic main valve and second parameter information of an oil return port of the hydraulic main valve, which are input by the first working oil port and the second working oil port; determining the simulation feedback pressure of the load oil cylinder according to the first parameter information, the second parameter information and a plurality of preset parameters; according to the simulation feedback pressure and the preset experiment acquisition pressure of the load oil cylinder, the load of the simulation oil cylinder connected with the mechanical interface is adjusted, the limitation on the stroke of the oil cylinder is avoided, even if the error of the stroke simulation result is accumulated continuously, the limit position of a virtual prototype of the load oil cylinder cannot be reached, the virtual collision cannot occur, the adverse effect of the original oil cylinder simulation model on the error accumulation of the stroke simulation result is eliminated, and the simulation efficiency can be effectively improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic flow chart of a simulation method of a load cylinder virtual prototype according to an embodiment of the present application;
fig. 2 is a schematic flow chart of another simulation method of a load cylinder virtual prototype according to the embodiment of the present application;
fig. 3 is a schematic flow chart of a simulation method of a load cylinder virtual prototype according to an embodiment of the present application;
fig. 4 is a schematic flow chart of another simulation method of a load cylinder virtual prototype according to the embodiment of the present application;
fig. 5 is a schematic structural diagram of a virtual prototype of a load cylinder provided in the embodiment of the present application;
fig. 6 is a schematic device diagram of a simulation system of a load cylinder virtual prototype according to an embodiment of the present application;
fig. 7 is a schematic device diagram of a simulation system of another load cylinder virtual prototype according to the embodiment of the present application;
fig. 8 is a schematic structural diagram of an apparatus according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Before describing the simulation method of the load cylinder virtual prototype provided by the present application, it should be noted that the load cylinder referred to in the present application may be a main hydraulic valve of an excavator, and in a hydraulic system, the cylinder is a load of the main valve and is therefore referred to as a load cylinder.
Fig. 1 is a schematic flow chart of a simulation method of a load cylinder virtual prototype according to an embodiment of the present application. The load oil cylinder virtual prototype comprises a first working oil port, a second working oil port and a mechanical interface, and it should be noted that the first working oil port, the second working oil port and the mechanical interface are all virtual oil ports, virtual interfaces and the like constructed in the process of constructing the load oil cylinder virtual prototype.
The execution subject of the method can be a computer, a server, a processor and other devices capable of virtual prototyping, and as shown in fig. 1, the method comprises the following steps:
s101, first parameter information of an oil inlet of the hydraulic main valve and second parameter information of an oil return port of the hydraulic main valve, which are input by the first working oil port and the second working oil port, are respectively obtained.
The first parameter information includes: the hydraulic pressure flow direction and the hydraulic pressure flow of hydraulic pressure main valve oil inlet, second parameter information includes: the hydraulic flow direction and the hydraulic flow of the oil return port of the hydraulic main valve.
The first working oil port and the second working oil port in the load oil cylinder virtual prototype can be connected with a hydraulic interface of the hydraulic main valve, first parameter information of an oil inlet of the hydraulic main valve can be acquired through the first working oil port, second parameter information of an oil return port of the hydraulic main valve can be acquired through the second working oil port, and the first parameter information and the second parameter information can provide data support for data information between the load oil cylinder virtual prototype simulation hydraulic main valve and the load oil cylinder.
In addition, it should be noted that, according to an actual application scenario, the first parameter information and the second parameter information may also include other types of parameter information, and the present application is not limited herein.
The first parameter information of the oil inlet of the hydraulic main valve and the second parameter information of the oil return port of the hydraulic main valve can be set by a user according to actual simulation requirements, and the setting is not particularly limited herein.
S102, determining the simulation feedback pressure of the load oil cylinder according to the first parameter information, the second parameter information and a plurality of preset parameters, wherein the preset parameters comprise: the hydraulic main pump controls current, the output displacement of the hydraulic main pump and the rotating speed of the engine.
The preset parameters can be introduced into the load oil cylinder virtual prototype in a leading-in mode, the load oil cylinder virtual prototype can be correspondingly configured according to the preset parameters, so that the load oil cylinder virtual prototype can correspond to the simulated hydraulic system to simulate the real working environment of the hydraulic system, and further the first parameter information, the second parameter information and the preset parameters acquired by the load oil cylinder virtual prototype through the first working oil port can determine the simulation feedback pressure of the load oil cylinder under the preset parameter environment. Of course, the content included in the preset parameter is not limited in the present application, and other parameters may also be included according to the actual application scenario. For example, the hydraulic system to be simulated comprises: the hydraulic main pump control current correspondence may include a first hydraulic main pump control current and a second hydraulic main pump control current when the first hydraulic main pump and the second hydraulic main pump.
S103, adjusting the load of the simulation oil cylinder connected with the mechanical interface according to the simulation feedback pressure of the load oil cylinder and the preset experiment acquisition pressure.
The preset experimental acquisition pressure can be the working pressure of a hydraulic main pump experimentally acquired in a hydraulic system to be simulated, the preset experimental acquisition pressure can be introduced into a virtual prototype of the load oil cylinder in a leading-in mode, and then the simulation feedback pressure of the load oil cylinder is compared with the preset experimental acquisition pressure, so that the load of the simulation oil cylinder connected with the mechanical interface can be adjusted according to a comparison result.
Optionally, the load of the simulation oil cylinder can be realized by a hydraulic variable damping element, the size of the damping hole can be adjusted, the effect of adjusting the load of the simulation oil cylinder can be achieved, and the realization mode of the load of the simulation oil cylinder can be selected according to the actual application scene.
In summary, in the simulation method of the load cylinder virtual prototype provided by the present application, the load cylinder virtual prototype includes a first working oil port, a second working oil port and a mechanical interface, and the method includes respectively obtaining first parameter information of an oil inlet of a hydraulic main valve and second parameter information of an oil return port of the hydraulic main valve, which are input by the first working oil port and the second working oil port; determining the simulation feedback pressure of the load oil cylinder according to the first parameter information, the second parameter information and a plurality of preset parameters; according to the simulation feedback pressure and the preset experiment acquisition pressure of the load oil cylinder, the load of the simulation oil cylinder connected with the mechanical interface is adjusted, the limitation on the stroke of the oil cylinder is avoided, even if the error of the stroke simulation result is accumulated continuously, the limit position of a virtual prototype of the load oil cylinder cannot be reached, the virtual collision cannot occur, the adverse effect of the original oil cylinder simulation model on the error accumulation of the stroke simulation result is eliminated, and the simulation efficiency can be effectively improved.
Fig. 2 is a schematic flow chart of another simulation method of a load cylinder virtual prototype according to the embodiment of the present application. Optionally, as shown in fig. 2, the method further includes:
s201, acquiring parameter information of action pilot, wherein the parameter information is hydraulic pressure or control current output by a handle.
The action pilot can be a control signal flow from the handle to the main valve, and two existing forms can be provided according to the type of the handle, wherein the two existing forms are respectively hydraulic pressure output by the hydraulic handle or control current output by the electric control handle, the range of the hydraulic pressure can be 0-40 bar (bar), and the output range of the control current can be 200-700 milliamperes (mA).
S202, judging the motion direction of the simulation oil cylinder load connected with the mechanical interface according to the parameter information of the action pilot and a preset action code.
The presence or absence of the motion and the magnitude of the motion may be determined based on the parameter information of the motion leader, and optionally, the parameter information of the motion leader may be compared with a preset threshold value to determine the presence or absence of the motion and the magnitude of the motion. For example, when the hydraulic pressure output by the hydraulic handle is greater than the preset threshold value of 5bar, the action is considered to exist, the action can be marked in the preset action code, the preset action code can further determine the movement direction of the simulated oil cylinder load connected with the mechanical interface according to the parameter information, and the movement direction can include the direction the same as the direction of the output force of the oil cylinder and the direction opposite to the direction of the output force of the oil cylinder.
S203, determining the type of the load of the simulation oil cylinder according to the motion direction of the load of the simulation oil cylinder, wherein the type of the load of the simulation oil cylinder comprises a load and load dragging.
The simulation oil cylinder load is used for simulating a moving mechanism driven by an oil cylinder, such as a mechanical arm and the like, the simulation oil cylinder load type corresponds to the oil cylinder load type and can comprise load and load dragging, each type corresponds to a corresponding working condition, the load corresponds to a load working condition, the load working condition refers to the projection direction of the moving direction of the load in the driving force direction of the load driven by the oil cylinder, and the projection direction is the same as the driving force direction of the load driven by the oil cylinder, namely the direction of the load output force to the oil cylinder moves; the load dragging corresponds to the load dragging working condition, namely the direction of the load dragging working condition is opposite to the direction of the output force of the oil cylinder, so that the type of the load of the simulation oil cylinder can be judged according to the movement direction of the load of the simulation oil cylinder.
For example, a lifting oil cylinder lifts a load, the movement direction of the load is the same as the output force direction of the oil cylinder, namely the force direction of the load on the oil cylinder is the same, namely the load corresponds to the working condition of the load; the load makes falling movement under the combined action of load gravity and lifting oil cylinder force, and the movement direction of the load is opposite to the output force direction of the oil cylinder, namely corresponding to the load dragging working condition.
Optionally, when the type of the load of the simulation oil cylinder is load or load dragging, the simulation oil cylinder load connected with the mechanical interface is adjusted according to the simulation feedback pressure of the load oil cylinder and the preset experiment acquisition pressure, including:
and increasing or decreasing the load of the simulation oil cylinder or adjusting the dragging strength of the load of the simulation oil cylinder according to the simulation feedback pressure of the load of the simulation oil cylinder and the preset experimental acquisition pressure.
The simulation feedback pressure of the simulation oil cylinder load is compared with the preset experiment acquisition pressure, and according to the pressure difference, when the simulation feedback pressure of the simulation oil cylinder load is greater than the preset experiment acquisition pressure, the simulation oil cylinder load can be reduced or the simulation oil cylinder load dragging can be enhanced; when the simulation feedback pressure of the simulation oil cylinder load is smaller than the preset experiment acquisition pressure, the simulation oil cylinder load can be increased or the simulation oil cylinder load dragging can be weakened, and the simulation analysis of the experiment data is realized.
Fig. 3 is a schematic flow chart of a simulation method of a load cylinder virtual prototype according to an embodiment of the present application. Optionally, as shown in fig. 3, the determining the simulation feedback pressure of the load cylinder according to the first parameter information, the second parameter information, and the plurality of preset parameters includes:
s301, determining the output flow of the hydraulic main pump according to the first parameter information, the second parameter information and the preset parameters.
And S302, calculating and obtaining the simulation feedback pressure of the load oil cylinder according to the output flow of the hydraulic main pump.
Optionally, the preset parameter may have a certain relationship with the first parameter information and the second parameter information, where the preset parameter, the first parameter information, and the second parameter information are described herein based on a hydraulic pump, a hydraulic valve, and a hydraulic oil cylinder in a hydraulic system, and optionally, the preset parameter may be an information flow parameter from the hydraulic pump to the hydraulic valve; the first parameter information and the second parameter information may be hydraulic valve to hydraulic ram information flow parameters. In the simulation, the trend of the hydraulic oil information flow can be roughly described as follows: the hydraulic flow direction and flow information is from the hydraulic pump to the hydraulic valve, and then is from the hydraulic valve to the hydraulic oil cylinder, and the forward control flow is formed; correspondingly, in the simulation process, the pressure information flows from the hydraulic oil cylinder to the hydraulic valve, and then continues from the hydraulic valve to the hydraulic pump, so that the pressure information flows in a reverse feedback manner. The preset parameters, the first parameters and the second parameters are parameter information in the information flow, and the corresponding preset parameters can be determined according to the control feedback calculation rule of the information flow of the hydraulic system.
Optionally, the preset parameters are related parameters in a hydraulic system to be simulated, and may include hydraulic main pump control current, hydraulic main pump output displacement and engine speed, the hydraulic main pump output displacement may be obtained through the hydraulic main pump control current, corresponding hydraulic main pump output flow may be obtained through the hydraulic main pump output displacement and the engine speed, the simulation feedback pressure of the load cylinder may be determined according to the hydraulic main pump output flow, the system operation condition may be reproduced in the whole course according to the preset parameters, the jamming phenomenon of digital twin-tire simulation operation is avoided, and adverse effects of simulation error accumulation on simulation operation are solved.
Fig. 4 is a schematic flow chart of another simulation method of a load cylinder virtual prototype according to the embodiment of the present application. Optionally, as shown in fig. 4, after the load of the simulation oil cylinder connected to the mechanical interface is adjusted according to the simulation feedback pressure of the load oil cylinder and the preset experimental acquisition pressure, the method further includes:
s401, calculating pressure feedback parameters of the simulation oil cylinder load to the hydraulic system according to the adjusted simulation oil cylinder load connected with the mechanical interface.
S402, feeding back pressure feedback parameters to the first working oil port and the second working oil port.
The magnitude of the cylinder load has a certain relationship with the magnitude of the hydraulic pressure in the hydraulic system, for example, if the cylinder load increases, the hydraulic system needs to drive the cylinder with a larger hydraulic pressure.
Optionally, when the load of the simulation oil cylinder is a hydraulic variable damping element, when the load of the simulation oil cylinder needs to be increased according to the simulation feedback pressure of the load oil cylinder and the preset experimental acquisition pressure, the equivalent effect of increasing the load of the simulation oil cylinder can be achieved by reducing the size of the damping hole, and further, according to the adjusted load of the simulation oil cylinder, the pressure feedback parameter can be calculated to show that the hydraulic pressure of the corresponding hydraulic oil circuit is increased; optionally, the pressure feedback parameter may be fed back to the first working oil port and the second working oil port, and the first working oil port and the second working oil port may adjust corresponding parameters according to the received pressure feedback parameter.
Fig. 5 is a schematic structural diagram of a virtual prototype of a load cylinder provided in the embodiment of the present application. Optionally, the load cylinder virtual prototype in the present application may be implemented based on a dual-flow-direction simulation architecture, and may automatically determine the flow rate of the hydraulic system, and according to the functional division implemented by each module, as shown in fig. 5, the load cylinder virtual prototype may be composed of the following units: the oil flow direction determining unit 110, the flow calculating unit 120, and the pressure calculating unit 130 may be a check valve, and may determine the flow direction of the oil, and the flow calculating unit 120 and the pressure calculating unit 130 may be established according to the proportional parameters of the hydraulic cylinder, that is, according to the proportional parameters of the hydraulic cylinder, may calculate the flow ratio and the pressure ratio, and establish the corresponding flow calculating unit 120 and the pressure calculating unit 130.
The proportional parameter of the hydraulic oil cylinder can be the ratio of the surface area of a piston in the hydraulic oil cylinder in a rodless cavity to the difference value of the surface area of the rodless cavity of the piston and the sectional area of a piston rod, namely the flow proportion of the rodless cavity and the rod cavity, and can also be called the flow proportion between two working oil ports of the hydraulic oil cylinder.
Taking a lifting oil cylinder as an example, considering that the first working oil port 101 corresponds to a rodless cavity of the hydraulic oil cylinder, the second working oil port 102 corresponds to a rod cavity of the hydraulic oil cylinder, and taking an interface of the first working oil port 101 as an example for explanation, then hydraulic oil enters from the first working oil port 101, sequentially flows through the oil flow direction judging unit 110, the flow calculating unit 120 and the pressure calculating unit 130, flows out from the second working oil port 102, and is lifted (corresponding to a movable arm), in the process, the hydraulic oil enters from the first working oil port 101, the flow direction of the hydraulic oil can be judged through the oil flow direction judging unit 110, the flow input flow of the first working oil port 101 of the hydraulic oil cylinder, the output flow of the second working oil port 102 of the hydraulic oil cylinder, and when the load is lifted, the no-load pressure corresponding to the rod cavity of the lifting oil cylinder can be determined through the flow calculating unit 120, and then the pressure calculating unit 130 can determine that the pressure of the rod cavity is converted, it should be noted that the above is ideal no load.
In addition, it should be noted that, the present application does not limit the Simulation platform of the Simulation method of the load cylinder virtual prototype, the Simulation platform may be an advanced Modeling Environment amesim (advanced Modeling Environment for performance of engineering systems) for engineering system Simulation, or may be other Modeling systems, and a corresponding Simulation platform may be selected according to an actual application scenario.
Fig. 6 is a schematic device diagram of a simulation system of a load cylinder virtual prototype according to an embodiment of the present application. The basic principle and the generated technical effects of the system are the same as those of the corresponding method embodiment, and for brief description, the corresponding contents in the method embodiment can be referred to for the parts which are not mentioned in the embodiment. As shown in fig. 6, the system includes: a first obtaining module 210, a first determining module 220, and an adjusting module 230.
The first obtaining module 210 is configured to obtain first parameter information of an oil inlet of a hydraulic main valve and second parameter information of an oil return port of the hydraulic main valve, where the first parameter information includes: the hydraulic pressure flow direction and the hydraulic pressure flow of hydraulic pressure main valve oil inlet, second parameter information includes: the hydraulic flow direction and the hydraulic flow of an oil return port of the hydraulic main valve; the first determining module 220 is configured to determine the simulation feedback pressure of the load cylinder according to the first parameter information, the second parameter information, and a plurality of preset parameters, where the preset parameters include: the hydraulic main pump controls current, the output displacement of the hydraulic main pump and the rotating speed of an engine; and the adjusting module 230 is configured to adjust the load of the simulation oil cylinder connected to the mechanical interface according to the simulation feedback pressure of the load oil cylinder and a preset experiment acquisition pressure.
Fig. 7 is a schematic device diagram of another simulation system of a load cylinder virtual prototype according to an embodiment of the present application. Optionally, as shown in fig. 7, the system further includes: a second obtaining module 240, a judging module 250 and a second determining module 260.
The second obtaining module 240 is configured to obtain parameter information of an action pilot, where the parameter information is hydraulic pressure or control current output by the handle; the judging module 250 is used for judging the motion direction of the simulation oil cylinder load connected with the mechanical interface according to the parameter information of the action leader and a preset action code; the second determining module 260 determines the type of the load of the simulation oil cylinder according to the moving direction of the load of the simulation oil cylinder, wherein the type of the load of the simulation oil cylinder comprises a load and a load dragging.
Optionally, when the type of the load of the simulation oil cylinder is a load or load dragging, the adjusting module 230 is specifically configured to increase or decrease the load of the simulation oil cylinder or adjust the intensity of the load dragging of the simulation oil cylinder according to the simulation feedback pressure of the load of the simulation oil cylinder and a preset experiment acquisition pressure.
Optionally, the first determining module 220 is specifically configured to determine the output flow of the hydraulic main pump according to the first parameter information, the second parameter information, and a plurality of preset parameters; and calculating and acquiring the simulation feedback pressure of the load oil cylinder according to the output flow of the hydraulic main pump.
Optionally, the adjusting module 230 is further configured to calculate a pressure feedback parameter of the simulated oil cylinder load to the hydraulic system according to the adjusted simulated oil cylinder load connected to the mechanical interface; and feeding back pressure feedback parameters to the first working oil port and the second working oil port.
The system is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 8 is a schematic structural diagram of an apparatus according to an embodiment of the present application. As shown in fig. 8, the apparatus may include: a processor 310, a storage medium 320, and a bus 330, the storage medium 320 storing machine-readable instructions executable by the processor 310, the processor 310 communicating with the storage medium 320 via the bus 330 when the device is operating, the processor 310 executing the machine-readable instructions to perform the steps of the above-described method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
Optionally, the present application further provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the computer program performs the steps of the above method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to perform some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A simulation method of a load oil cylinder virtual prototype is characterized in that the load oil cylinder virtual prototype comprises a first working oil port, a second working oil port and a mechanical interface, and the method comprises the following steps:
respectively acquiring first parameter information of an oil inlet of a hydraulic main valve and second parameter information of an oil return port of the hydraulic main valve, which are input by the first working oil port and the second working oil port, wherein the first parameter information comprises: the hydraulic flow direction and the hydraulic flow of the oil inlet of the hydraulic main valve, and the second parameter information comprises: the hydraulic flow direction and the hydraulic flow of an oil return port of the hydraulic main valve;
determining the simulation feedback pressure of the load oil cylinder according to the first parameter information, the second parameter information and a plurality of preset parameters, wherein the preset parameters comprise: the hydraulic main pump controls current, the output displacement of the hydraulic main pump and the rotating speed of an engine;
and adjusting the load of the simulation oil cylinder connected with the mechanical interface according to the simulation feedback pressure of the load oil cylinder and the preset experimental acquisition pressure.
2. The method of claim 1, further comprising:
acquiring parameter information of action pilot, wherein the parameter information is hydraulic pressure or control current output by a handle;
judging the motion direction of the simulation oil cylinder load connected with the mechanical interface according to the parameter information of the action pilot and a preset action code;
and determining the type of the load of the simulation oil cylinder according to the motion direction of the load of the simulation oil cylinder, wherein the type of the load of the simulation oil cylinder comprises a load and load dragging.
3. The method of claim 2, wherein when the type of the simulated cylinder load is a load or a load drag, the adjusting of the simulated cylinder load connected to the mechanical interface according to the simulated feedback pressure of the load cylinder and a preset experimental acquisition pressure comprises:
and increasing or decreasing the load of the simulation oil cylinder or adjusting the dragging strength of the load of the simulation oil cylinder according to the simulation feedback pressure of the load of the simulation oil cylinder and the preset experimental acquisition pressure.
4. The method of claim 1, wherein determining the simulated feedback pressure of the load cylinder based on the first parameter information, the second parameter information, and a plurality of predetermined parameters comprises:
determining the output flow of the hydraulic main pump according to the first parameter information, the second parameter information and the preset parameters;
and calculating and obtaining the simulation feedback pressure of the load oil cylinder according to the output flow of the hydraulic main pump.
5. The method of claim 1, wherein after adjusting the load of the simulation cylinder connected to the mechanical interface according to the simulation feedback pressure of the load cylinder and a preset experimental acquisition pressure, the method further comprises:
calculating a pressure feedback parameter of the simulation oil cylinder load to a hydraulic system according to the adjusted simulation oil cylinder load connected with the mechanical interface;
and feeding back the pressure feedback parameters to the first working oil port and the second working oil port.
6. The simulation system of the load oil cylinder virtual prototype is characterized in that the load oil cylinder virtual prototype comprises a first working oil port, a second working oil port and a mechanical interface, and the system comprises: the device comprises a first acquisition module, a first determination module and an adjustment module;
the first obtaining module is configured to obtain first parameter information of an oil inlet of a hydraulic main valve and second parameter information of an oil return port of the hydraulic main valve, where the first working oil port and the second working oil port are input, respectively, and the first parameter information includes: the hydraulic flow direction and the hydraulic flow of the oil inlet of the hydraulic main valve, and the second parameter information comprises: the hydraulic flow direction and the hydraulic flow of an oil return port of the hydraulic main valve;
the first determining module is configured to determine a simulation feedback pressure of the load cylinder according to the first parameter information, the second parameter information, and a plurality of preset parameters, where the preset parameters include: the hydraulic main pump controls current, the output displacement of the hydraulic main pump and the rotating speed of an engine;
and the adjusting module is used for adjusting the load of the simulation oil cylinder connected with the mechanical interface according to the simulation feedback pressure of the load oil cylinder and the preset experiment acquisition pressure.
7. The system of claim 6, further comprising: the device comprises a second acquisition module, a judgment module and a second determination module;
the second acquisition module is used for acquiring the parameter information of action pilot, wherein the parameter information is hydraulic pressure or control current output by the handle;
the judging module is used for judging the motion direction of the simulation oil cylinder load connected with the mechanical interface according to the parameter information of the action pilot and a preset action code;
the second determining module determines the type of the load of the simulation oil cylinder according to the motion direction of the load of the simulation oil cylinder, wherein the type of the load of the simulation oil cylinder comprises a load and a load dragging.
8. The system according to claim 7, wherein when the type of the simulated cylinder load is a load or a load drag, the adjusting module is specifically configured to increase or decrease the simulated cylinder load or adjust the strength of the simulated cylinder load drag according to the simulated feedback pressure of the simulated cylinder load and a preset experimental acquisition pressure.
9. An apparatus, comprising: a processor, a storage medium and a bus, wherein the storage medium stores machine readable instructions executable by the processor, when the device runs, the processor and the storage medium are communicated through the bus, and the processor executes the machine readable instructions to execute the steps of the simulation method of the load cylinder virtual prototype according to any one of claims 1 to 5.
10. A storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, performs the steps of the simulation method of a load cylinder virtual prototype according to any one of claims 1 to 5.
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