CN112231954A - Method for establishing hydraulic structure digital twin model - Google Patents
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Abstract
The invention discloses a method for establishing a hydraulic structure digital twin model, which comprises the following steps: s1, constructing a finite element model according to the known physical parameters of the hydraulic structure; s2, acquiring the self-vibration frequency and vibration mode information of the hydraulic structure with the order of 1 or above and the self-vibration frequency and vibration mode information obtained by finite element model calculation in the actual operation process; s3, establishing a deterministic dynamic model updating target equation for the physical parameters of the hydraulic structure to be adjusted according to the data obtained in the step S2; and S4, obtaining the value of the physical parameter of the hydraulic structure to be adjusted corresponding to the minimum value of the deterministic dynamic model updating target equation, and completing the updating of the finite element model, namely completing the establishment of the digital twin model of the hydraulic structure. The method can automatically complete the updating of the finite element model according to the basic information and the change process only by considering the basic information of the hydraulic structure, thereby realizing the establishment of the digital twin model of the hydraulic structure.
Description
Technical Field
The invention relates to the field of computer simulation, in particular to a method for establishing a hydraulic structure digital twin model.
Background
The digital twin is a technology which integrates multidisciplinary, multi-physical quantity, multi-scale and multi-probability simulation processes by fully utilizing methods based on mathematical models, sensor updating, big data, machine learning, probability analysis and the like, and realizes complete mapping of structures and virtual models, thereby completing the full life cycle management of simulation objects. Digital twinning is an beyond-realistic concept that can be viewed as a digital mapping system of one or more important, interdependent equipment systems. The key of the digital twinning technology is to create a digital twinning model of an application object, namely a physical entity, a virtual entity and a connection between the physical entity and the virtual entity. How to accurately create a digital model capable of accurately reflecting structural characteristics according to physical parameters of an entity structure grasped by various means such as detection equipment, a sensor, big data and the like, and meanwhile, the model can timely adjust corresponding parameters according to the running state of the structure, so that the running state of the model is consistent with that of the entity model, and the method is a difficult problem to be solved by a digital twin model.
The hydraulic structure in China has the overall characteristics of large size, complex structure and variable construction environmental factors, and the dam in China occupies 30 in 100 dams before the dam height which is built or built globally by 2018; over 200m high dams 82, which account for 25 in China, are built in succession with the vigorous development of hydropower industry in China in nearly 20 years. Therefore, when a digital twin model is to be built for a hydraulic structure, not only the characteristics of the structure but also the influence of environmental factors and operating conditions are considered comprehensively, so that it is very difficult to build an accurate digital model, and the digital twin model is required to be adaptive and to adjust corresponding parameters in time, so as to keep the operating state consistent with that of an entity model, and is difficult to implement.
Disclosure of Invention
Aiming at the defects in the prior art, the method for establishing the digital twin model of the hydraulic structure solves the problem that the digital twin model of the existing hydraulic structure is difficult to establish.
In order to achieve the purpose of the invention, the invention adopts the technical scheme that:
the method for establishing the hydraulic structure digital twin model comprises the following steps:
s1, constructing a finite element model according to the known physical parameters of the hydraulic structure based on finite element software;
s2, acquiring the self-vibration frequency and the vibration mode information of the hydraulic structure with the order of 1 or more in the actual operation process, acquiring the self-vibration frequency and the vibration mode information obtained by the calculation of the finite element model, and selecting the physical parameters of the hydraulic structure to be adjusted;
s3, establishing a deterministic dynamic model updating target equation for the physical parameters of the hydraulic structure to be adjusted according to the data obtained in the step S2;
and S4, obtaining the value of the physical parameter of the hydraulic structure to be adjusted corresponding to the minimum value of the deterministic dynamic model updating target equation, and completing the updating of the finite element model, namely completing the establishment of the digital twin model of the hydraulic structure.
Further, the specific method for selecting the physical parameters of the hydraulic structure to be adjusted in step S2 includes the following sub-steps:
s2-1, acquiring all material parameters of the hydraulic structure, increasing the material parameters by 20% in the finite element model by adopting a single variable method for one material parameter at a time until the material parameters are increased to 160% of the original value, and acquiring the self-vibration frequency of the finite element model corresponding to the material parameters increased each time;
s2-2, acquiring the corresponding natural vibration frequency change rate according to the natural vibration frequency of the finite element model after each increase of each material parameter;
s2-3, sequencing the corresponding material parameters according to the natural frequency change rate from large to small, and selecting the first n material parameters as the physical parameters of the hydraulic structure to be adjusted.
Further, the natural frequency of the finite element model in the step S2-1 is the first 3 to 6 orders of natural frequency of the finite element model.
Further, the deterministic dynamical model updating target equation in step S3 is specifically:
f(θ)＝r(θ)TWr(θ)+(θ-θ0)TWθ(θ-θ0)
wherein f (θ) is the value of the deterministic dynamical model update target equation; r (θ) is a residual vector; r isf(θ) is a frequency residual vector, including each order frequency residual vector; r iss(θ) is the mode shape residual vector, including each order mode shape residual vector; w is a diagonal weight matrix; wθRegularizing a weight matrix for the diagonal; theta is a physical parameter of the hydraulic structure needing to be adjusted; theta0The current value of the physical parameter of the hydraulic structure needing to be adjusted in the finite element model is obtained; (.)TIs the transposition of the matrix;
is the ith order frequency residual vector of the hydraulic structure; lambda [ alpha ]i(theta) calculating the ith order frequency of the finite element model based on the physical parameters of the hydraulic structure needing to be adjusted currently;
the measured ith order frequency of the hydraulic structure is obtained;
connecting the i-th vibration mode residual vector of the hydraulic structure; phi is ai(theta) an ith order total vibration mode is calculated by the finite element model based on physical parameters of the hydraulic structure which needs to be adjusted currently;
calculating the vibration mode of each measuring point of the ith order obtained by the finite element model based on the physical parameters of the hydraulic structure needing to be adjusted currently;
the measured ith order total vibration mode of the hydraulic structure is obtained;
the vibration mode of each measuring point of the ith order of the actual measurement of the hydraulic structure is obtained.
Further, the specific method for acquiring the value of the physical parameter of the hydraulic structure to be adjusted corresponding to the minimum value of the deterministic dynamical model updating target equation in step S4 is as follows:
and obtaining the value of the physical parameter of the hydraulic structure to be adjusted corresponding to the minimum value of the deterministic dynamical model updating target equation through MATLAB.
The invention has the beneficial effects that: the method can automatically complete the updating of the finite element model according to the basic information and the change process only by considering the basic information of the hydraulic structure, thereby realizing the establishment of the digital twin model of the hydraulic structure.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic diagram of a finite element model of a certain gravity dam discharge dam in an embodiment;
FIG. 3 is a schematic view of the 1 st order mode in the example;
FIG. 4 is a schematic view of the 2 nd order mode in the embodiment;
FIG. 5 is a schematic view of the 3 rd order mode in the example;
FIG. 6 is a schematic diagram of the first 3 measured order mode shape;
FIG. 7 is a diagram illustrating the natural frequency of the finite element model corresponding to some material parameters in the example.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
As shown in fig. 1, the method for establishing the hydraulic structure digital twin model comprises the following steps:
s1, constructing a finite element model according to the known physical parameters of the hydraulic structure based on finite element software;
s2, acquiring the self-vibration frequency and the vibration mode information of the hydraulic structure with the order of 1 or more in the actual operation process, acquiring the self-vibration frequency and the vibration mode information obtained by the calculation of the finite element model, and selecting the physical parameters of the hydraulic structure to be adjusted;
s3, establishing a deterministic dynamic model updating target equation for the physical parameters of the hydraulic structure to be adjusted according to the data obtained in the step S2;
and S4, obtaining the value of the physical parameter of the hydraulic structure to be adjusted corresponding to the minimum value of the deterministic dynamic model updating target equation, and completing the updating of the finite element model, namely completing the establishment of the digital twin model of the hydraulic structure.
Large hydraulic structures are often constructed from multiple materials, each with different material parameters, and if all of the material parameters are adjusted, two results generally occur: (1) in time, the number of iterations increases exponentially as the material parameters increase. (2) The diversity of the results, one material parameter, may present more than one optimal solution. Therefore, the specific method for selecting the physical parameters of the hydraulic structure to be adjusted in the step S2 in the specific implementation process includes the following sub-steps:
s2-1, acquiring all material parameters of the hydraulic structure, increasing the material parameters by 20% in the finite element model by adopting a single variable method for one material parameter at a time until the material parameters are increased to 160% of the original value, and acquiring the self-vibration frequency of the finite element model corresponding to the material parameters increased each time; the self-vibration frequency of the finite element model is the first 3-6 orders of self-vibration frequency in the finite element model;
s2-2, acquiring the corresponding natural vibration frequency change rate according to the natural vibration frequency of the finite element model after each increase of each material parameter;
s2-3, sequencing the corresponding material parameters according to the natural frequency change rate from large to small, and selecting the first n material parameters as the physical parameters of the hydraulic structure to be adjusted. The value of n can be determined according to specific situations.
The deterministic dynamical model update target equation in step S3 is specifically:
f(θ)＝r(θ)TWr(θ)+(θ-θ0)TWθ(θ-θ0)
wherein f (θ) is the value of the deterministic dynamical model update target equation; r (θ) is a residual vector; r isf(θ) is a frequency residual vector, including each order frequency residual vector; r iss(θ) is the mode shape residual vector, including each order mode shape residual vector; w is a diagonal weight matrix; wθRegularizing a weight matrix for the diagonal; theta is a physical parameter of the hydraulic structure needing to be adjusted; theta0The current value of the physical parameter of the hydraulic structure needing to be adjusted in the finite element model is obtained; (.)TIs the transposition of the matrix;
is of hydraulic structureAn i-order frequency residue vector; lambda [ alpha ]i(theta) calculating the ith order frequency of the finite element model based on the physical parameters of the hydraulic structure needing to be adjusted currently;
the measured ith order frequency of the hydraulic structure is obtained;
connecting the i-th vibration mode residual vector of the hydraulic structure; phi is ai(theta) an ith order total vibration mode is calculated by the finite element model based on physical parameters of the hydraulic structure which needs to be adjusted currently;
calculating the vibration mode of each measuring point of the ith order obtained by the finite element model based on the physical parameters of the hydraulic structure needing to be adjusted currently;
the measured ith order total vibration mode of the hydraulic structure is obtained;
the vibration mode of each measuring point of the ith order of the actual measurement of the hydraulic structure is obtained.
In one embodiment of the present invention, as shown in fig. 2, a gravity dam comprises a dam body and a gate pier, the material parameters of the gravity dam are shown in table 1, and the natural frequency calculated according to the known parameters of the gravity dam is shown in table 2. Fig. 3, 4 and 5 are schematic diagrams of the 1 st order mode shape, the 2 nd order mode shape and the 3 rd order mode shape, respectively. The measured first 3 order natural frequencies are shown in table 3, and the measured first 3 order modes are shown in fig. 6.
Table 1: parameters of the material
Table 2: calculating the natural vibration frequency according to the known parameters of the gravity dam discharge dam
| Order of mode | Self-vibration frequency (Hz) |
| 1 | 4.30 |
| 2 | 4.31 |
| 3 | 4.35 |
| 4 | 6.37 |
| 5 | 6.38 |
| 6 | 6.41 |
| 7 | 10.79 |
| 8 | 11.08 |
| 9 | 11.09 |
| 10 | 11.11 |
Table 3: first 3 order natural frequency
And (3) calculating the first 3-order natural vibration frequency and vibration mode, respectively taking 8 parameters of the density and the dynamic elastic modulus of the four kinds of concrete C25, C30, C35 and C40 as physical parameters of the hydraulic structure to be adjusted, obtaining the value of the physical parameter of the hydraulic structure to be adjusted corresponding to the minimum value of the deterministic dynamic model updating target equation through MATLAB, and completing updating of the finite element model, namely completing establishment of the hydraulic structure digital twin model.
The selection process of part of the physical parameters of the hydraulic structure to be adjusted is shown in fig. 7, wherein the abscissa numbers correspond to a material parameter respectively, the ordinate is the self-oscillation frequency value of the finite element model, and the abscissa corresponds to the material parameter from left to right: density ofC25Bullet mouldC25Poisson ratioC25Density, densityC30Bullet mouldC30Poisson ratioC30Density, densityC35Bullet mouldC35Poisson ratioC35Density, densityC40Bullet mouldC40And poisson's ratioC40. As can be seen from fig. 7, the elastic die in this embodimentC25Density, densityC30Bullet mouldC30Density, densityC35Bullet mixing dieC35The influence on the natural vibration frequency of the hydraulic structure is large, so the 5 material parameters are selected as the physical parameters of the hydraulic structure to be adjusted.
In conclusion, the method can automatically complete the updating of the finite element model according to the basic information and the change process only by considering the basic information of the hydraulic structure, thereby realizing the establishment of the digital twin model of the hydraulic structure.
Claims (5)
1. A method for establishing a hydraulic structure digital twin model is characterized by comprising the following steps:
s1, constructing a finite element model according to the known physical parameters of the hydraulic structure based on finite element software;
s2, acquiring the self-vibration frequency and the vibration mode information of the hydraulic structure with the order of 1 or more in the actual operation process, acquiring the self-vibration frequency and the vibration mode information obtained by the calculation of the finite element model, and selecting the physical parameters of the hydraulic structure to be adjusted;
s3, establishing a deterministic dynamic model updating target equation for the physical parameters of the hydraulic structure to be adjusted according to the data obtained in the step S2;
and S4, obtaining the value of the physical parameter of the hydraulic structure to be adjusted corresponding to the minimum value of the deterministic dynamic model updating target equation, and completing the updating of the finite element model, namely completing the establishment of the digital twin model of the hydraulic structure.
2. The method for establishing the digital twin model of the hydraulic structure as claimed in claim 1, wherein the specific method for selecting the physical parameters of the hydraulic structure to be adjusted in the step S2 includes the following sub-steps:
s2-1, acquiring all material parameters of the hydraulic structure, increasing the material parameters by 20% in the finite element model by adopting a single variable method for one material parameter at a time until the material parameters are increased to 160% of the original value, and acquiring the self-vibration frequency of the finite element model corresponding to the material parameters increased each time;
s2-2, acquiring the corresponding natural vibration frequency change rate according to the natural vibration frequency of the finite element model after each increase of each material parameter;
s2-3, sequencing the corresponding material parameters according to the natural frequency change rate from large to small, and selecting the first n material parameters as the physical parameters of the hydraulic structure to be adjusted.
3. The method for establishing the digital twin model of the hydraulic structure as claimed in claim 2, wherein the natural frequency of the finite element model in the step S2-1 is the first 3-6 order natural frequency of the finite element model.
4. The method for establishing the hydraulic structure digital twin model according to claim 1, wherein the deterministic dynamic model updating target equation in the step S3 is specifically as follows:
f(θ)＝r(θ)TWr(θ)+(θ-θ0)TWθ(θ-θ0)
wherein f (θ) is the value of the deterministic dynamical model update target equation; r (θ) is a residual vector; r isf(θ) is a frequency residual vector, including each order frequency residual vector; r iss(θ) is the mode shape residual vector, including each order mode shape residual vector; w is a diagonal weight matrix; wθRegularizing a weight matrix for the diagonal; theta is a physical parameter of the hydraulic structure needing to be adjusted; theta0The current value of the physical parameter of the hydraulic structure needing to be adjusted in the finite element model is obtained; (.)TIs the transposition of the matrix;
is the ith order frequency residual vector of the hydraulic structure; lambda [ alpha ]i(theta) calculating the ith order frequency of the finite element model based on the physical parameters of the hydraulic structure needing to be adjusted currently;
the measured ith order frequency of the hydraulic structure is obtained;
connecting the i-th vibration mode residual vector of the hydraulic structure; phi is ai(theta) is limitedThe meta-model calculates an ith order total vibration mode based on physical parameters of a hydraulic structure needing to be adjusted currently;
calculating the vibration mode of each measuring point of the ith order obtained by the finite element model based on the physical parameters of the hydraulic structure needing to be adjusted currently;
the measured ith order total vibration mode of the hydraulic structure is obtained;
the vibration mode of each measuring point of the ith order of the actual measurement of the hydraulic structure is obtained.
5. The method for establishing the digital twin model of the hydraulic structure according to claim 1, wherein the specific method for obtaining the value of the physical parameter of the hydraulic structure to be adjusted corresponding to the minimum value of the deterministic dynamic model updating target equation in the step S4 is as follows:
and obtaining the value of the physical parameter of the hydraulic structure to be adjusted corresponding to the minimum value of the deterministic dynamical model updating target equation through MATLAB.
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