CN113343356B - Method for calculating limit working condition of telescopic arm of drill jumbo - Google Patents

Method for calculating limit working condition of telescopic arm of drill jumbo Download PDF

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CN113343356B
CN113343356B CN202110679446.1A CN202110679446A CN113343356B CN 113343356 B CN113343356 B CN 113343356B CN 202110679446 A CN202110679446 A CN 202110679446A CN 113343356 B CN113343356 B CN 113343356B
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林琳
吕彦诚
刘飞香
郭昊
郭丰
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Harbin Institute of Technology
China Railway Construction Heavy Industry Group Co Ltd
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China Railway Construction Heavy Industry Group Co Ltd
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Abstract

A method for calculating the limit working condition of a telescopic arm of a drill jumbo belongs to the field of mechanical arm working condition calculation. The invention aims to solve the problem that the optimal design result of the telescopic arm cannot meet the actual engineering requirement when the limit working condition of the telescopic arm of the drill jumbo is determined according to experience at present. The method comprises the following steps: acquiring the gravity, the gravity center position, the rock recoil force load and the degree of freedom change range of the boom structure of each part in the telescopic boom structure of the drill jumbo; determining a calculation model of the top end load of the telescopic boom; acquiring an optimization range of a novel biophysical optimization algorithm, and taking a calculation result of a load calculation model at the top end of the telescopic boom as a habitat suitability index HSI; initializing NH habitats, optimizing by using an optimization algorithm to obtain the habitat with the maximum load at the top end of the telescopic arm, and combining corresponding freedom values into the limit working condition of the telescopic arm; the novel biophysical optimization algorithm includes improving a mobility model. The invention can obtain the optimal solution of the limit working condition.

Description

Method for calculating limit working condition of telescopic arm of drill jumbo
Technical Field
The invention relates to a method for calculating the limit working condition of a telescopic arm of a drill jumbo, and belongs to the field of mechanical arm working condition calculation.
Background
The construction of large-scale projects such as rail transit, road traffic, hydropower projects and the like of all countries in the world has continuously increased demand for tunnel construction, the current main methods of tunnel construction comprise a drilling and blasting method and a shield method, and drilling and blasting methods are mostly adopted for the occasions with high rock hardness.
The drill jumbo is indispensable equipment in the drilling and blasting method construction, and is used for drilling blast holes on a section of a tunnel to be excavated. The telescopic arm in the arm support structure of the rock drilling jumbo is a key part in the arm support structure, one end of the telescopic arm is hinged with a rock drilling jumbo body, and the other end of the telescopic arm bears main working mechanisms such as a slewing mechanism, a propelling mechanism, a rock drilling machine and the like.
However, at present, during strength analysis and optimal design of the telescopic arm of the rock drilling jumbo, the limit working condition is usually determined according to experience. Because the mode can not ensure the accurate setting of the limit working condition, the optimal design result is wrong, the optimized telescopic boom structure can not meet the actual engineering requirement, and then the deformation or fracture phenomenon occurs in the working process, and the working reliability of the drill jumbo is influenced.
Therefore, the method has very important significance for the establishment and the development of the limit value of the load borne by the telescopic arm (namely the limit working condition of the telescopic arm of the drill jumbo) when the boom structure of the drill jumbo works at different poses.
Disclosure of Invention
The invention provides a method for calculating the limit working condition of a telescopic arm of a drill jumbo, aiming at the problem that the optimal design result of the telescopic arm cannot meet the actual engineering requirement when the limit working condition of the telescopic arm of the drill jumbo is determined according to experience at present.
The invention discloses a method for calculating the limit working condition of a telescopic arm of a drill jumbo, which comprises the following steps,
the method comprises the following steps: acquiring the gravity, the gravity center position, the rock recoil force load and the degree of freedom change range of the boom structure of each part in the telescopic boom structure of the drill jumbo;
step two: simplifying the gravity of each part and the received rock recoil force load to the top end of the telescopic arm according to a pose transformation matrix and a translation and simplification theorem of a space force system to obtain a telescopic arm top end load calculation model;
step three: taking each degree of freedom of the boom structure as an index variable SIV of survival suitability of the novel biophysical optimization algorithm, carrying out discretization processing on each degree of freedom value according to the variation range of each degree of freedom, and taking the processing result as the optimization range of the novel biophysical optimization algorithm; in the optimizing range, taking the calculation result of the load calculation model at the top end of the telescopic boom as a habitat suitability index HSI;
step four: setting parameters in a novel biophysical optimization algorithm, randomly taking values of each degree of freedom of the boom structure in the optimization range, and initializing NH habitats of the novel biophysical optimization algorithm; wherein NH is the number of the set habitats;
step five: optimizing the initialized NH habitats by using the novel biophysical optimization algorithm to obtain the habitats with the maximum top load of the telescopic arm, wherein the corresponding freedom values are combined to be the limit working condition of the telescopic arm;
the novel biophysical optimization algorithm comprises an improved mobility model which is an exponential mobility model, namely a kth habitat HkMobility of (2) < lambda >kAnd the migration rate mukThe calculation method comprises the following steps:
Figure BDA0003121951720000021
in the formula I0To maximize the mobility, SkFor habitat HkNumber of species of (1), SmaxThe maximum species number of all habitats, and E is the maximum migration rate.
According to the method for calculating the limit working condition of the telescopic arm of the drill jumbo,
each part includes in the telescopic boom cantilever crane structure:
the rock drill comprises a telescopic arm support, a telescopic arm, a rotating seat, a connecting seat, a rotary arm, a rotary seat, a pushing beam bracket, a pushing beam and a rock drill.
According to the method for calculating the limit working condition of the telescopic arm of the drill jumbo,
the relevant definitions of the various degrees of freedom of the boom structure are shown in table 1:
TABLE 1
Figure BDA0003121951720000022
According to the method for calculating the limit working condition of the telescopic arm of the drill jumbo,
the pose transformation matrix includes:
Figure BDA0003121951720000031
Figure BDA0003121951720000032
Figure BDA0003121951720000033
the system comprises a boom structure, a plurality of components, a plurality of positioning devices and a plurality of positioning devices, wherein theta is each degree of freedom of the boom structure and represents a rotation angle of the components around a hinge point, R (X, theta) represents a pose transformation matrix in a fixed coordinate system after each component in the boom structure rotates around an X-axis of a component coordinate system by an angle theta, R (Y, theta) represents a pose transformation matrix in the fixed coordinate system after each component in the boom structure rotates around a Y-axis of the component coordinate system by an angle theta, and R (Z, theta) represents a pose transformation matrix in the fixed coordinate system after each component in the boom structure rotates around a Z-axis of the component coordinate system by an angle theta;
when the component rotates twice around two coordinate axes, the total position and posture transformation matrix is a result of multiplying two corresponding coordinate axis position and posture transformation matrices; in the boom structure of the drill jumbo, the reference coordinate axis of the second rotation is the corresponding coordinate axis in the component coordinate system obtained after the first rotation; the multiplication sequence of the two corresponding coordinate axis pose transformation matrixes in the total pose transformation matrix is the same as the rotation sequence, namely the two corresponding coordinate axis pose transformation matrixes are multiplied right;
calculating by using the obtained pose transformation matrix to obtain the pose description of the part in the fixed coordinate system after the part rotates;
in which the rock drill is subjected to rock recoil loads
Figure BDA0003121951720000034
Rotating rock recoil load obtained after coordinate rotation
Figure BDA0003121951720000035
Comprises the following steps:
Figure BDA0003121951720000036
according to the method for calculating the limit working condition of the telescopic arm of the drill jumbo,
the process of obtaining the calculation model of the top end load of the telescopic boom comprises the following steps:
calculating the position coordinates of the gravity center of the rotating arm, the rotating seat, the connecting seat, the rotating arm, the rotating seat, the propulsion beam bracket, the propulsion beam and the rock drill after rotation, the position coordinates of the node B, the node C, the node D, the node E, the node F, the node G, the node H and the node I and the rock recoil force load by using the obtained pose transformation matrix
Figure BDA0003121951720000037
And then simplifying the load of the gravity and the rock recoil force borne by each part to a top end point A of the telescopic arm according to a transfer relation by applying a translation and simplification theorem of a space force system to obtain a top end load calculation model of the telescopic arm:
Figure BDA0003121951720000041
the i-3, 4, … 10 correspond to the parts of rotating arm, rotating seat, connecting seat, rotary arm, rotary seat, pushing beam bracket, pushing beam and rock drill in sequence;
wherein A is the assembly point of flexible arm and swinging boom, B is the pin joint of swinging boom and roating seat, C is the pin joint of roating seat and connecting seat, D is connecting seat and gyration arm assembly point, E is the rotatory commentaries on classics of gyration seat around the gyration armMoving center, F is the hinge point of the rotary seat and the push beam bracket, and G is ZtWhen 0, F is a point directly above the bottom surface of the girder bracket, and H is when ZzWhen the distance between the drill bit and the rock drill is 0, a point which is right above G and is positioned in the center of the drill bit of the rock drill, I is a point which is contacted with the rock drill bit, and O is a hinged point of a support of the telescopic arm and the telescopic arm;
in the formula (VI), the' is the rotated coordinate of the vector formed by connecting the corresponding nodes,
Figure BDA0003121951720000042
is the center of gravity of component i, X is the origin of the component coordinate system of component i,
Figure BDA0003121951720000043
is the resultant force borne by the top end of the telescopic arm,
Figure BDA0003121951720000044
is the gravitational load of the component after it has rotated,
Figure BDA0003121951720000045
is a couple borne by the top end of the telescopic arm;
wherein
Figure BDA0003121951720000046
In the formula
Figure BDA0003121951720000047
Is a resultant force
Figure BDA0003121951720000048
The X-axis component of (a) and (b),
Figure BDA0003121951720000049
is a resultant force
Figure BDA00031219517200000410
The Y-axis component of (a) is,
Figure BDA00031219517200000411
is a resultant force
Figure BDA00031219517200000412
A Z-axis component of (A);
Figure BDA00031219517200000413
is a coupling couple
Figure BDA00031219517200000414
The X-axis component of (a) and (b),
Figure BDA00031219517200000415
is a coupling couple
Figure BDA00031219517200000416
The Y-axis component of (a) is,
Figure BDA00031219517200000417
is a coupling couple
Figure BDA00031219517200000418
Z-axis component of (a).
The invention has the beneficial effects that: the basic idea of the biophysical optimization algorithm is to complete information circulation according to species migration between habitats, and realize information sharing between the habitats by adjusting the migration rate and the migration rate in the migration process and executing migration and mutation operations, so as to improve the adaptability of the habitats and obtain the optimal solution of the problem.
According to the novel biophysical optimization algorithm, the linear mobility model in the original biophysical optimization algorithm is replaced by the mobility model based on the exponential function, so that the problem of insufficient adaptability of the linear mobility model is solved, and the mobility model is applied to calculation of the limit working condition of the telescopic arm of the drill jumbo.
The result of the comparison experiment of the invention with other optimization algorithms and the biophysical optimization algorithm of other nonlinear mobility models shows that the biophysical optimization algorithm has the best performance in solving the problem of the extreme load borne by the telescopic arm, the obtained solution has larger absolute value, and the stability of the result of multiple experiments is the best.
Drawings
FIG. 1 is a schematic diagram of a boom structure of a telescopic boom of a drill jumbo according to the present invention;
FIG. 2 is a schematic diagram of the degree of freedom of a telescopic arm frame of the drill jumbo and the load borne by each part;
FIG. 3 is a schematic view of the load applied to the top end of the telescopic boom;
FIG. 4 is a schematic view of a node position of a telescopic boom structure;
FIG. 5 is a simplified process diagram of the spatial force system towards a designated point O;
FIG. 6 is a schematic diagram of species migration and variation between different habitats;
FIG. 7 is a graph of a mobility model for species in a habitat;
FIG. 8 is FxBBO calculation result box whisker graph of the limit value;
FIG. 9 is FyBBO calculation result box whisker graph of the limit value;
FIG. 10 is FzBBO calculation result box whisker graph of the limit value;
FIG. 11 is a BBO calculation result box and whisker plot of the limit value of F;
FIG. 12 is MxBBO calculation result box whisker graph of the limit value;
FIG. 13 is MyBBO calculation result box whisker graph of the limit value;
FIG. 14 is MzBBO calculation result box whisker graph of the limit value;
FIG. 15 is a BBO calculation result box and whisker plot of the limit value of M.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
First embodiment, referring to fig. 1 to 7, the present invention provides a method for calculating the limit condition of a telescopic arm of a rock drilling jumbo, including,
the method comprises the following steps: calculating and acquiring the gravity and the gravity center position of each component in the telescopic arm frame structure of the drill jumbo through computer aided design software, and determining the rock recoil load and the change range of each degree of freedom of the arm frame structure according to the assembly and connection relation of each component;
step two: simplifying the gravity of each part and the received rock recoil force load to the top end of the telescopic arm according to a pose transformation matrix and a translation and simplification theorem of a space force system to obtain a telescopic arm top end load calculation model;
step three: taking each degree of freedom of the boom structure as an index variable SIV of survival suitability of the novel biophysical optimization algorithm, carrying out discretization processing on each degree of freedom value according to the variation range of each degree of freedom, and taking the processing result as the optimization range of the novel biophysical optimization algorithm; in the optimizing range, taking the calculation result of the load calculation model at the top end of the telescopic boom as a habitat suitability index HSI; each degree of freedom of the arm support structure comprises a rotation angle of each hinge point and an oil cylinder stroke;
step four: setting parameters in a novel biophysical optimization algorithm, randomly taking values of each degree of freedom of the boom structure in the optimization range, and initializing NH habitats of the novel biophysical optimization algorithm; wherein NH is the number of the set habitats;
the population initialization method comprises the following steps: random generation of NH habitats HkAs an initial habitat population RH＝{H1,H2,…,HNH}；
Step five: optimizing the initialized NH habitats by using the novel biophysical optimization algorithm to obtain the habitats with the maximum top load of the telescopic arm, wherein the corresponding freedom values are combined to be the limit working condition of the telescopic arm;
the novel biophysical optimization algorithm comprises an improved mobility model which is an exponential mobility model, namely a kth habitat HkMobility of (2) < lambda >kAnd the migration rate mukThe calculation method comprises the following steps:
Figure BDA0003121951720000061
in the formula I0To maximize the mobility, SkFor habitat HkNumber of species of (1), SmaxThe maximum species number of all habitats, and E is the maximum migration rate.
Further, as shown in fig. 1, each component in the telescopic boom structure includes:
the hydraulic rock drill comprises a telescopic arm support 1, a telescopic arm 2, a rotating arm 3, a rotating seat 4, a connecting seat 5, a rotary arm 6, a rotary seat 7, a pushing beam bracket 8, a pushing beam 9, a rock drill 10, a corresponding oil cylinder, a hydraulic reversing valve and the like.
As shown in fig. 1. The degree of freedom and the load of the boom affecting the load applied to the top end of the telescopic boom according to the assembling and connecting relationship of the components are shown in fig. 2, wherein G3-G10The gravity borne by each part is represented according to the corresponding relation between the lower corner mark and the part reference mark, namely, the lower corner mark corresponds to the part mark in the figure 1;
rock recoil load to which the rock drill 10 is subjected during operation
Figure BDA0003121951720000071
According to the measurement result in the construction process, 17kN is generally taken.
Still further, as shown in fig. 2, the relevant definitions of the degrees of freedom of the boom structure are shown in table 1:
TABLE 1
Figure BDA0003121951720000072
The problem of calculation of the limit working condition of the telescopic boom to be solved in the invention is to establish a calculation model of the load borne by the top end of the telescopic boom by using the conditions, then carry out value taking on 8 parameters according to each parameter definition domain listed in the table 1, calculate the corresponding load borne by the top end of the telescopic boom according to the calculation model, and aim to obtain each load component
Figure BDA0003121951720000073
And total amount
Figure BDA0003121951720000074
And simultaneously obtaining the limit working conditions of the telescopic arm corresponding to the maximum values.
Pose transformation:
describing and transforming the pose of the rock drilling jumbo boom and the coordinate are the basis for establishing a telescopic boom top end load calculation model, the pose from a component coordinate system to a fixed coordinate system (an O-XYZ coordinate system in figure 4) can be transformed through a pose transformation matrix, and the pose transformation matrices after the component coordinate system rotates by an angle theta around an X axis, a Y axis and a Z axis are respectively shown as formulas (two) to (four).
Still further, the pose transformation matrix comprises:
Figure BDA0003121951720000075
Figure BDA0003121951720000081
Figure BDA0003121951720000082
the system comprises a boom structure, a plurality of components, a plurality of positioning devices and a plurality of positioning devices, wherein theta is each degree of freedom of the boom structure and represents a rotation angle of the components around a hinge point, R (X, theta) represents a pose transformation matrix in a fixed coordinate system after each component in the boom structure rotates around an X-axis of a component coordinate system by an angle theta, R (Y, theta) represents a pose transformation matrix in the fixed coordinate system after each component in the boom structure rotates around a Y-axis of the component coordinate system by an angle theta, and R (Z, theta) represents a pose transformation matrix in the fixed coordinate system after each component in the boom structure rotates around a Z-axis of the component coordinate system by an angle theta;
when the component rotates twice around two coordinate axes, the total position and posture transformation matrix is a result of multiplying two corresponding coordinate axis position and posture transformation matrices; in the boom structure of the drill jumbo, the reference coordinate axis of the second rotation is the corresponding coordinate axis in the component coordinate system obtained after the first rotation; the multiplication sequence of the two corresponding coordinate axis pose transformation matrixes in the total pose transformation matrix is the same as the rotation sequence, namely the two corresponding coordinate axis pose transformation matrixes are multiplied right;
calculating by using the obtained pose transformation matrix to obtain the pose description of the part in the fixed coordinate system after the part rotates;
in which the rock drill 10 is subjected to rock recoil loads
Figure BDA0003121951720000083
Rotating rock recoil load obtained after coordinate rotation
Figure BDA0003121951720000084
Comprises the following steps:
Figure BDA0003121951720000085
load translation and simplification:
as shown in fig. 5, the translation theorem of force is applied to translate each force of the spatial force system to the designated simplified center O to obtain an intersection force system and an intersection force couple system which are intersected at the point O, and the intersection force system and the intersection force couple system are respectively synthesized to obtain a resultant force passing through the simplified center O
Figure BDA0003121951720000086
And couple
Figure BDA0003121951720000087
Written as the expression:
Figure BDA0003121951720000088
still further, with reference to fig. 1 to 5, the process of obtaining a computation model of the top end load of the telescopic boom includes:
in order to ensure that a constructed calculation model of the top load of the telescopic arm is accurate and avoid errors caused by the fact that a plurality of loads are transmitted to the calculation at the same time, when the calculation model of the top load of the telescopic arm is constructed, 10 nodes (point O, point A-point I) are arranged on the arm frame structure of the drill jumbo according to the original point of a coordinate system of each part, the distribution position of the degree of freedom and the assembly and connection relation of each part, as shown in figure 4, each load is sequentially simplified to the top end of the telescopic arm (namely point A in figure 4), and the loads transmitted to the point A are summed to obtain the top load of the telescopic arm.
Calculating the gravity center position coordinates of the rotating arm 3, the rotating seat 4, the connecting seat 5, the rotary arm 6, the rotary seat 7, the pushing beam bracket 8, the pushing beam 9 and the rock drill 10 after rotation, the position coordinates of the node B, the node C, the node D, the node E, the node F, the node G, the node H and the node I and the rock recoil force load by using the obtained pose transformation matrix
Figure BDA0003121951720000091
According to the vector coordinates, translating the gravity and rock recoil force load borne by each part to a top end point A of the telescopic arm according to a transfer relation by applying a translation and simplification theorem of a space force system to obtain an intersection force system and an intersection force couple system which are intersected at the point A, and respectively synthesizing the intersection force system and the intersection force couple system to obtain a resultant force passing through the point A
Figure BDA0003121951720000092
And couple
Figure BDA0003121951720000093
Namely, the gravity and the rock recoil force load borne by each component are simplified to the top end point A of the telescopic arm to obtain the extensionCalculating model of top end load of the telescopic arm:
Figure BDA0003121951720000094
i is 3,4, … 10 corresponding to the components of the rotating arm 3, the rotating seat 4, the connecting seat 5, the rotary arm 6, the rotary seat 7, the pushing beam bracket 8, the pushing beam 9 and the rock drill 10 in sequence;
wherein A is the assembly point of flexible arm 2 and swinging boom 3, B is the pin joint of swinging boom 3 and roating seat 4, C is the pin joint of roating seat 4 and connecting seat 5, D is the assembly point of connecting seat 5 and revolving arm 6, E is the center of rotation of revolving seat 7 around the 6 rotations of the rocking boom, F is the pin joint of revolving seat 7 and propulsion beam bracket 8, G is when Z istWhen 0, F is a point located right above the bottom surface of the girder bracket 8, and H is when Z iszWhen the distance G is equal to 0, a point which is right above the G and is positioned in the center of the drill bit of the rock drilling machine 10, I is a point where the drill bit of the rock drilling machine 10 is contacted with rock, and O is a hinged point of the telescopic arm support 1 and the telescopic arm 2;
in the formula (VI), the' is the vector formed by connecting the corresponding nodes and the rotated coordinate, OGIs the center of gravity of component i, X is the origin of the component coordinate system of component i,
Figure BDA0003121951720000095
is the resultant force borne by the top end of the telescopic arm,
Figure BDA0003121951720000096
is the gravitational load of the component after it has rotated,
Figure BDA0003121951720000097
is a couple borne by the top end of the telescopic arm;
wherein
Figure BDA0003121951720000098
In the formula
Figure BDA0003121951720000099
Is a resultant force
Figure BDA00031219517200000910
The X-axis component of (a) and (b),
Figure BDA00031219517200000911
is a resultant force
Figure BDA00031219517200000912
The Y-axis component of (a) is,
Figure BDA00031219517200000913
is a resultant force
Figure BDA00031219517200000914
A Z-axis component of (A);
Figure BDA00031219517200000915
is a coupling couple
Figure BDA00031219517200000916
The X-axis component of (a) and (b),
Figure BDA00031219517200000917
is a coupling couple
Figure BDA00031219517200000918
The Y-axis component of (a) is,
Figure BDA00031219517200000919
is a coupling couple
Figure BDA00031219517200000920
Z-axis component of (a).
The modulus of each load component and total amount to be calculated in the present invention can be expressed by the following formula:
if it is
Figure BDA0003121951720000101
Then
Fx＝|FA1|,Fy＝|FA2|,Fy＝|FA3|,
Figure BDA0003121951720000102
Mx＝|MA1|,My＝|MA2|,My＝|MA3|,
Figure BDA0003121951720000103
Discretizing the degree of freedom parameters:
because the invention aims to solve the problem of combination of the structural pose parameters of the arm support of the drill jumbo, in order to reduce the difficulty and complexity of parameter optimization and quickly obtain the limit load borne by the telescopic arm, the invention needs to carry out discretization treatment on the rotation angle of each hinge point and the stroke of the oil cylinder.
Still further, as shown in fig. 1 to 4, discretization processing is performed on the respective degree of freedom values according to the variation range of the respective degrees of freedom, and the granularity selected by the respective degrees of freedom in the discretization processing and the number of variables that can be obtained after the discretization processing are shown in table 2:
TABLE 2
Figure BDA0003121951720000104
In step four, the parameters in the novel biophysical optimization algorithm include: number of habitats NH, maximum migration rate I0Maximum migration rate E, maximum mutation rate mmaxElite individual retention number keep, iteration number maxgen, target load function FrSaid target load function FrIs selected from the group consisting ofx,Fy,Fz,F、Mx,My,Mz,M。
Description of a novel biophysical optimization algorithm:
the biophysical optimization algorithm is a group intelligent optimization algorithm provided by a mathematical model based on biophysics, and solves the engineering optimization problem by simulating a group migration mechanism in nature. As shown in fig. 6, in an ecosystem, the distribution of various species of organisms in geographical regions is different, the regions where the organisms are fixedly distributed are called habitats, the environmental factors of different habitats are different, and therefore the living degree of suitable species is different, a habitat suitability index HSI is used for measuring the living degree of suitable species of habitats, the larger the value of the habitat suitability index HSI is, the more suitable species are living, the larger the number of species contained in the habitat is, the height of the habitat HSI is related to various factors such as temperature, illumination, rainfall, topographic features and the like, and the factors are called survival suitability index variables SIV, wherein each SIV represents a factor. Since a change in SIV results in a change in HSI of the habitat, SIV can be considered an independent variable and HSI a dependent variable.
A high HSI habitat contains more species, but species competition pressure inside the habitat is high due to limited habitat resources, as the number of species increases, resources inside the habitat are insufficient, a large number of species migrate to other habitats, and species of other habitats are difficult to crowd into the crowded habitat; conversely, a habitat with low HSI has less competition pressure for its internal species due to scarce species, and has more resources than demand, and can attract a large amount of foreign species to migrate in, while the possibility of species migration is less due to abundant resources. However, if the natural environment of a habitat is harsh and is not suitable for species to live, the HSI of the habitat is kept at a low level for a long time, natural disasters easily occur to cause environmental factor mutation of the habitat, the original species are extinct, secondary succession occurs in the habitat, and species variation occurs.
Further, as shown in fig. 6, the process of obtaining the habitat with the maximum load on the top end of the telescopic boom by using the novel biophysical optimization algorithm for optimization includes:
step five, first: calculation of habitat H by using telescopic boom top end load calculation modelkThe target load function F corresponding to the combination of the respective degree of freedom valuesrThe calculated result of (A) is used as the suitability index HSI of the habitatk；
Step five two: sorting all habitats from large to small according to the suitability index;
step five and step three: according to the inhabitationGiving results of ground ranking to habitat HkSpecies number of (2) SkAssigning;
step five and four: according to the improved mobility model and the number S of the inhabitation specieskCalculating habitat HkMobility of (2) < lambda >kAnd migration rate mukAnd calculating the habitat H according to a variation rate calculation formulakRate of variation m of (A)k；
Step five: carrying out migration operation on the habitat by using a migration operator;
step five and step six: carrying out mutation operation on the habitat after the migration operation by using a mutation operator;
step five and seven: performing elite retention operation on the habitat after the mutation operation;
step five and eight: judging whether the iteration times reach the iteration times maxgen or not, if so, calculating the suitability indexes of all the habitats after performing elite reservation operation, sequencing all the habitats from large to small according to the suitability indexes, and taking the combination of the freedom values of the highest-ranked habitats as an optimization result to obtain the limit working condition of the telescopic arm of the drill jumbo; otherwise, the procedure returns to step five one.
Habitat species number assignment:
further, as shown in fig. 6, in the fifth step and the third step, the habitat H is given according to the habitat ranking result from large to small according to the loadkSpecies number of (2) SkWhen the value is assigned, the habitat with the lowest load has the smallest number of species, the habitat with the highest load at the top end of the telescopic arm has the largest number of species, and the habitat with the lowest load at the top end of the telescopic arm has the smallest number of species; for simplifying calculation, the maximum species number S of the habitat is setmaxEqual to the number of habitats NH; sequenced habitat HkSpecies number of (2) SkThe calculation method comprises the following steps:
Sk＝Smax-k +1, k ═ 1,2, …, NH. (seven)
Mobility calculation:
each habitat in the biophysical optimization algorithm has its own mobility λ and mobility μ, which are functions of the number S of species in the habitat, and habitats with high numbers of species should have a higher mobility μ and a lower mobility λ, and vice versa.
FIG. 7 shows a mobility model proposed in the present invention, wherein the abscissa is the number S of species and the ordinate is the probability ρ, I0Is the maximum migration rate, E is the maximum migration rate, SmaxIs the maximum number of species, S0Is the equilibrium point for the number of species. When the number of the species is 0, the migration rate lambda is the maximum value I, the migration rate mu is the minimum value 0, only the species migrate in the habitat and no species migrate out, the number of the species in the habitat gradually increases with the continuous migration of the species, the migration rate lambda gradually decreases, and the migration rate mu gradually increases. When the number of species reaches S0When lambda is equal to mu, the number of species in the habitat reaches dynamic equilibrium. When the number of species increases to SmaxWhen the migration rate lambda is the minimum value 0, the migration rate mu reaches the maximum value E, only the species migrate out at the moment, and no species migrate in.
And (3) calculating the variation rate:
according to a mobility model in a biogeography optimization algorithm, calculating the probability P when the number of the accommodated species of a certain habitat is S according to the formula (eight)S. Each habitat HkSpecies number of (2) SkSubstitution (eight), then calculating each habitat HkRate of variation m of (A)kThe calculation formula is shown in formula (nine).
Further, in step V, the habitat HkRate of variation m of (A)kThe calculation method comprises the following steps:
Figure BDA0003121951720000121
Figure BDA0003121951720000131
wherein S is the number of the inhabitant species, PsThe probability of S for the habitat to hold a population of species,
Figure BDA0003121951720000132
for habitat HkThe number of accommodated matters is SkThe probability of (d); pmaxIs PsIs measured.
And (3) migration operation:
the purpose of the migration operation is to achieve information sharing between different habitats through species migration between habitats, wherein the low HSI habitats tend to receive information from other habitats, and the high HSI habitats tend to transmit their own information to other habitats, but this does not mean that such information disappears in the high HSI habitats, but instead the low HSI habitats learn new information from the high HSI habitats by means of information sharing to improve the HSI of the habitats. The steps of the migration operation are described as follows:
corresponding to the fifth step, the process of performing the migration operation on the habitat by using the migration operator comprises the following steps:
step five, step one: setting k to 1, i to 1;
step five, step two: generating a random variable rand e [0,1 ∈ ]]For the kth habitat HkThe ith survival suitability index variable SIViIf rand is less than or equal to lambdakIf not, turning to the fifth step;
step five and step three: generating a random variable rand2 ∈ [0,1 ]]Selecting to satisfy muc-1<rand2≤μcHabitat Hc；
Step five, step five and step four: by habitat HcSIV in (1)iValue instead of habitat HkSIV in (1)iValue, i.e. Hk(SIVi)←Hc(SIVi)；
Step five and step five: judging whether the i is the survival suitability index variable number of 8, if so, completing the habitat migration operation, and turning to the fifth step and the sixth step, otherwise, turning to the fifth step and the second step, wherein the i is i + 1;
step five, step six: judging whether k is the number NH of the habitats, if so, finishing the migration operation of all the habitats, and if not, turning to the fifth step and the sixth step, wherein k is k +1 and i is 1;
mutation operation: if a habitat encounters an emergency such as a natural disaster or a disease, the HSI of the habitat will be changed, and the ecological balance is broken. The biophysical optimization algorithm simulates the mutations, so that the habitat with low HSI is mutated with a higher probability, thereby enabling the species to have a more suitable living environment and improving the HSI of the habitat. The steps of the mutation operation are described as follows:
corresponding to the fifth step and the sixth step, the process of performing mutation operation on the habitat after the migration operation by using the mutation operator comprises the following steps:
step five, step six: setting k to NH/2, i to 1;
step five, step six and step two: generating a random variable rand3 ∈ [0,1 ]]For the kth habitat HkThe ith survival suitability index variable SIViIf rand3 is not more than mkIf not, turning to the fifth step, the sixth step and the fourth step;
step five, step six and step three: randomly generating a SIVi'∈CiSubstitute for HkSIV in (1)iValue, i.e. Hk(SIVi)←SIVi'，CiThe value range of the ith survival suitability index variable in the table 1 is shown;
step five, step six and step four: judging whether the i is survival suitability index variable number 8, if so, completing habitat mutation operation, and turning to the fifth step, the sixth step, and otherwise, turning to the fifth step, the sixth step and the fifth step;
step five, step six and step five: judging whether k is the number NH of the habitats, if so, finishing the mutation operation of all the habitats, and if not, turning to the step five, six and two, wherein k is k +1 and i is 1;
and (3) performing elite preservation operation:
in order to avoid the damage of the optimal habitat individuals in the migration and mutation processes, in the fifth and seventh step, when the elite reservation operation is carried out on the habitat, the keep habitats with highest habitat suitability index HSI ranking in the previous generation are used for replacing the keep habitats with the lowest HSI ranking in the current generation, namely HNH-keep+1:NH←H′1:keep。
The effect of the invention is illustrated by the limit working condition calculation and comparison experiment of the telescopic arm of the drill jumbo:
in order to test the performance of the novel biophysical optimization algorithm provided by the invention, the limit condition calculation experiment of the rock drilling trolley telescopic arm is carried out by respectively utilizing the novel biophysical optimization algorithm, the common optimization algorithm and the biophysical optimization algorithm applying other mobility models.
1. Novel biophysical optimization algorithm is compared with other optimization algorithms
The biophysical optimization algorithm is a bionic algorithm based on biological populations, a plurality of other population optimization algorithms exist at present, such as an ant colony optimization Algorithm (ACO), an Evolution Strategy (ES), a Genetic Algorithm (GA), population increment learning (PBIL), Particle Swarm Optimization (PSO), a bolt genetic algorithm (SGA) and the like, and in order to test the performance of the novel biophysical optimization algorithm, the limit working conditions of the rock drilling trolley telescopic arm are calculated by respectively utilizing the novel biophysical optimization algorithm (represented by BBO in a table) and the 7 optimization algorithms. The parameters used for each optimization algorithm in the experiment are shown in table 3. The population number or habitat number for each optimization algorithm was 100, the elite parameter keep 2, and run for 100 generations.
TABLE 3 all optimization algorithm parameters
Figure BDA0003121951720000141
Figure BDA0003121951720000151
Because the operation of the algorithm has randomness, in order to obtain a representative result and avoid errors caused by the operation of the algorithm, the invention carries out 100 Monte Carlo simulations on each load function by using each optimization algorithm. The results obtained are shown in tables 4 and 5. Table 4 shows the maximum value of each load limit calculated by each optimization algorithm in 100 monte carlo experiments, i.e. the best performance of each algorithm is shown; table 5 shows the average of the results calculated for each optimization algorithm in 100 monte carlo experiments, in other words, the average performance and stability of each algorithm. In addition, in order to compare the computational efficiency of various optimization algorithms, the present invention also counts the average runtime of various optimization algorithms, and the last column in table 4 shows the runtime statistics.
From the experimental results in Table 4, it can be seen that each optimization algorithm yields a force load Fx,Fy,FzThe maximum values of the F limit values are very close to each other and are basically consistent with the load conditions of three limit working conditions provided by a rock drilling jumbo production enterprise. However under moment load Mx,My,MzIn the aspect of the magnitude of the M limit value, the optimization result of each algorithm is obviously higher than the load magnitude of three limit working conditions provided by a rock drilling jumbo production enterprise, and the limit working conditions given by only the experience of an engineer can be proved to be inaccurate. The optimal value of each moment load limit value calculated by BBO, PSO and SGA is superior to other optimization algorithms, and the operation time of each algorithm is short, so the operation time of each optimization algorithm does not need to be discussed as an influence factor of performance evaluation.
Maximum values and times of the results calculated by various optimization algorithms in Table 4100 Monte Carlo simulations
Figure BDA0003121951720000152
Figure BDA0003121951720000161
From the experimental results of table 5, it can be seen that the average performance of various optimization algorithms is different, and ACO performs poorly in the calculation application of the telescopic boom limit condition; average ES Performance at Fx,FzAnd MzThree load aspects are ranked first, however for Fy,F,Mx,MyAnd the calculation results of M are poor; PBIL for M compared to other optimization algorithmsyThe calculation of the limit value of (b) is optimal, but is relatively common in other loads; GA aboutAll load limit calculations are similar to PBIL; the PSO and SGA average performance is better overall and better than most of the optimization algorithms for comparison in the invention, but at a certain load (M of PSO)yM of SGAz) The average performance in terms is not very satisfactory; although the average performance of BBO is only in
Figure BDA0003121951720000162
Is ranked first, but the average performance of BBO performed better in all load limit calculations, ranking the top three in all optimization algorithms. Therefore, the overall average performance of the BBO is superior to that of other optimization algorithms, and the stability is stronger.
Mean of the results calculated by various optimization algorithms in Monte Carlo simulation in Table 5100
Figure BDA0003121951720000163
2. Comparing the novel biophysical optimization algorithm with the biophysical optimization algorithm applying other mobility models:
in order to compare the influence of different mobility models on the performance of a biophysical optimization algorithm, aiming at the problem of calculation of the load limit value of the telescopic arm of the rock drilling jumbo, the biophysical optimization algorithm of the mobility model and other 11 nonlinear mobility models with different change trends is used for calculation respectively, and the calculation is compared with the original linear mobility model for analysis. The mobility model used in each of the biophysical optimization algorithms is shown in table 6, and the mobility model No. 6 is used in the present invention.
Figure BDA0003121951720000164
Figure BDA0003121951720000171
Figure BDA0003121951720000181
In order to facilitate the distinction of the biophysical optimization algorithms based on different mobility models in table 6, the biophysical optimization algorithms based on mobility models numbered 1-13 are respectively referred to as BBO 1-BBO 13. The parameters in all the biophysical optimization algorithms were identical to those in table 4, and likewise 100 monte carlo simulations were performed for each load function with each biophysical optimization algorithm. The maximum values for each load limit calculated by each of the biophysical optimization algorithms in 100 monte carlo experiments are shown in table 7. From the experimental results in table 7, it can be seen that the extreme values of the stress at the top end of the telescopic boom calculated by various biophysical optimization algorithms are substantially equal. In the aspect of bending moment load, various biogeographic optimization algorithms are different in performance, the overall optimal performance of some algorithms is better than that of BBO1, such as BBO2 and BBO3, the overall performance of some algorithms is reduced compared with that of BBO1, such as BBO5 and BBO7, and the optimal performance of other biogeographic optimization algorithms is not particularly obvious in difference compared with that of BBO1, such as BBO4 and BBO 9.
Maximum values of various BBO calculations in Table 7100 Monte Carlo simulations
Figure BDA0003121951720000182
Figure BDA0003121951720000191
In order to more accurately compare the influence of different mobility models on the biophysical optimization algorithm, the obtained experimental results are plotted as box-whisker graphs, which are used for representing the dispersion degree of the 100 Monte Carlo simulation results calculated by each algorithm at each load limit value, as shown in FIGS. 8 to 15, and the loads F are respectively shown in FIGS. 8 to 15x,Fy,Fz,F,Mx,My,MzBox and whisker diagram of M limit value calculation result, red dotted line in the diagramThe green dotted line and the blue dotted line respectively represent the upper limit and the lower limit of the calculated result of BBO1, the blue dotted line and the black dotted line respectively represent the median and the average of the calculated result of BBO1, and the two ends of each rectangular box correspond to the upper and lower quartiles of the calculated result.
As can be seen from fig. 8, the overall performance of BBO2 and BBO3 is similar to that of BBO1, the calculation result of a part of the load limit values is better than that of BBO1, the mobility models used by BBO2 and BBO3 are mobility models numbered 2 and3 in table 6, respectively, and it can be seen from the curves in the table that the shapes of the two mobility models are closer to the linear model, and the main difference is that when the number of habitat species is larger or smaller, the mobility changes more slowly, the mobility approaches the maximum value or 0, the habitat with low HSI has more chances to receive information from the habitat with high HSI, and at the same time, the overall performance is better than that of BBO2 due to the more slow change trend of the mobility model of BBO3, as shown in fig. 8, 9, 11, 14 and 15.
The performance of the BBO4 and the BBO5 is not stable, the stability difference is large when the BBO4 and the BBO5 are used for calculating different load limit values, the mobility models in the BBO4 and the BBO5 are mobility models numbered as 4 and 5 in a table 6 respectively, curves in the tables are observed, when the number of the objects in the two mobility models is large or small, the mobility changes rapidly, parameter information of a low HSI habitat can be migrated to other habitats, HSI of the other habitats is reduced, the search speed of the limit values is reduced, and the maximum value after 100 iterations does not reach the load limit value.
The BBO6 is consistent with the mobility model used in BBO10 in terms of their trends, and therefore their overall performance is relatively close, and in addition the overall performance of these two biophysical optimization algorithms is best compared to other biophysical optimization algorithms. The mobility models used by BBO6 and BBO10 correspond to the mobility models numbered 6 and 10 in table 6, respectively, and it can be seen from the curves in the table that the mobility rates of the two biophysical optimization algorithms are extremely high and extremely low when the number of species is small, and the mobility changes slowly with the increase of the number of species, and when the number of species is close to saturation, the mobility rate rapidly decreases to 0 and the mobility rate rapidly increases to a maximum value. The mobility model can ensure that a certain number of low HSI habitats can acquire good parameter information without spreading out bad parameter information, and the habitats with the HSI ranking at the front can spread out the parameter information of the low HSI habitats with higher probability, so that the good parameter information can be always shared in the migration process, the searching speed of the algorithm is improved, and the final operation result is better. In addition, the mobility model in the BBO6 has better overall performance than that of the BBO10 because the mobility model changes more slowly when the number of species is small and changes more rapidly when the number of species approaches saturation.
As can be seen from the experimental results in fig. 8, BBO7 and BBO11 were inferior to BBO1 in almost all load limit calculation results, as shown by the curves numbered 7 and 11 in table 6, and the mobility models they used were just opposite to BBO6 and BBO10, and the mobility varied rapidly when the number of species was small and slowly when the number of species was close to saturation. The low HSI habitat mobility model has a low mobility and a high mobility, so that the probability that the low HSI habitat obtains good parameter information is reduced, the HSI cannot be improved, meanwhile, the high HSI habitat obtains bad parameter information, the HSI is reduced, and the overall performance of the algorithm is poor.
The mobility models of BBO8 and BBO9 are the recombination of the mobility models in BBO6 and BBO7, and therefore their overall performance is between BBO6 and BBO7, which can also be verified from the experimental results shown in fig. 8, and the mobility model curves used by them are shown as the curves numbered 8 and 9 in table 6, and it can be seen from the curves that, compared with BBO8, a greater number of habitats with low HSI in BBO9 can obtain parameter information in habitats with high HSI with high probability, and the chance that good parameter information is propagated is greater, and therefore the overall performance of BBO9 is better than that of BBO 8. Similarly, we can obtain similar comparison results in BBO12 and BBO 13.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.

Claims (10)

1. A method for calculating the limit working condition of a telescopic arm of a drill jumbo is characterized by comprising the following steps,
the method comprises the following steps: acquiring the gravity, the gravity center position, the rock recoil force load and the degree of freedom change range of the boom structure of each part in the telescopic boom structure of the drill jumbo;
step two: simplifying the gravity of each part and the received rock recoil force load to the top end of the telescopic arm according to a pose transformation matrix and a translation and simplification theorem of a space force system to obtain a telescopic arm top end load calculation model;
step three: taking each degree of freedom of the boom structure as an index variable SIV of survival suitability of the novel biophysical optimization algorithm, carrying out discretization processing on each degree of freedom value according to the variation range of each degree of freedom, and taking the processing result as the optimization range of the novel biophysical optimization algorithm; in the optimizing range, taking the calculation result of the load calculation model at the top end of the telescopic boom as a habitat suitability index HSI;
step four: setting parameters in a novel biophysical optimization algorithm, randomly taking values of each degree of freedom of the boom structure in the optimization range, and initializing NH habitats of the novel biophysical optimization algorithm; wherein NH is the number of the set habitats;
step five: optimizing the initialized NH habitats by using the novel biophysical optimization algorithm to obtain the habitats with the maximum top load of the telescopic arm, wherein the corresponding freedom values are combined to be the limit working condition of the telescopic arm;
the novel biophysical optimization algorithm includes an improved mobility model, the improved mobility modelThe mobility model is an exponential mobility model, the kth habitat HkMobility of (2) < lambda >kAnd the migration rate mukThe calculation method comprises the following steps:
Figure FDA0003121951710000011
in the formula I0To maximize the mobility, SkFor habitat HkNumber of species of (1), SmaxThe maximum species number of all habitats, and E is the maximum migration rate.
2. The method for calculating the limit condition of the telescopic arm of the rock drilling jumbo according to claim 1,
each part includes in the telescopic boom cantilever crane structure:
the rock drilling machine comprises a telescopic arm support (1), a telescopic arm (2), a rotating arm (3), a rotating seat (4), a connecting seat (5), a rotating arm (6), a rotating seat (7), a pushing beam bracket (8), a pushing beam (9) and a rock drilling machine (10).
3. A method for calculating the extreme conditions of a telescopic arm of a rock-drilling jumbo according to claim 2,
the relevant definitions of the various degrees of freedom of the boom structure are shown in table 1:
TABLE 1
Figure FDA0003121951710000021
4. A method for calculating the extreme conditions of a telescopic arm of a rock-drilling jumbo according to claim 3,
the pose transformation matrix includes:
Figure FDA0003121951710000022
Figure FDA0003121951710000023
Figure FDA0003121951710000024
the system comprises a boom structure, a plurality of components, a plurality of positioning devices and a plurality of positioning devices, wherein theta is each degree of freedom of the boom structure and represents a rotation angle of the components around a hinge point, R (X, theta) represents a pose transformation matrix in a fixed coordinate system after each component in the boom structure rotates around an X-axis of a component coordinate system by an angle theta, R (Y, theta) represents a pose transformation matrix in the fixed coordinate system after each component in the boom structure rotates around a Y-axis of the component coordinate system by an angle theta, and R (Z, theta) represents a pose transformation matrix in the fixed coordinate system after each component in the boom structure rotates around a Z-axis of the component coordinate system by an angle theta;
when the component rotates twice around two coordinate axes, the total position and posture transformation matrix is a result of multiplying two corresponding coordinate axis position and posture transformation matrices; in the boom structure of the drill jumbo, the reference coordinate axis of the second rotation is the corresponding coordinate axis in the component coordinate system obtained after the first rotation; the multiplication sequence of the two corresponding coordinate axis pose transformation matrixes in the total pose transformation matrix is the same as the rotation sequence, namely the two corresponding coordinate axis pose transformation matrixes are multiplied right;
calculating by using the obtained pose transformation matrix to obtain the pose description of the part in the fixed coordinate system after the part rotates;
wherein the rock drill (10) is subjected to a rock recoil load
Figure FDA0003121951710000025
Rotating rock recoil load obtained after coordinate rotation
Figure FDA0003121951710000026
Comprises the following steps:
Figure FDA0003121951710000031
5. a method for calculating the extreme conditions of a telescopic arm of a rock-drilling jumbo according to claim 4,
the process of obtaining the calculation model of the top end load of the telescopic boom comprises the following steps:
calculating the position coordinates of the gravity center of the rotary rear rotating arm (3), the rotary seat (4), the connecting seat (5), the rotary arm (6), the rotary seat (7), the pushing beam bracket (8), the pushing beam (9) and the rock drill (10), the position coordinates of the node B, the node C, the node D, the node E, the node F, the node G, the node H and the node I and the rock recoil force load by using the obtained pose transformation matrix
Figure FDA0003121951710000032
And then simplifying the load of the gravity and the rock recoil force borne by each part to a top end point A of the telescopic arm according to a transfer relation by applying a translation and simplification theorem of a space force system to obtain a top end load calculation model of the telescopic arm:
Figure FDA0003121951710000033
the device comprises a rotary arm (3), a rotary seat (4), a connecting seat (5), a rotary arm (6), a rotary seat (7), a propelling beam bracket (8), a propelling beam (9) and a rock drill (10), wherein i is 3,4 and … 10, which correspond to components in sequence;
wherein A is the assembly point of flexible arm (2) and swinging boom (3), B is the pin joint of swinging boom (3) and roating seat (4), C is the pin joint of roating seat (4) and connecting seat (5), D is connecting seat (5) and gyration arm (6) assembly point, E is the center of rotation of gyration seat (7) around gyration arm (6), F is the pin joint of gyration seat (7) and propulsion beam bracket (8), G is when ZtWhen the value is 0, F is a point located right above the bottom surface of the propulsion beam bracket (8), and H is a value when Z iszWhen the distance between the G and the rock drill is 0, a point which is right above the G and is positioned in the center of a drill bit of the rock drill (10), I is a point which is contacted with the rock of the drill bit of the rock drill (10), and O is a hinged point of a telescopic arm support (1) and a telescopic arm (2);
in the formula (VI), the corresponding nodes are connected to formThe vector of (a) is the rotated coordinates,
Figure FDA00031219517100000320
is the center of gravity of component i, X is the origin of the component coordinate system of component i,
Figure FDA0003121951710000034
is the resultant force borne by the top end of the telescopic arm,
Figure FDA0003121951710000035
is the gravitational load of the component after it has rotated,
Figure FDA0003121951710000036
is a couple borne by the top end of the telescopic arm;
wherein
Figure FDA0003121951710000037
In the formula
Figure FDA0003121951710000038
Is a resultant force
Figure FDA0003121951710000039
The X-axis component of (a) and (b),
Figure FDA00031219517100000310
is a resultant force
Figure FDA00031219517100000311
The Y-axis component of (a) is,
Figure FDA00031219517100000312
is a resultant force
Figure FDA00031219517100000313
A Z-axis component of (A);
Figure FDA00031219517100000314
is a coupling couple
Figure FDA00031219517100000315
The X-axis component of (a) and (b),
Figure FDA00031219517100000316
is a coupling couple
Figure FDA00031219517100000317
The Y-axis component of (a) is,
Figure FDA00031219517100000318
is a coupling couple
Figure FDA00031219517100000319
Z-axis component of (a).
6. A method for calculating the extreme conditions of a telescopic arm of a rock-drilling jumbo according to claim 5,
discretizing the values of the degrees of freedom according to the variation range of the degrees of freedom, wherein the granularity selected by the degrees of freedom in the discretization and the number of the variables after the discretization are shown in the following table 2:
TABLE 2
Figure FDA0003121951710000041
In step four, the parameters in the novel biophysical optimization algorithm include: number of habitats NH, maximum migration rate I0Maximum migration rate E, maximum mutation rate mmaxThe number keep of the elite individuals, the iteration number maxgen and the target load function F are reserved, and the selection of the target load function F comprises
Figure FDA0003121951710000042
And
Figure FDA0003121951710000043
the die of (1).
7. A method for calculating the extreme conditions of a telescopic arm of a rock-drilling jumbo according to claim 6,
the process of obtaining the habitat with the maximum load borne by the top end of the telescopic arm by utilizing the novel biophysics optimization algorithm for optimization comprises the following steps:
step five, first: calculation of habitat H by using telescopic boom top end load calculation modelkThe target load function F corresponding to the combination of the respective degree of freedom valuesrThe calculated result of (A) is used as the suitability index HSI of the habitatk；
Step five two: sorting all habitats from large to small according to the suitability index;
step five and step three: giving habitat H according to habitat sequencing resultskSpecies number of (2) SkAssigning;
step five and four: according to the improved mobility model and the number S of the inhabitation specieskCalculating habitat HkMobility of (2) < lambda >kAnd migration rate mukAnd calculating the habitat H according to a variation rate calculation formulakRate of variation m of (A)k；
Step five: carrying out migration operation on the habitat by using a migration operator;
step five and step six: carrying out mutation operation on the habitat after the migration operation by using a mutation operator;
step five and seven: performing elite retention operation on the habitat after the mutation operation;
step five and eight:
judging whether the iteration times reach the iteration times maxgen or not, if so, calculating the suitability indexes of all the habitats after performing elite reservation operation, sequencing all the habitats from large to small according to the suitability indexes, and taking the combination of the freedom values of the highest-ranked habitats as an optimization result to obtain the limit working condition of the telescopic arm of the drill jumbo; otherwise, the procedure returns to step five one.
8. A method for calculating the extreme conditions of a telescopic arm of a rock-drilling jumbo according to claim 7,
in the fifth step, the habitat H is given according to the habitat sequencing resultkSpecies number of (2) SkWhen the value is assigned, the habitat with the highest load at the top end of the telescopic arm has the largest number of objects, and the habitat with the lowest load at the top end of the telescopic arm has the smallest number of objects;
setting the maximum species number S of the habitatmaxEqual to the number of habitats NH; sequenced habitat HkSpecies number of (2) SkThe calculation method comprises the following steps:
Sk＝Smax-k +1, k ═ 1,2, …, NH. (seven)
9. A method of calculating the extreme conditions of a telescopic arm of a rock-drilling rig according to claim 8,
in the fifth and the fourth step, the habitat HkRate of variation m of (A)kThe calculation method comprises the following steps:
Figure FDA0003121951710000051
Figure FDA0003121951710000052
wherein S is the number of the inhabitant species, PsThe probability of S for the habitat to hold a population of species,
Figure FDA0003121951710000053
for habitat HkThe number of accommodated matters is SkThe probability of (d); pmaxIs PsIs measured.
10. A method for calculating the extreme conditions of a telescopic arm of a rock-drilling jumbo according to claim 9,
in the fifth step, the process of carrying out the migration operation on the habitat by utilizing the migration operator comprises the following steps:
step five, step one: setting k to 1, i to 1;
step five, step two: generating a random variable rand e [0,1 ∈ ]]For the kth habitat HkThe ith survival suitability index variable SIViIf rand is less than or equal to lambdakIf not, turning to the fifth step;
step five and step three: generating a random variable rand2 ∈ [0,1 ]]Selecting to satisfy muc-1<rand2≤μcHabitat Hc；
Step five, step five and step four: by habitat HcSIV in (1)iValue instead of habitat HkSIV in (1)iValue, i.e. Hk(SIVi)←Hc(SIVi)；
Step five and step five: judging whether the i is the survival suitability index variable number of 8, if so, completing the habitat migration operation, and turning to the fifth step and the sixth step, otherwise, turning to the fifth step and the second step, wherein the i is i + 1;
step five, step six: judging whether k is the number NH of the habitats, if so, finishing the migration operation of all the habitats, and if not, turning to the fifth step and the sixth step, wherein k is k +1 and i is 1;
in the fifth step, the process of carrying out mutation operation on the habitat after the migration operation by using a mutation operator comprises the following steps:
step five, step six: setting k to NH/2, i to 1;
step five, step six and step two: generating a random variable rand3 ∈ [0,1 ]]For the kth habitat HkThe ith survival suitability index variable SIViIf rand3 is not more than mkIf not, turning to the fifth step, the sixth step and the fourth step;
step five, step six and step three: randomly generating a SIVi'∈CiSubstitute for HkSIV in (1)iValue, i.e. Hk(SIVi)←SIVi'，CiThe value range of the ith survival suitability index variable in the table 1 is shown;
step five, step six and step four: judging whether the i is survival suitability index variable number 8, if so, completing habitat mutation operation, and turning to the fifth step, the sixth step, and otherwise, turning to the fifth step, the sixth step and the fifth step;
step five, step six and step five: judging whether k is the number NH of the habitats, if so, finishing the mutation operation of all the habitats, and if not, turning to the step five, six and two, wherein k is k +1 and i is 1;
in the fifth and seventh steps, when the elite reservation operation is carried out on the habitat, the keep habitats with highest HSI rank in the habitat suitability index HSI in the previous generation are used for replacing the keep habitats with the lowest HSI rank in the current generation, namely HNH-keep+1:NH←H'1:keep。
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