CN112231954B - Method for establishing digital twin model of hydraulic structure - Google Patents
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Abstract
The invention discloses a method for establishing a digital twin model of a hydraulic structure, which comprises the following steps: s1, constructing a finite element model according to known physical parameters of a hydraulic structure; s2, acquiring self-vibration frequency and vibration mode information of a hydraulic structure in the actual operation process of 1 st order and above, wherein the self-vibration frequency and vibration mode information is obtained by calculation of a finite element model; s3, establishing a deterministic power model updating target equation for physical parameters of the hydraulic structure to be adjusted according to the data obtained in the step S2; s4, acquiring a value of a physical parameter of the hydraulic structure to be adjusted, which corresponds to the minimum value of the deterministic power model updating target equation, and finishing updating of the finite element model, namely finishing establishment of the hydraulic structure digital twin model. The method only needs to consider the basic information of the hydraulic structure, and can automatically complete the update of the finite element model according to the basic information and the change process, 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 for fully utilizing methods based on mathematical models, sensor updating, big data, machine learning, probability analysis and the like, integrating simulation processes of multiple disciplines, multiple physical quantities, multiple scales and multiple probabilities, realizing complete mapping of structures and virtual models, and completing full life cycle management of simulation objects. Digital twinning is a beyond-the-reality concept that can be seen as a digital mapping system of one or more important, mutually dependent equipment systems. The key of the digital twin technology is to create a digital twin 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 the structural characteristics according to physical parameters of a physical structure mastered by various means such as detection equipment, sensors, big data and the like, and simultaneously, the model can timely adjust corresponding parameters according to the running condition of the structure so as to keep consistent with the running condition of the physical model, thereby being a difficult problem to be solved by the digital twin model.
The general characteristics of the hydraulic structure of China are that the body size is large, the structure is complex, the construction environmental factors are changeable, and 30 dams occupy in the front 100 dams of the dam height which are built or established globally by 2018; over 200m high dam 82 seats, 25 seats are occupied in China, and along with the vigorous development of water and electricity industry in China in recent 20 years, a batch of high dams or ultrahigh dams are successively built. Therefore, in order to build a digital twin model for the hydraulic structure, not only the characteristics of the structure, but also the influence of environmental factors and operation conditions are comprehensively considered, so that it is very difficult to build an accurate digital model, but also the self-adaptive timely adjustment of corresponding parameters is required, and the operation state of the digital twin model is consistent with that of a solid model, and the digital twin model is difficult to realize.
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 aim of the invention, the invention adopts the following technical scheme:
the method for establishing the digital twin model of the hydraulic structure comprises the following steps:
s1, constructing a finite element model according to known physical parameters of a hydraulic structure based on finite element software;
s2, acquiring self-vibration frequency and vibration mode information of the hydraulic structure at 1 st order or above in the actual operation process, acquiring the self-vibration frequency and vibration mode information obtained by calculation of the finite element model, and selecting physical parameters of the hydraulic structure to be adjusted;
s3, establishing a deterministic power model updating target equation for physical parameters of the hydraulic structure to be adjusted according to the data obtained in the step S2;
s4, acquiring a value of a physical parameter of the hydraulic structure to be adjusted, which corresponds to the minimum value of the deterministic power model updating target equation, and finishing updating of the finite element model, namely finishing establishment of the hydraulic structure digital twin model.
Further, 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 a hydraulic structure, and increasing one material parameter by 20% each time in a finite element model by adopting a single variable method until the material parameter is increased to 160% of an original value, and acquiring the self-vibration frequency of the finite element model corresponding to the material parameter which is increased each time;
s2-2, acquiring a corresponding self-vibration frequency change rate according to the self-vibration frequency of the finite element model after each increase of each material parameter;
s2-3, sequencing the corresponding material parameters according to the change rate of the self-vibration frequency from large to small, and selecting the first n material parameters as 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 natural frequency of the first 3-6 orders in the finite element model.
Further, in step S3, the deterministic power model updating target equation is specifically:
f(θ)＝r(θ) T Wr(θ)+(θ-θ 0 ) T W θ (θ-θ 0 )
wherein f (θ) is the value of the deterministic power model update target equation; r (θ) is the residual vector; r is (r) f (θ) is a frequency residual vector comprising each order of frequency residual vector; r is (r) s (theta) is a vibration mode residual vector comprising each order of vibration mode residual vector; w is a diagonal weight matrix; w (W) θ Regularizing the weight matrix for the diagonal direction; θ is a physical parameter of the hydraulic structure to be adjusted; θ 0 The current value of the physical parameter of the hydraulic structure to be adjusted in the finite element model is the current value of the physical parameter of the hydraulic structure to be adjusted; (. Cndot. T Is the transpose of the matrix;the i-th order frequency residual vector is the hydraulic structure; lambda (lambda) i (theta) is the ith order frequency calculated by the finite element model based on the physical parameters of the hydraulic structure which is currently required to be adjusted; />The measured i-th order frequency of the hydraulic structure; />The residual vector is the ith vibration receiving type residual vector of the hydraulic structure; phi (phi) i (theta) is the i-th order overall vibration mode obtained by calculating the finite element model based on the physical parameters of the hydraulic structure which is required to be adjusted currently;the method comprises the steps that the vibration mode of each measuring point of an ith order is calculated for a finite element model based on physical parameters of a hydraulic structure which needs to be adjusted currently; />The actual measurement of the ith order overall vibration mode of the hydraulic structure; />The vibration mode of each measuring point of the i th order of the actual measurement of the hydraulic structure is obtained.
Further, 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 power 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 power model updating target equation through MATLAB.
The beneficial effects of the invention are as follows: the method only needs to consider the basic information of the hydraulic structure, and can automatically complete the update of the finite element model according to the basic information and the change process, thereby realizing the establishment of the digital twin model of the hydraulic structure.
Drawings
FIG. 1 is a schematic flow chart of the present invention;
FIG. 2 is a schematic diagram of a finite element model of a gravity dam according to an embodiment;
FIG. 3 is a schematic diagram of the 1 st order mode of vibration in the embodiment;
FIG. 4 is a schematic diagram of the 2 nd order mode in the embodiment;
FIG. 5 is a schematic diagram of the 3 rd order mode in the embodiment;
FIG. 6 is a diagram of the measured front 3-order mode;
FIG. 7 shows the natural frequency of the finite element model corresponding to some of the material parameters in the embodiment.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate 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 all the inventions which make use of the inventive concept are protected by the spirit and scope of the present invention as defined and defined in the appended claims to those skilled in the art.
As shown in fig. 1, the method for establishing the digital twin model of the hydraulic structure comprises the following steps:
s1, constructing a finite element model according to known physical parameters of a hydraulic structure based on finite element software;
s2, acquiring self-vibration frequency and vibration mode information of the hydraulic structure at 1 st order or above in the actual operation process, acquiring the self-vibration frequency and vibration mode information obtained by calculation of the finite element model, and selecting physical parameters of the hydraulic structure to be adjusted;
s3, establishing a deterministic power model updating target equation for physical parameters of the hydraulic structure to be adjusted according to the data obtained in the step S2;
s4, acquiring a value of a physical parameter of the hydraulic structure to be adjusted, which corresponds to the minimum value of the deterministic power model updating target equation, and finishing updating of the finite element model, namely finishing establishment of the hydraulic structure digital twin model.
Large hydraulic structures are often composed of multiple materials, each with different material parameters, and if all material parameters are adjusted, two general results occur: (1) Time consuming, the number of iterations increases exponentially with increasing material parameters. (2) The diversity of the results, more than one optimal solution may occur for one material parameter. 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 comprises the following substeps:
s2-1, acquiring all material parameters of a hydraulic structure, and increasing one material parameter by 20% each time in a finite element model by adopting a single variable method until the material parameter is increased to 160% of an original value, and acquiring the self-vibration frequency of the finite element model corresponding to the material parameter which is increased each time; the natural frequency of the finite element model is the first 3-6 order natural frequency in the finite element model;
s2-2, acquiring a corresponding self-vibration frequency change rate according to the self-vibration frequency of the finite element model after each increase of each material parameter;
s2-3, sequencing the corresponding material parameters according to the change rate of the self-vibration frequency from large to small, and selecting the first n material parameters as physical parameters of the hydraulic structure to be adjusted. Where n may be optionally chosen.
In the step S3, the updating target equation of the deterministic power model is specifically as follows:
f(θ)＝r(θ) T Wr(θ)+(θ-θ 0 ) T W θ (θ-θ 0 )
wherein f (θ) is the value of the deterministic power model update target equation; r (θ) is the residual vector; r is (r) f (θ) is a frequency residual vector comprising each order of frequency residual vector; r is (r) s (theta) is a vibration mode residual vector comprising each order of vibration mode residual vector; w is a diagonal weight matrix; w (W) θ Regularizing the weight matrix for the diagonal direction; θ is a physical parameter of the hydraulic structure to be adjusted; θ 0 The current value of the physical parameter of the hydraulic structure to be adjusted in the finite element model is the current value of the physical parameter of the hydraulic structure to be adjusted; (. Cndot. T Is the transpose of the matrix;the i-th order frequency residual vector is the hydraulic structure; lambda (lambda) i (theta) is the ith order frequency calculated by the finite element model based on the physical parameters of the hydraulic structure which is currently required to be adjusted; />The measured i-th order frequency of the hydraulic structure; />The residual vector is the ith vibration receiving type residual vector of the hydraulic structure; phi (phi) i (theta) is a physical parameter meter of the finite element model based on the hydraulic structure which is currently required to be adjustedThe obtained i-th order overall vibration mode is calculated;the method comprises the steps that the vibration mode of each measuring point of an ith order is calculated for a finite element model based on physical parameters of a hydraulic structure which needs to be adjusted currently; />The actual measurement of the ith order overall vibration mode of the hydraulic structure; />The vibration mode of each measuring point of the i th 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 is provided with a dam body and a gate pier, the material parameters of the gravity dam are shown in table 1, and the self-vibration frequency calculated according to the known parameters of the gravity dam is shown in table 2. Fig. 3, 4 and 5 are respectively a 1 st order mode diagram, a 2 nd order mode diagram and a 3 rd order mode diagram. The measured first 3 rd order natural frequencies are shown in table 3, and the measured first 3 rd order modes are shown in fig. 6.
Table 1: material parameters
Table 2: self-vibration frequency calculated according to known parameters of the gravity dam
| Mode order | Self-oscillation 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 rd order natural frequency
And calculating the first 3-order natural vibration frequency and vibration mode, taking 8 parameters of the densities and the dynamic elastic moduli of the four types of concrete C25, C30, C35 and C40 as physical parameters of the hydraulic structure to be adjusted, acquiring the value of the physical parameter of the hydraulic structure to be adjusted corresponding to the minimum value of a deterministic power model updating target equation through MATLAB, and completing the updating of the finite element model, namely completing the establishment of the digital twin model of the hydraulic structure.
The selection process of the physical parameters of the hydraulic structure to be adjusted is shown in fig. 7, wherein the abscissa numbers in the figure respectively correspond to one material parameter, the ordinate is the self-vibration frequency value of the finite element model, and the abscissa from left to right respectively corresponds to the material parameters: density of C25 Elastic die C25 Poisson's ratio C25 Density of C30 Elastic die C30 Poisson's ratio C30 Density of C35 Elastic die C35 Poisson's ratio C35 Density of C40 Elastic die C40 And poisson's ratio C40 . As can be seen from FIG. 7, in this embodiment, the elastic mold C25 Density of C30 Elastic die C30 Density of C35 Elastic die C35 The influence on the natural vibration frequency of the hydraulic structure is large, so that the 5 material parameters are selected as physical parameters of the hydraulic structure to be adjusted.
In summary, the invention only needs to consider the basic information of the hydraulic structure, and can automatically complete the update of the finite element model according to the basic information and the change process, thereby realizing the establishment of the digital twin model of the hydraulic structure.
Claims (2)
1. The method for establishing the digital twin model of the hydraulic structure is characterized by comprising the following steps of:
s1, constructing a finite element model according to known physical parameters of a hydraulic structure based on finite element software;
s2, acquiring self-vibration frequency and vibration mode information of the hydraulic structure at 1 st order or above in the actual operation process, acquiring the self-vibration frequency and vibration mode information obtained by calculation of the finite element model, and selecting physical parameters of the hydraulic structure to be adjusted;
s3, establishing a deterministic power model updating target equation for physical parameters of the hydraulic structure to be adjusted according to the data obtained in the step S2;
s4, acquiring a value of a physical parameter of the hydraulic structure to be adjusted, which corresponds to the minimum value of the deterministic power model updating target equation, and finishing updating of the finite element model, namely finishing establishment of the hydraulic structure digital twin model;
the specific method for selecting the physical parameters of the hydraulic structure to be adjusted in the step S2 comprises the following substeps:
s2-1, acquiring all material parameters of a hydraulic structure, and increasing one material parameter by 20% each time in a finite element model by adopting a single variable method until the material parameter is increased to 160% of an original value, and acquiring the self-vibration frequency of the finite element model corresponding to the material parameter which is increased each time; the natural frequency of the finite element model is the first 3-6 order natural frequency in the finite element model;
s2-2, acquiring a corresponding self-vibration frequency change rate according to the self-vibration frequency of the finite element model after each increase of each material parameter;
s2-3, sequencing corresponding material parameters according to the change rate of the self-vibration frequency in a mode from large to small, and selecting the first n material parameters as physical parameters of the hydraulic structure to be adjusted;
in the step S3, the deterministic power model updating target equation specifically includes:
f(θ)＝r(θ) T Wr(θ)+(θ-θ 0 ) T W θ (θ-θ 0 )
wherein f (θ) is the value of the deterministic power model update target equation; r (θ) is the residual vector; r is (r) f (θ) is a frequency residual vector comprising each order of frequency residual vector; r is (r) s (θ) is a vibration mode residual vector including eachA residual vector of the order vibration mode; w is a diagonal weight matrix; w (W) θ Regularizing the weight matrix for the diagonal direction; θ is a physical parameter of the hydraulic structure to be adjusted; θ 0 The current value of the physical parameter of the hydraulic structure to be adjusted in the finite element model is the current value of the physical parameter of the hydraulic structure to be adjusted; (. Cndot. T Is the transpose of the matrix;the i-th order frequency residual vector is the hydraulic structure; lambda (lambda) i (theta) is the ith order frequency calculated by the finite element model based on the physical parameters of the hydraulic structure which is currently required to be adjusted; />The measured i-th order frequency of the hydraulic structure; />The residual vector is the ith vibration receiving type residual vector of the hydraulic structure; phi (phi) i (theta) is the i-th order overall vibration mode obtained by calculating the finite element model based on the physical parameters of the hydraulic structure which is required to be adjusted currently; />The method comprises the steps that the vibration mode of each measuring point of an ith order is calculated for a finite element model based on physical parameters of a hydraulic structure which needs to be adjusted currently; />The actual measurement of the ith order overall vibration mode of the hydraulic structure; />The vibration mode of each measuring point of the i th order of the actual measurement of the hydraulic structure is obtained.
2. The method for establishing a digital twin model of a 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 power model update 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 power model updating target equation through MATLAB.
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