CN113779786B - Modelica-based hydraulic excavator energy transfer accurate model construction method - Google Patents
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Abstract
The invention discloses a hydraulic excavator energy transfer accurate model construction method based on Modelica, which comprises the following steps: firstly, decomposing an excavator energy transfer system to obtain a system model, a subsystem model, a component model and an element model; then, constructing an element model and packaging the element model into a component model library, wherein the element model library and the component model library form a subsystem model; establishing an energy transfer system model of the hydraulic excavator for the subsystem model; and then, carrying out a bench test of the component, acquiring correction parameters of a key model based on the bench test, finally, carrying out in-service operation data acquisition and characteristic parameter extraction, fusing the bench test data and the in-service operation data, carrying out system-level model correction and verification by adopting an optimization algorithm, and constructing an energy transfer accurate model of the hydraulic excavator. The energy transfer model constructed by the invention has layering, reusability and expandability, and greatly improves modeling efficiency; and the energy transfer relation can be reflected more accurately and truly, and the hydraulic excavator energy consumption analysis and energy conservation and consumption reduction are facilitated.
Description
Technical Field
The invention relates to the technical field of hydraulic excavator system modeling, in particular to a hydraulic excavator energy transfer accurate model construction method based on Modelica.
Background
The excavator is engineering machinery for excavating, loading and leveling operations in a certain sequence, intermittently or continuously, is widely applied to the earth and stone construction of industrial and civil buildings, road construction, municipal engineering and the like, and plays an important role in engineering machinery, so that the energy transfer simulation analysis and optimization control of the hydraulic excavator are particularly important. Because the hydraulic excavator is a very complex engineering machine, and related knowledge in multiple fields such as machinery, hydraulic pressure, control and the like is involved, the existing modeling and simulation method generally adopts different software platforms to perform modeling and simulation for specific fields, for example, three-dimensional simulation software Pro/E or Solidworks is adopted to build an excavator mechanism entity model, and the model is imported into ADAMS to perform dynamics and kinematic simulation of the mechanism, so as to study the load characteristics of an excavator movable arm, an bucket rod, a bucket and the like; constructing hydraulic component models and system models such as a hydraulic pump, a hydraulic valve, a hydraulic actuating mechanism and the like by adopting AMESim simulation software, and researching system responses under different model parameters; and establishing a model for the physical connection of the excavator power system module, the hydraulic pump module and the load module by adopting MATLAB/Simulink, and realizing the simulation of the energy-saving control system by adopting an optimization control algorithm. In addition, in order to realize the combined simulation of the mechanical, hydraulic and control multi-field of the excavator, mutual interfaces required by simulation are required to be provided between models established based on the single-field simulation software, however, the following problems exist in the combined simulation mode based on the interfaces: firstly, decoupling between system fields or models is required to be realized in the joint simulation when modeling is performed, and the fidelity of the models can be influenced or even certain behavior characteristics of the systems are difficult to simulate for a multi-field coupling system; secondly, the joint simulation can obviously reduce the efficiency and precision of simulation solution, and even lead to solution failure.
Modelica is used as language specification of unified modeling in multiple fields of physical systems, has the characteristics of openness, object-oriented, equation-based, layering and expansibility, is suitable for modeling of large-scale complex heterogeneous physical systems, comprises subsystem models of machinery, electronics, hydraulic pressure, heat flow, control and process, supports an interface representation mode of a power bonding diagram based on a flow variable and potential variable interface, and is greatly beneficial to modeling of an excavator energy transfer system.
The accuracy of the model is the premise and the foundation for energy conservation and consumption reduction by effectively analyzing the energy of the hydraulic excavator. The accurate model comprises the accuracy and precision of the model, wherein the accuracy means that the model has dense output values and low dispersion; the accuracy means that the model output has small error with the output value of the component under the actual working condition. In the traditional simulation analysis, due to the lack of support of in-service operation data, model parameters are obtained by fitting test data of a part rack, so that the accuracy of the model can be reflected only, and the model deviates from an actual working condition, and the accuracy is low; because of the randomness error of the in-service operation data, the model parameters obtained through statistical analysis have high accuracy but low accuracy.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a modeling method for accurately modeling energy transfer of a hydraulic excavator based on Modelica.
The invention adopts the following technical scheme:
the Modelica-based hydraulic excavator energy transfer accurate model construction method is characterized by comprising the following steps of:
1) Decomposing the excavator energy transfer system to obtain a model library framework, wherein the model library framework sequentially comprises a system model, a subsystem model, a component model and an element model from top to bottom.
2) And carrying out mathematical modeling on elements involved in energy transmission of the hydraulic excavator by using Modelica language, packaging to obtain an element model library, and packaging the element model library into a component model library with specific functions through integration and expansion, wherein the element model library and the component model library form a subsystem model.
3) The subsystem model transmits data through the coupling interface, and an energy transmission system model of the hydraulic excavator is built through dragging and connecting modes for the obtained subsystem model.
4) Component level correction and verification. And determining key model parameters according to the established hydraulic excavator energy transmission element/component model, carrying out a component bench test, acquiring correction parameters of the key model based on the bench test, and realizing correction and verification of the energy transmission component level model.
5) System level correction and verification. According to the established hydraulic excavator energy transfer subsystem model, subsystem model parameters are determined, in-service operation data acquisition and characteristic parameter extraction of the excavator under multiple working conditions and variable load are carried out, model parameters corrected by bench test data and characteristic parameters extracted by in-service operation data are fused, and a system level model correction and verification are carried out by adopting an optimization algorithm, so that an accurate hydraulic excavator energy transfer model is constructed.
Preferably, step 1) is specifically as follows:
1.1 The subsystem model includes a power system model, a main valve system model, an actuator system model, a hydraulic accessory system model, a mechanical system model, and a control system model.
1.2 The component models include an engine model, a main pump model, various hydraulic valve models, a hydraulic cylinder model, a hydraulic motor model, a hydraulic pipe model, a filter model, an accumulator model, a mechanical mechanism model, a control handle model and a PID control model.
Preferably, step 2) is specifically as follows:
2.1 The component model refers to mathematical modeling of key components involved in energy transmission of the hydraulic excavator, and the construction method comprises the following steps: the element model is constructed by a mathematical equation based on model principles and basic theorem, the element model is constructed based on physical data, equipment data or the element model is constructed based on an empirical formula.
2.2 The component model is packaged into a component model through Modelica language programming according to the component physical principle, and the component model can transmit data and can complete specific functions according to the real parts of the hydraulic excavator.
Preferably, step 3) is specifically as follows: the coupling interface comprises a mechanical interface, a hydraulic interface and a control signal interface, and because Modelica language has the non-causal modeling characteristic, the flow direction of data in the interface is bidirectional, so that the upstream model and the downstream model are mutually influenced and matched.
Preferably, step 4) is specifically as follows: the key model parameters refer to main characteristic parameters of components capable of reflecting energy transmission of the excavator, including geometric parameters, functional parameters and performance parameters, and are obtained by bench test of single-machine components.
Preferably, step 5) is specifically as follows:
the multi-working condition variable load is that when working materials with different compaction degrees and particle sizes are shoveled, the working load of the excavator is changed greatly, and four typical working conditions of rock digging, soil digging, ditching and flat slope are selected in the actual process to collect and analyze in-service operation data.
The in-service operation data refer to real-time acquisition data of the excavator in actual operation and operation processes, and can more completely and truly reflect the energy transfer condition of the excavator in operation under multiple variable loads.
The system-level model parameter correction refers to parameter fusion of model parameters corrected by the bench test data and characteristic parameters extracted from in-service operation data by adopting a multi-target genetic algorithm NSGA-II, and comprises the following specific steps:
5.1 Determining key model parameters to be corrected.
5.2 In-service operation data acquisition). Corresponding sensors are installed aiming at key model parameters to be corrected, in-service operation data of four typical working conditions of rock digging, soil digging, ditching and flat slope are collected, and characteristic parameters are extracted.
5.3 Determining a model parameter correction objective function. Constructing a weighted driving power loss rate function taking parameters of a model to be corrected as characteristic parameters and simultaneously considering four typical working conditions as a dynamic objective function f E (X 1, X 2 ,…,X n ) Constructing an excavator fuel consumption taking parameters of a model to be corrected as characteristic parameters and simultaneously considering four typical operation conditions as an economic objective function f Q (X 1, X 2 ,…,X n ) Wherein X is 1, X 2 ,…,X n Is the model parameter to be corrected.
5.4 Model parameter fusion and correction. Taking the characteristic parameters of the model to be corrected obtained by the bench test as initial parameters, and taking a dynamic objective function f E (X 1, X 2 ,…,X n ) And an economic objective function f Q (X 1, X 2 ,…,X n ) And (3) as a model correction objective function, adopting a multi-objective genetic algorithm NSGA-II to carry out optimization solution to obtain a Pareto model parameter optimal solution, and using the obtained optimal parameter to correct the system model established in the step (3), thereby constructing and obtaining the hydraulic excavator energy transfer accurate model.
As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages:
according to the modeling method for the hydraulic excavator energy transfer accurate model based on Modelica, disclosed by the invention, the modeling mode of modeling Modelica language in multiple fields is adopted, so that the constructed energy transfer system has layering, reusability and expandability, the modeling efficiency is greatly improved, model parameter correction is carried out by fusing bench test data and in-service operation data, the constructed energy transfer model can reflect the energy transfer relation more accurately and truly, and the hydraulic excavator energy consumption analysis, energy conservation and consumption reduction are facilitated.
Drawings
Fig. 1 is an exploded block diagram of the hydraulic excavator energy transfer system of the present invention.
Fig. 2 is a flow chart of model-based hydraulic excavator energy transfer system model construction in accordance with the present invention.
Fig. 3 is a flow chart of the model-based hydraulic excavator energy transfer accuracy model correction of the present invention.
Detailed Description
The invention is further described below by means of specific embodiments.
According to the modeling method for the hydraulic excavator energy transfer accurate model based on Modelica, disclosed by the invention, the modeling mode of modeling Modelica language in multiple fields is adopted, so that the constructed energy transfer system has layering, reusability and expandability, the modeling efficiency is greatly improved, model parameter correction is carried out by fusing bench test data and in-service operation data, the constructed energy transfer model can reflect the energy transfer relation more accurately and truly, and the hydraulic excavator energy consumption analysis, energy conservation and consumption reduction are facilitated.
The invention provides a Modelica-based hydraulic excavator energy transfer accurate model construction method, which comprises the following steps:
1) The energy transfer of the excavator is systematically decomposed to obtain a model library architecture, and the model library architecture sequentially comprises a system model, a subsystem model, a component model and an element model from top to bottom as shown in fig. 1.
Specifically, the subsystem model includes a power system model, a main valve system model, an actuator system model, a hydraulic auxiliary system model, a mechanical system model, and a control system model.
Specifically, the component models include an engine model, a main pump model, various hydraulic valve models, a hydraulic cylinder model, a hydraulic motor model, a hydraulic pipe model, a filter model, an accumulator model, a mechanical mechanism model, a control handle model and a PID control model.
2) As shown in fig. 2, the components involved in energy transmission of the hydraulic excavator are mathematically modeled and packaged by using a model language to obtain a component model library, the component model library is integrated and expanded to be packaged into a component model library with specific functions, and the component model library form a subsystem model library.
Specifically, the element model refers to mathematical modeling of key elements involved in energy transmission of the hydraulic excavator, and the construction method comprises the following steps: the component model is constructed by a mathematical equation based on the model principle and the basic theorem, the component model is constructed based on physical data, equipment data, or the component model is constructed based on an empirical formula.
Specifically, the element model is packaged into a component model through Modelica language programming according to the component physical principle, the component model can transmit data, and a specific function can be completed according to the real parts of the hydraulic excavator.
3) The subsystem model transmits data through the coupling interface, and an energy transmission system model of the hydraulic excavator is built through dragging and connecting modes for the obtained subsystem model.
Specifically, the coupling interface comprises a mechanical interface, a hydraulic interface and a control signal interface, and because Modelica language has the non-causal modeling characteristic, the flow direction of data in the interface is bidirectional, so that the upstream model and the downstream model are mutually influenced and matched. Model library interface information, as shown in table 1.
Table 1 hydraulic excavator energy transfer model library
4) Component level correction and verification. As shown in fig. 3, according to the established hydraulic excavator energy transfer element/component model, key model parameters are determined, a component bench test is performed, correction parameters of the key model are obtained based on the bench test, and correction and verification of the energy transfer component level model are achieved.
Specifically, the key model parameters refer to main feature parameters of components capable of reflecting energy transmission of the excavator, and as shown in table 1, the key model parameters comprise geometric parameters, functional parameters and performance parameters, and are obtained by bench test of single-machine components.
5) System level correction and verification. As shown in fig. 3, according to the established energy transmission subsystem model of the hydraulic excavator, subsystem model parameters are determined, in-service operation data acquisition and characteristic parameter extraction of the excavator under multiple working conditions and variable loads are carried out, model parameters corrected by bench test data and characteristic parameters extracted by in-service operation data are fused, and a system level model correction and verification are carried out by adopting an optimization algorithm, so that an accurate energy transmission model of the hydraulic excavator is constructed.
Specifically, the multi-working condition variable load refers to that when working materials with different compaction degrees and particle sizes are shoveled, the excavator is large in working load change, and four typical working conditions of rock excavation, soil excavation, ditching and flat slope are selected in the actual process to collect and analyze in-service operation data.
Specifically, the in-service operation data refers to real-time data acquisition of the excavator in the actual operation and operation process, and can more completely and truly reflect the energy transmission condition of the excavator in operation under multiple variable loads.
Specifically, the system-level model parameter correction refers to parameter fusion of model parameters corrected by the bench test data and characteristic parameters extracted from in-service operation data by adopting a multi-objective genetic algorithm NSGA-II, and specifically comprises the following steps:
5.1 Determining key model parameters to be corrected. Some of the main characteristic parameters in table 1 are selected as key component model parameters to be corrected, such as outlet pressure and flow characteristic parameters of the main pump.
5.2 In-service operation data acquisition). Corresponding sensors are installed aiming at key model parameters to be corrected, in-service operation data of four typical working conditions of rock digging, soil digging, ditching and flat slope are collected, and characteristic parameters are extracted.
5.3 Determining a model parameter correction objective function. Constructing a weighted driving power loss rate function taking parameters of a model to be corrected as characteristic parameters and simultaneously considering four typical working conditions as a dynamic objective function f E (X 1, X 2 ,…,X n ) Constructing an excavator fuel consumption taking parameters of a model to be corrected as characteristic parameters and simultaneously considering four typical operation conditions as an economic objective function f Q (X 1, X 2 ,…,X n ) Wherein X is 1, X 2 ,…,X n Is the model parameter to be corrected.
5.4 Mold (die)And (5) type parameter fusion and correction. Taking the characteristic parameters of the model to be corrected obtained by the bench test as initial parameters, and taking a dynamic objective function f E (X 1, X 2 ,…,X n ) And an economic objective function f Q (X 1, X 2 ,…,X n ) And (3) as a model correction objective function, adopting a multi-objective genetic algorithm NSGA-II to carry out optimization solution to obtain a Pareto model parameter optimal solution, and using the obtained optimal parameter to correct the system model established in the step (3), thereby constructing and obtaining the hydraulic excavator energy transfer accurate model.
The foregoing is merely illustrative of specific embodiments of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modification of the present invention by using the design concept shall fall within the scope of the present invention.
Claims (8)
1. The hydraulic excavator energy transfer accurate model construction method based on Modelica is characterized by comprising the following steps of:
decomposing an excavator energy transfer system to obtain a model framework, wherein the model framework sequentially comprises a system model, a subsystem model, a component model and an element model from top to bottom;
carrying out mathematical modeling on elements involved in energy transmission of the hydraulic excavator by using Modelica language, and packaging to obtain an element model, wherein the element model is integrated and expanded to be packaged into a part model with a specific function, and the element model and the part model form a subsystem model;
the subsystem model transmits data through a coupling interface, and an energy transmission system model of the hydraulic excavator is established through a dragging and connecting mode for the obtained subsystem model;
correcting and verifying a part model; according to the established hydraulic excavator energy transfer element model and the component model, determining component model parameters and carrying out a component bench test, acquiring correction parameters of the component model based on the bench test, and realizing correction and verification of an energy transfer component level model;
subsystem model and system model correction and verification; according to the established hydraulic excavator energy transfer subsystem model, subsystem model parameters are determined, in-service operation data acquisition and characteristic parameter extraction of the excavator under multiple working conditions and variable load are carried out, correction parameters, in-service operation data and characteristic parameters of a component model obtained based on bench tests are fused, subsystem model and system model correction and verification are carried out by adopting an optimization algorithm, and therefore an accurate hydraulic excavator energy transfer model is constructed;
the subsystem model and system model correction and verification specifically comprises the following steps:
determining subsystem model and system model parameters to be corrected;
acquiring in-service operation data; corresponding sensors are installed for parameters of a subsystem model to be corrected and a system model, in-service operation data of four typical working conditions of rock excavation, soil excavation, ditching and flat slope are collected, and characteristic parameters are extracted;
determining a subsystem model and a system model parameter correction objective function; constructing a weighted driving power loss rate function taking subsystem model to be corrected and system model parameters as characteristic parameters and simultaneously considering four typical working conditions as a dynamic objective function f E (X 1, X 2 ,…,X n ) Constructing an excavator fuel consumption amount taking subsystem model to be corrected and system model parameters as characteristic parameters and simultaneously considering four typical operation conditions as an economic objective function f Q (X 1, X 2 ,…,X n ) Wherein X is 1, X 2 ,…,X n Parameters of subsystem models and system models to be corrected;
fusing and correcting subsystem model and system model parameters; taking a subsystem model to be corrected and a system model characteristic parameter obtained by a bench test as initial parameters, and taking a dynamic objective function f as initial parameters E (X 1, X 2 ,…,X n ) And an economic objective function f Q (X 1, X 2 ,…,X n ) As a model correction objective function, adopting a multi-objective genetic algorithm NSGA-II to carry out optimization solution to obtain a Pareto model parameter optimal solution, and using the obtained optimal parameter for correcting the established hydraulic excavationAnd (3) constructing an energy transfer system model, so as to obtain an energy transfer accurate model of the hydraulic excavator.
2. The model-based hydraulic excavator energy transfer precision model construction method of claim 1 wherein the subsystem models comprise a power system model, a main valve system model, an actuator system model, a hydraulic auxiliary system model, a mechanical system model and a control system model; the component models comprise an engine model, a main pump model, various hydraulic valve models, a hydraulic cylinder model, a hydraulic motor model, a hydraulic pipe model, a filter model, an energy accumulator model, a mechanical mechanism model, a control handle model and a PID control model.
3. The model-based hydraulic excavator energy transfer accurate model construction method of claim 1 wherein the component model is a mathematical model of the components involved in hydraulic excavator energy transfer.
4. The model-based hydraulic excavator energy transfer precision model building method of claim 1 wherein the coupling interface comprises a mechanical interface, a hydraulic interface and a control signal interface, the flow of data in the coupling interface being bi-directional.
5. The model-based hydraulic excavator energy transfer precision model construction method of claim 1 wherein the component model parameters comprise geometric parameters, functional parameters and performance parameters.
6. The modeling-based hydraulic excavator energy transfer accurate model construction method according to claim 1, wherein the multi-working condition variable load is specifically: when working materials with different compaction degrees and different particle sizes are shoveled, the load is increased.
7. The model-based hydraulic excavator energy transfer precision model construction method of claim 1, wherein the in-service operation data is specifically: real-time data generated by the excavator during actual operation and work.
8. The hydraulic excavator energy transfer accurate model construction method based on Modelica according to claim 1, wherein the fusion of correction parameters obtained based on bench test, in-service operation data and characteristic parameters is specifically as follows:
and adopting a multi-target genetic algorithm NSGA-II to fuse the correction parameters of the part model obtained by the bench test data with the in-service operation data and the characteristic parameters.
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