CN113312718A - Electromechanical and hydraulic simulation method and device - Google Patents
Electromechanical and hydraulic simulation method and device Download PDFInfo
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Abstract
The embodiment of the invention provides an electromechanical and hydraulic simulation method and device, wherein the method comprises the steps of establishing a mechanical structure model, an electrical control model and a hydraulic simulation model of equipment according to equipment parameters; and performing combined simulation on the mechanical structure model, the electrical control model and the hydraulic simulation model to obtain an electromechanical-hydraulic integrated model. The method deeply researches the electromechanical-hydraulic coupling relation of the engineering mechanical equipment, can form effective electromechanical-hydraulic combined simulation, effectively shortens the system modeling time of the equipment, and improves the accuracy of a simulation model.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to an electromechanical liquid simulation method and device.
Background
The rotary drilling rig is an engineering machine for pile foundation construction, the construction working condition of the rotary drilling rig is severe, and the equipment is easy to be in a high-strength operation state, so that key parts in a system are seriously abraded and have high aging speed, and the operation performance of the whole machine can be influenced to a certain extent. At present, various sensing devices are installed on a rotary drilling rig and used for detecting the working attitude and various working parameters (pressure value, current value, temperature value, angle value and the like) of the device. The rotary drilling rig has basic state sensing capability, and secondly, working condition data can be used for verifying a simulation model, so that the simulation accuracy of a virtual prototype is improved.
In the prior art, the mechanical-electrical-hydraulic combined simulation is implemented by respectively establishing corresponding models according to a mechanical structure subsystem, an electrical control subsystem and a hydraulic element subsystem and carrying out simulation calculation and analysis on the basis of the respective models. The problems of the existing simulation method include: the simulation parameters are set fixedly, the output result of the model is relatively fixed, the actual situation cannot be objectively reflected, and the difference between the simulation result and the actual situation is large.
Disclosure of Invention
The embodiment of the invention aims to provide an electromechanical liquid simulation method and device, which deeply research the electromechanical liquid coupling relation of engineering mechanical equipment, can form effective electromechanical liquid combined simulation, effectively shortens the system modeling time of the equipment and improves the accuracy of a simulation model.
The inventor researches and finds that the reason of the problems of the existing simulation method is that: on the basis of respective models of the mechanical and electrical liquids, simulation calculation and analysis are carried out, and no substantial combined simulation is carried out; in the actual operation process of the engineering mechanical equipment, the conditions of mechanical structural part abrasion, hydraulic element abrasion, hydraulic oil temperature change, geographical environment change and the like exist, and the operation performance of the equipment is influenced by the conditions; however, the existing simulation does not fully utilize historical data or real-time update data, and the simulation model cannot be reasonably calibrated, so that the difference between the simulation result and the actual situation is large.
In order to achieve the above object, an embodiment of the present invention provides an electromechanical liquid simulation method, including: establishing a mechanical structure model, an electrical control model and a hydraulic simulation model of the equipment according to the equipment parameters; and performing combined simulation on the mechanical structure model, the electrical control model and the hydraulic simulation model to obtain an electromechanical-hydraulic integrated model.
Optionally, the device parameters include three-dimensional design parameters, control system parameters, and typical test data; the three-dimensional design parameters at least comprise the geometric dimension, the material and the processing technical requirements of each key part of the equipment; the control system parameters at least comprise a control rule strategy, a mathematical model of a control system, typical signal input characteristics, transient performance parameters, steady-state performance parameters, time domain characteristic analysis and frequency domain characteristic analysis; the typical test data at least comprises typical load test data, industrial mechanism test data, valve core characteristic test data and pump valve characteristic test data of the equipment.
Optionally, the method further includes: calibrating the mechanical structure model, the electrical control model and the hydraulic simulation model according to the database; the database comprises a mechanical database, an electrical database and a hydraulic database; preferably, the mechanical database at least comprises statics analysis data, dynamics analysis data, kinematics analysis data, mechanical property test data, vibration test data, reliability test data and moving part displacement speed data of each key part of the equipment, and is used for calibrating the mechanical structure model; preferably, the electrical database comprises at least electrical debugging data, operating electrical signal data and troubleshooting data, the electrical database being used for calibrating the electrical control model; preferably, the hydraulic database at least comprises working medium parameters such as a valve core opening characteristic, a viscous temperature curve, a pump valve flow control characteristic, a flow pressure loss characteristic and hydraulic debugging data, and is used for calibrating the hydraulic simulation model.
Optionally, the mechanical structure model, the electrical control model and the hydraulic simulation model are subjected to joint simulation to obtain an electromechanical-hydraulic integrated model, including: electromechanical joint simulation, electrohydraulic joint simulation, mechanical-hydraulic joint simulation and electromechanical-hydraulic joint simulation; the electromechanical joint simulation is joint simulation of a mechanical structure model and an electrical control model; the electro-hydraulic joint simulation is joint simulation of an electrical control model and a hydraulic simulation model; the machine-liquid combined simulation is combined simulation of a mechanical structure model and a hydraulic simulation model; and the mechanical-electrical-hydraulic joint simulation is that the mechanical structure model, the electrical control model and the hydraulic simulation model are subjected to joint simulation to obtain an electromechanical-hydraulic integrated model.
Optionally, the electromechanical joint simulation includes: setting attribute parameters of each key part; an integrated kinematic pair; arranging a kinematic pair; adding motion control; adding electrical control; setting a control trigger signal; performing electromechanical joint simulation; performing iterative optimization on the mechanical structure model and the electrical control model according to the simulation result; the electro-hydraulic joint simulation comprises the following steps: setting attribute parameters of the hydraulic element; correcting the model parameters; setting simulation parameters; data driving simulation; adding electrical control; a digital twinner; performing electro-hydraulic combined simulation; performing iterative optimization on the electrical control model and the hydraulic simulation model according to the simulation result; the machine-liquid joint simulation comprises the following steps: setting attribute parameters of a hydraulic system; setting a motion characteristic; verifying machine-liquid coupling; correcting the model parameters; performing machine-liquid combined simulation; and performing iterative optimization on the mechanical structure model and the hydraulic simulation model according to the simulation result.
Optionally, the mechanical-electrical-hydraulic joint simulation is that the mechanical structure model, the electrical control model and the hydraulic simulation model are subjected to joint simulation to obtain an electromechanical-hydraulic integrated model, and the method includes: analyzing the electromechanical liquid coupling effect through electromechanical combined simulation, electrohydraulic combined simulation and mechanical-hydraulic combined simulation; adjusting system model parameters according to the effect and the working condition database; and performing at least one iterative optimization on the electromechanical joint simulation, the electrohydraulic joint simulation and the mechanical-hydraulic joint simulation to establish an electromechanical-hydraulic integrated model.
Correspondingly, the embodiment of the invention also provides an electromechanical liquid simulation device, which comprises: an information acquisition unit for acquiring device parameters; the processing unit is used for establishing a mechanical structure model, an electrical control model and a hydraulic simulation model of the equipment according to the equipment parameters; and performing combined simulation on the mechanical structure model, the electrical control model and the hydraulic simulation model to obtain an electromechanical-hydraulic integrated model.
Optionally, the processing unit is further configured to calibrate the mechanical structure model, the electrical control model, and the hydraulic simulation model according to the database.
Optionally, the mechanical structure model, the electrical control model and the hydraulic simulation model are subjected to joint simulation to obtain an electromechanical-hydraulic integrated model, including: electromechanical joint simulation, electrohydraulic joint simulation, mechanical-hydraulic joint simulation and electromechanical-hydraulic joint simulation; the electromechanical joint simulation is joint simulation of a mechanical structure model and an electrical control model; the electro-hydraulic joint simulation is joint simulation of an electrical control model and a hydraulic simulation model; the machine-liquid combined simulation is combined simulation of a mechanical structure model and a hydraulic simulation model; and the mechanical-electrical-hydraulic joint simulation is that the mechanical structure model, the electrical control model and the hydraulic simulation model are subjected to joint simulation to obtain an electromechanical-hydraulic integrated model.
Optionally, the mechanical-electrical-hydraulic joint simulation is that the mechanical structure model, the electrical control model and the hydraulic simulation model are subjected to joint simulation to obtain an electromechanical-hydraulic integrated model, and the method includes: analyzing the electromechanical liquid coupling effect through electromechanical combined simulation, electrohydraulic combined simulation and mechanical-hydraulic combined simulation; adjusting system model parameters according to the effect and the working condition database; and performing at least one iterative optimization on the electromechanical joint simulation, the electrohydraulic joint simulation and the mechanical-hydraulic joint simulation to establish an electromechanical-hydraulic integrated model.
According to the technical scheme, a mechanical structure model, an electrical control model and a hydraulic simulation model of the equipment are established according to the equipment parameters; and performing combined simulation on the mechanical structure model, the electrical control model and the hydraulic simulation model to obtain an electromechanical-hydraulic integrated model. The electromechanical-hydraulic coupling relation of the engineering mechanical equipment is deeply researched, effective electromechanical-hydraulic combined simulation can be formed, the system modeling time of the equipment is effectively shortened, and the accuracy of a simulation model is improved.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a schematic flow chart of an electromechanical liquid simulation method of the present invention;
FIG. 2 is a schematic diagram of a mechatronic-electro-hydraulic joint simulation flow of the prior art;
FIG. 3 is a schematic diagram of an operating system of a conventional rotary drilling rig;
FIG. 4 is a schematic flow chart of the electromechanical liquid combined simulation system of the present invention;
FIG. 5 is a schematic diagram of an electromechanical joint simulation of the present invention;
FIG. 6 is a schematic diagram of electro-hydraulic joint simulation of the present invention;
FIG. 7 is a schematic diagram of a mechatronic simulation of the present invention;
FIG. 8 is a schematic diagram of the electromechanical liquid joint simulation of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
FIG. 2 is a schematic diagram of a mechatronic-electro-hydraulic joint simulation process in the prior art. In the prior art, the mechanical-electrical-hydraulic combined simulation is implemented by respectively establishing corresponding models according to a mechanical structure subsystem, an electrical control subsystem and a hydraulic element subsystem and carrying out simulation calculation and analysis on the basis of the respective models. The method comprises the following specific steps: 1. three-dimensional models of physical objects are constructed using computer-aided design (CAD) software. Software such as UG, Pro/E, SolidWorks; 2. and (3) carrying out static analysis, kinematic analysis, dynamic analysis and the like on the physical three-dimensional model by using computer aided analysis (CAE) software. Software such as ANSYS, ADAMS, etc.; 3. mathematical software is used to build a model algorithm for the control system. Such as MATLAB, SCILAB, and the like; 4. hydraulic simulation analysis software is used to build a hydraulic model of the system. Such as AMESim, FluidSIM, etc.; 5. and (5) a mechanical-electrical-hydraulic combined simulation conclusion. And 2, outputting a finite element analysis result, a control performance result and a hydraulic simulation result by the model in the steps 3 and 4 respectively, and performing combined simulation on the electric control model and the hydraulic simulation model. The effect of the finite element analysis result is to determine the structural strength of the key components of the system and to perform optimization improvement on the entity based on the analysis result. The excellent mechanical structure has the characteristics of clear function, simplicity, reliability, safety, high efficiency and the like. The control performance result is used for determining the stability, the rapidity and the accuracy of the control system and researching the basic performance of the control system. An excellent control system has the characteristics of high control precision, good dynamic performance, strong anti-interference capability and the like. The hydraulic simulation result is used for determining the working performance and the energy loss of the hydraulic system and optimizing and improving the control method based on the simulation result. An excellent hydraulic system should have the characteristics of good reliability, good response performance, small energy loss, simple operation and the like.
Fig. 3 is a schematic diagram of a working system of a conventional rotary drilling rig, and the rotary drilling rig mainly comprises a power system (providing original power), a power head system (providing drilling power), a hoisting system (lifting and releasing a drill rod drilling tool), a slewing system (performing on-board slewing), a drilling mast system (performing drilling operation), a variable amplitude system (adjusting operation radius), a traveling system (providing moving traveling) and a cab system (operating control), which are shown in fig. 3. Each system consists of key parts, and further realizes the functions of 'drilling down, drilling, lifting drilling, revolving, soil throwing' circular motion, 'amplitude variation vertical mast' and 'moving walking'.
The problems of the prior art are as follows: 1. effective electromechanical-hydraulic combined simulation is not formed. As shown in fig. 2, the existing electromechanical-hydraulic joint simulation result is a finite element analysis result of a mechanical structure, and is combined with an electrical-hydraulic joint simulation result. The necessary dynamics and kinematics simulation is lacked, the mechanical-electrical-hydraulic model is not combined, the effective closed-loop feedback adjustment model parameters cannot be formed, and the accuracy of the combined simulation is low. 2. The simulation parameters are set fixedly, the output result of the model is relatively fixed, and the actual situation cannot be objectively reflected. In the actual operation process of the engineering mechanical equipment, the conditions of mechanical structural part abrasion, hydraulic element abrasion, hydraulic oil temperature change, geographical environment change and the like exist, and the operation performance of the equipment can be influenced by the conditions. The existing simulation does not fully utilize historical data or real-time updating data, a simulation model cannot be reasonably calibrated, and the difference between a simulation result and an actual situation is large. 3. The modeling difficulty of part of physical entities is high, and a simulation result cannot be obtained. The existing simulation method mainly establishes a model according to a basic performance parameter curve, a working principle and the like of a physical entity. Part of physical entities can not establish a model through a simple curve (formula), conventional mathematical modeling is difficult to realize, and a simulation model similar to the entities can be obtained after repeated virtual-real interactive feedback and multi-dimensional data fusion analysis are carried out on the model.
In order to solve the above problem, an embodiment of the present invention provides an electromechanical liquid simulation method, including: establishing a mechanical structure model, an electrical control model and a hydraulic simulation model of the equipment according to the equipment parameters; and performing combined simulation on the mechanical structure model, the electrical control model and the hydraulic simulation model to obtain an electromechanical-hydraulic integrated model.
FIG. 1 is a schematic flow chart of an electromechanical liquid simulation method of the present invention. Step S101 is to establish a mechanical structure model, an electrical control model and a hydraulic simulation model of the equipment according to the equipment parameters. The equipment parameters comprise three-dimensional design parameters, control system parameters and typical test data. Preferably, the three-dimensional design parameters at least include the geometric dimensions, materials and processing requirements of each key part of the equipment; the control system parameters at least comprise a control rule strategy, a mathematical model of a control system, typical signal input characteristics, transient performance parameters, steady-state performance parameters, time domain characteristic analysis and frequency domain characteristic analysis; the typical test data at least comprises typical load test data, an industrial mechanism, valve core characteristic test data and pump valve characteristic test data of equipment, the equipment can be electromechanical liquid equipment such as a rotary drilling rig, the valve core is a valve part of a valve body for realizing basic functions of direction control, pressure control or flow control by means of movement of the valve body, and the pump valve is a general name of a pump and a valve.
Step S102 is to perform joint simulation on the mechanical structure model, the electrical control model, and the hydraulic simulation model to obtain an electromechanical-hydraulic integrated model, including: electromechanical joint simulation, electrohydraulic joint simulation, mechanical-hydraulic joint simulation and electromechanical-hydraulic joint simulation; the electromechanical joint simulation is joint simulation of a mechanical structure model and an electrical control model; the electro-hydraulic joint simulation is joint simulation of an electrical control model and a hydraulic simulation model; the machine-liquid combined simulation is combined simulation of a mechanical structure model and a hydraulic simulation model; and the mechanical-electrical-hydraulic joint simulation is that the mechanical structure model, the electrical control model and the hydraulic simulation model are subjected to joint simulation to obtain an electromechanical-hydraulic integrated model.
The electromechanical joint simulation comprises the following steps: setting attribute parameters of each key part; an integrated kinematic pair; arranging a kinematic pair; adding motion control; adding electrical control; setting a control trigger signal; performing electromechanical joint simulation; and performing iterative optimization on the mechanical structure model and the electrical control model according to the simulation result. The iterative optimization is to reasonably adjust the parameters or algorithm of the simulation model according to the simulation operation result, and repeatedly and interactively perform simulation-adjustment on the basis, so that the simulation accuracy is continuously improved. The kinematic pair is movably connected by directly contacting two components and generating relative motion, and has a plurality of classification methods. FIG. 5 is a schematic diagram of the electromechanical joint simulation system of the present invention, as shown in FIG. 5, the "mechanical structure model" and the "electrical control model" perform joint simulation. Based on the mechanical structure model, the electrical control model is used as an integration, and iterative optimization is carried out by combining actual data. According to a specific implementation step, the method comprises the following steps:
1. and setting attribute parameters. According to the mechanical structure model and the mechanical database, the quality attributes (material density, volume, physical characteristics and the like), the collision attributes (rigid body and deformation tensor) and the friction attributes (friction coefficient) of each key part are set.
2. And (4) integrating the kinematic pair. According to the mechanical structure model, the characteristics (a moving pair, a rotating pair, a spiral pair, a spherical pair and a high pair) and the rules of the kinematic pairs of each key part are analyzed, the key parts of the common kinematic pair rules are integrated into a single rigid body, the number of the kinematic pairs is reduced, and therefore the calculated amount of simulation operation is reduced.
3. And a kinematic pair is arranged. According to the mechanical structure model, a motion axis and a coordinate space are created, the upper limit and the lower limit of a motion interval (displacement, angle and the like) of each motion pair are configured, and the basic motion track (linear motion, arc motion, contour line motion, spherical arc motion and the like) of each motion pair is created by utilizing a motion function in combination with the actual motion state of each key part.
4. Motion control is added. And (3) according to a mechanical structure model and a mechanical database, the motion axis, the coordinate space and the motion function created in the step (3) and motion time sequence logic or position information, realizing single motion or compound motion of each key part.
5. Electrical control is added. According to the 'electrical control model' and the 'electrical database', control signals (ramp signals, step signals, random signals and the like) are input into the control model to obtain control output signals, transient performance (rise time, peak time, adjusting time, overshoot and the like) and steady-state performance (steady-state error) are verified and analyzed, and model calibration is completed.
6. A control trigger signal is set. According to the step 4 motion control, a control trigger signal (an external trigger signal, a control trigger signal, a sensor trigger signal, and the like) is set.
7. And performing electromechanical joint simulation. According to a mechanical structure model and an electrical control model, realizing the motion path (realized by ADAMS) of each key part according to a motion function; signals of all sensors (which are simulation calculation results) are used as control signals and input into a control model to obtain control output signals (realized by MATLAB); and applying the control output signal to each actuating mechanism to drive each key part to perform motion simulation.
The electro-hydraulic joint simulation comprises the following steps: setting attribute parameters of the hydraulic element; correcting the model parameters; setting simulation parameters; data driving simulation; adding electrical control; a digital twinner; performing electro-hydraulic combined simulation; and performing iterative optimization on the electrical control model and the hydraulic simulation model according to the simulation result. FIG. 6 is a schematic diagram of the electro-hydraulic joint simulation of the present invention, as shown in FIG. 6, the "electrical control model" and the "hydraulic simulation model" perform joint simulation. Based on the hydraulic simulation model, the electrical control model is integrated and is combined with actual data to carry out iterative optimization. According to a specific implementation step, the method comprises the following steps:
1. and setting attribute parameters. According to a hydraulic simulation model and typical test data, setting basic parameters of hydraulic elements (a hydraulic pump, a hydraulic valve, a hydraulic motor and the like), setting fluid attribute parameters (flow, volume modulus, dynamic viscosity, cavitation parameters and the like), and setting pipeline attribute parameters (pipeline parameters, pressure loss, hydraulic resistance parameters and the like);
2. and correcting the model parameters. According to a hydraulic database, data are cleaned and processed, data analysis is carried out to obtain a characteristic curve of the hydraulic element, and sub-model parameters (valve core opening characteristics, pump valve flow control characteristics, flow pressure loss characteristics and the like) are corrected.
3. And setting simulation parameters. According to the hydraulic simulation model, proper simulation parameters (simulation duration, simulation frequency, simulation algorithm and the like) are selected. If the simulation frequency is too low, the simulation effect is poor, and effective information cannot be acquired; if the simulation frequency is too high, the simulation calculation amount is huge, the simulation time is too long, and the risk of simulation failure exists. And reasonable simulation frequency is selected, so that the simulation effect can be effectively improved and the simulation time can be saved.
4. And (4) data driving simulation. And (3) according to the typical test data, combining the sub-model parameters corrected in the step (2), simulating according to the test input data, and comparing the dynamic simulation result with the test actual acquisition data for calibrating the hydraulic simulation model.
5. Electrical control is added. According to an 'electrical control model', combining the electro-hydraulic control characteristic of a hydraulic electromagnetic valve, filtering the acquired signals, and processing the input signals in the modes of analog/digital conversion, interval limitation and the like; under the condition of meeting the basic control requirement, a proper industrial control mode (open-loop control, closed-loop feedback control, composite control and the like) is selected, and a proper control method (PID control, speed measurement feedback control, cascade control and the like) is adopted for obtaining good transient performance and steady-state performance.
6. A digital twin. According to the 'electrical control model' and the 'hydraulic simulation model', data are input according to actual working conditions for simulation, dynamic simulation results are compared with data acquired under the actual working conditions, and a hydraulic simulation synchronous model (digital twin) is constructed.
7. And performing electro-hydraulic joint simulation. According to an electric control model and a hydraulic simulation model, realizing the cooperative operation of each hydraulic element (realized by AMESim) according to a hydraulic basic principle; signals of all sensors (which are simulation calculation results) are used as control signals and input into a control model to obtain control output signals (realized by MATLAB); and applying the control output signal to each hydraulic electromagnetic valve to drive a hydraulic system model to simulate.
The machine-liquid joint simulation comprises the following steps: setting attribute parameters of a hydraulic system; setting a motion characteristic; verifying machine-liquid coupling; correcting the model parameters; performing machine-liquid combined simulation; and performing iterative optimization on the mechanical structure model and the hydraulic simulation model according to the simulation result. FIG. 7 is a schematic diagram of the mechanical-hydraulic joint simulation of the present invention, as shown in FIG. 7, the "mechanical structure model" and the "hydraulic simulation model" are subjected to joint simulation. Based on the hydraulic simulation model, the mechanical structure model is used as an integration, and iterative optimization is carried out by combining actual data. According to a specific implementation step, the method comprises the following steps:
1. and setting attribute parameters. Setting basic parameters (working medium, system peak pressure, system running pressure, system hysteresis characteristic, system control power consumption and the like) of the hydraulic system according to the hydraulic simulation model and the typical test data;
2. the motion characteristics are set. According to the mechanical structure model and the mechanical database, static parameters (load, displacement, static stress and strain) and modal parameters (natural frequency, damping ratio, modal shape and the like) are set, and the basic motion trail of each motion pair is created by utilizing the motion function.
3. And (5) verifying the mechanical-hydraulic coupling. According to the mechanical structure model and the hydraulic simulation model, simulation is carried out according to input data of a typical test, a dynamic simulation result is compared with actually acquired data of the typical test, and the hydraulic coupling effect (valve switching characteristic, motion inertia and the like) of the analyzer is verified.
4. And correcting the model parameters. And (3) correcting the sub-model parameters according to the hydraulic database and the mechanical-hydraulic coupling effect in the step (3).
5. And performing combined machine-liquid simulation. According to a mechanical structure model and a hydraulic simulation model, realizing the cooperative operation of all hydraulic elements (realized by AMESim) according to a hydraulic basic principle; inputting the hydraulic simulation calculation result as a hydraulic driving force into a mechanical structure model to obtain the displacement and speed of each moving part (realized by ADAMS); and feeding back the displacement and the speed of the moving part to each hydraulic execution element to drive a hydraulic system model to carry out simulation.
The mechanical-electrical-hydraulic joint simulation is that the mechanical structure model, the electrical control model and the hydraulic simulation model are subjected to joint simulation to obtain a mechanical-electrical-hydraulic integrated model, and the mechanical-electrical-hydraulic joint simulation comprises the following steps: analyzing the electromechanical liquid coupling effect through electromechanical combined simulation, electrohydraulic combined simulation and mechanical-hydraulic combined simulation; adjusting system model parameters according to the effect and the working condition database; and performing at least one iterative optimization on the electromechanical joint simulation, the electrohydraulic joint simulation and the mechanical-hydraulic joint simulation to establish an electromechanical-hydraulic integrated model. The working condition database is preferably an IOT working condition database, and at least comprises sensing equipment data, controller data, positioning data, atmospheric environment temperature, geological data, construction process method data and industrial cloud data of equipment. The controller data can be PLC controller data, and the positioning data can be GPS positioning data, Beidou positioning data and the like. Fig. 4 is a schematic flow chart of the electromechanical-hydraulic joint simulation system of the present invention, and as shown in fig. 4, the electromechanical-hydraulic joint simulation specifically includes the following steps:
1. establishing a mechanical structure model of the physical entity according to the three-dimensional design parameters, and calibrating the model parameters by using the data of a mechanical database;
2. establishing an 'electrical control model' of a control system according to 'control system parameters', and calibrating model parameters by using 'electrical database' data;
3. establishing a hydraulic simulation model of the hydraulic system according to the typical test data, and calibrating model parameters by using data of a hydraulic database;
4. performing electromechanical joint simulation, electrohydraulic joint simulation and mechanical-hydraulic joint simulation, and performing iterative optimization on each model according to a simulation result;
5. and performing electromechanical-hydraulic combined simulation and outputting a simulation result.
And calibrating the mechanical structure model, the electrical control model and the hydraulic simulation model according to the database. The database comprises a mechanical database, an electrical database and a hydraulic database; wherein: the mechanical database at least comprises statics analysis data, subsystem dynamics analysis data, kinematics analysis data, mechanical property test data, vibration test data, reliability test data and moving part displacement speed data of all key parts of the equipment, and is used for calibrating a mechanical structure model; the electrical database at least comprises electrical debugging data, operating electrical signal data and fault maintenance data, and is used for calibrating the electrical control model; the hydraulic database at least comprises working medium parameters, namely a valve core opening characteristic, a viscosity temperature curve, a pump valve flow control characteristic, a flow pressure loss characteristic and hydraulic debugging data, and is used for calibrating the hydraulic simulation model.
FIG. 8 is a schematic diagram of the electromechanical-hydraulic joint simulation of the present invention, as shown in FIG. 8, the "mechanical structure model", "electrical control model", and "hydraulic simulation model" perform joint simulation. Analyzing the electromechanical-hydraulic coupling effect according to electromechanical joint simulation, electrohydraulic joint simulation and mechanical-hydraulic joint simulation, and adjusting system model parameters by combining an IOT (input operation state) working condition database; the electromechanical-hydraulic coupling effect at least comprises a dynamic performance index, a steady-state performance index and a response curve of the equipment system. Wherein: the dynamic performance indexes at least comprise rise time, peak time, adjusting time and overshoot, and the indexes are used for evaluating the electromechanical liquid coupling effect of the electromechanical liquid integrated model under the dynamic condition; the steady-state performance indexes at least comprise step input signal steady-state errors, slope input signal steady-state errors and acceleration input signal steady-state errors, and the indexes are used for evaluating the electromechanical-hydraulic coupling condition of the electromechanical-hydraulic integrated model under the steady-state condition; the response curve at least comprises a zero input response curve and a zero state response curve, and the curves are used for evaluating electromechanical liquid coupling conditions such as system characteristics, initial conditions and input conditions of the electromechanical liquid integrated model.
The system model parameters at least comprise mechanical structure model parameters, electrical control model parameters and hydraulic simulation model parameters. The mechanical structure model parameters at least comprise the mass attribute, the collision attribute, the friction attribute, the motion rule and the motion trail of key parts, and the model parameters are adjusted according to the dynamic performance indexes and the response curves; the electrical control model parameters at least comprise a current value, a voltage value, a frequency value, a control strategy and control parameters, and the model parameters are adjusted according to the dynamic performance index, the steady-state performance index and the response curve; the hydraulic simulation model parameters at least comprise working media, system peak pressure, system running pressure, system hysteresis characteristics, displacement, rotating speed and opening pressure, and the model parameters are adjusted according to dynamic performance indexes, steady-state performance indexes and response curves.
The IOT working condition database is real working condition data of the equipment system. The actual electro-hydraulic coupling effect of the equipment system can be obtained according to the dynamic performance index, the steady-state performance index, the response curve and the like through the IOT working condition data, and the database can be used for adjusting system model parameters and improving the consistency of a system simulation model and a physical entity.
And establishing an electromechanical liquid integrated model through repeated iterative optimization. The invention provides a method for establishing models of subsystems, which comprises establishing a basic model, calibrating model parameters and the like, and establishing a model establishing method of an electromechanical-hydraulic integrated system, which comprises model coupling, simulation coupling and the like, so that the simulation time is shortened, and the simulation effect and the simulation quality are improved.
The electromechanical liquid simulation method of the invention realizes various technical effects: through modes of model coupling, simulation coupling and the like, the electromechanical-hydraulic coupling relation of the rotary drilling rig is deeply researched, and effective electromechanical-hydraulic combined simulation is formed; a basic sub-model can be quickly established by using a small amount of typical data through an empirical formula; the complex sub-model can be effectively fitted by using mass database data and a big data processing technology; by using a data driving technology, the modeling time can be effectively shortened and the model accuracy can be improved; calibrating the simulation model through historical data or real-time updating data, and constructing a synchronous simulation model to enable the simulation effect to be closer to the actual situation; based on a system simulation model, a data driving technology and a big data technology are utilized, and through repeated virtual-real interactive feedback and multi-dimensional data fusion analysis, the 'faithful mapping' and 'co-evolution' of the simulation model to a physical entity are iteratively realized, so that the simulation model has the characteristic of 'digital twinning'.
The specific implementation details and effects of the electromechanical and hydraulic simulation device provided by the embodiment of the invention can refer to the foregoing implementation modes, and are not described herein again.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method 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.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (10)
1. An electromechanical liquid simulation method is characterized by comprising the following steps:
establishing a mechanical structure model, an electrical control model and a hydraulic simulation model of the equipment according to the equipment parameters;
and performing combined simulation on the mechanical structure model, the electrical control model and the hydraulic simulation model to obtain an electromechanical-hydraulic integrated model.
2. The method of claim 1,
the equipment parameters comprise three-dimensional design parameters, control system parameters and typical test data;
the three-dimensional design parameters at least comprise the geometric dimension, the material and the processing technical requirements of each key part of the equipment;
the control system parameters at least comprise a control rule strategy, a mathematical model of a control system, typical signal input characteristics, transient performance parameters, steady-state performance parameters, time domain characteristic analysis and frequency domain characteristic analysis;
the typical test data at least comprises typical load test data, industrial mechanism test data, valve core characteristic test data and pump valve characteristic test data of the equipment.
3. The method of claim 1, further comprising:
calibrating the mechanical structure model, the electrical control model and the hydraulic simulation model according to the database;
the database comprises a mechanical database, an electrical database and a hydraulic database;
preferably, the mechanical database at least comprises statics analysis data, dynamics analysis data, kinematics analysis data, mechanical property test data, vibration test data, reliability test data and moving part displacement speed data of each key part of the equipment, and is used for calibrating the mechanical structure model;
preferably, the electrical database comprises at least electrical debugging data, operating electrical signal data and troubleshooting data, the electrical database being used for calibrating the electrical control model;
preferably, the hydraulic database at least comprises working medium parameters such as a valve core opening characteristic, a viscous temperature curve, a pump valve flow control characteristic, a flow pressure loss characteristic and hydraulic debugging data, and is used for calibrating the hydraulic simulation model.
4. The method of claim 1, wherein jointly simulating the mechanical structure model, the electrical control model and the hydraulic simulation model to obtain an mechatronic model comprises:
electromechanical joint simulation, electrohydraulic joint simulation, mechanical-hydraulic joint simulation and electromechanical-hydraulic joint simulation; wherein the content of the first and second substances,
the electromechanical joint simulation is joint simulation of a mechanical structure model and an electrical control model;
the electro-hydraulic joint simulation is joint simulation of an electrical control model and a hydraulic simulation model;
the machine-liquid combined simulation is combined simulation of a mechanical structure model and a hydraulic simulation model;
and the mechanical-electrical-hydraulic joint simulation is that the mechanical structure model, the electrical control model and the hydraulic simulation model are subjected to joint simulation to obtain an electromechanical-hydraulic integrated model.
5. The method of claim 4,
the electromechanical joint simulation comprises the following steps: setting attribute parameters of each key part; an integrated kinematic pair; arranging a kinematic pair; adding motion control; adding electrical control; setting a control trigger signal; performing electromechanical joint simulation; performing iterative optimization on the mechanical structure model and the electrical control model according to the simulation result;
the electro-hydraulic joint simulation comprises the following steps: setting attribute parameters of the hydraulic element; correcting the model parameters; setting simulation parameters; data driving simulation; adding electrical control; a digital twinner; performing electro-hydraulic combined simulation; performing iterative optimization on the electrical control model and the hydraulic simulation model according to the simulation result;
the machine-liquid joint simulation comprises the following steps: setting attribute parameters of a hydraulic system; setting a motion characteristic; verifying machine-liquid coupling; correcting the model parameters; performing machine-liquid combined simulation; and performing iterative optimization on the mechanical structure model and the hydraulic simulation model according to the simulation result.
6. The method according to claim 4, wherein the mechatronic-hydraulic joint simulation is a joint simulation of the mechanical structure model, the electrical control model and the hydraulic simulation model to obtain a mechatronic-hydraulic integrated model, and the method comprises the following steps:
analyzing the electromechanical liquid coupling effect through electromechanical combined simulation, electrohydraulic combined simulation and mechanical-hydraulic combined simulation;
adjusting system model parameters according to the effect and the working condition database;
and performing at least one iterative optimization on the electromechanical joint simulation, the electrohydraulic joint simulation and the mechanical-hydraulic joint simulation to establish an electromechanical-hydraulic integrated model.
7. An electro-mechanical fluid simulation device, comprising:
an information acquisition unit for acquiring device parameters;
the processing unit is used for establishing a mechanical structure model, an electrical control model and a hydraulic simulation model of the equipment according to the equipment parameters; and performing combined simulation on the mechanical structure model, the electrical control model and the hydraulic simulation model to obtain an electromechanical-hydraulic integrated model.
8. The apparatus of claim 7,
the processing unit is further used for calibrating the mechanical structure model, the electrical control model and the hydraulic simulation model according to the database.
9. The apparatus of claim 7, wherein the mechanical structure model, the electrical control model and the hydraulic simulation model are subjected to joint simulation to obtain an electromechanical-hydraulic integration model, and the joint simulation comprises:
electromechanical joint simulation, electrohydraulic joint simulation, mechanical-hydraulic joint simulation and electromechanical-hydraulic joint simulation; wherein the content of the first and second substances,
the electromechanical joint simulation is joint simulation of a mechanical structure model and an electrical control model;
the electro-hydraulic joint simulation is joint simulation of an electrical control model and a hydraulic simulation model;
the machine-liquid combined simulation is combined simulation of a mechanical structure model and a hydraulic simulation model;
and the mechanical-electrical-hydraulic joint simulation is that the mechanical structure model, the electrical control model and the hydraulic simulation model are subjected to joint simulation to obtain an electromechanical-hydraulic integrated model.
10. The apparatus of claim 9, wherein the mechatronic-hydraulic joint simulation is a joint simulation of the mechanical structure model, the electrical control model and the hydraulic simulation model to obtain a mechatronic-hydraulic integrated model, and comprises:
analyzing the electromechanical liquid coupling effect through electromechanical combined simulation, electrohydraulic combined simulation and mechanical-hydraulic combined simulation;
adjusting system model parameters according to the effect and the working condition database;
and performing at least one iterative optimization on the electromechanical joint simulation, the electrohydraulic joint simulation and the mechanical-hydraulic joint simulation to establish an electromechanical-hydraulic integrated model.
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