CN114676577B - Aerostatic main shaft simulation method and system based on digital twin model of multiple physical fields - Google Patents
Aerostatic main shaft simulation method and system based on digital twin model of multiple physical fields Download PDFInfo
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Abstract
The invention discloses an aerostatic main shaft simulation method and system based on a multi-physical-field digital twin model, which comprises the steps of firstly, establishing an aerostatic main shaft structure model based on entity characteristic parameters and working condition parameters of the aerostatic main shaft; obtaining a thermosetting coupling digital twin model according to the temperature field distribution of the main shaft; obtaining an electromagnetic solid coupling digital twin model according to the electromagnetic field distribution of the motor; obtaining a fluid-solid coupling digital twin model according to the distribution of the air bearing fluid field; then carrying out dynamic interactive coupling on the thermosetting coupling model, the electromagnetic solid coupling model and the fluid solid coupling model, and establishing an aerostatic main shaft digital twin model under the coupling action of an electric-magnetic-gas-solid-thermal multi-physical field; and finally, carrying out interactive fusion on data and information between the main shaft digital twin virtual model and the main shaft physical entity, and correcting and verifying the air static pressure main shaft multi-physical field digital twin model, so as to obtain the air static pressure main shaft multi-physical field digital twin model capable of being synchronized in real time.
Description
Technical Field
The invention belongs to the technical field of mechanical diagnosis intellectualization and digitization, and particularly relates to an aerostatic main shaft simulation method and system based on a multi-physical-field digital twin model.
Background
The aerostatic spindle has the advantages of small friction, high rotating speed, high rotation precision, no pollution, long service life and the like, and is widely applied to the field of ultra-precise machining. However, the aerostatic spindle is a complex electro-magnetic-gas-solid-thermal multi-physical field coupling system, and the mutual coupling action between the spindle structure and the electromagnetic field, the fluid field and the temperature field leads to the formation of a multi-dimensional complex local feedback loop in the system, so that the dynamic characteristic of the spindle system has strong nonlinearity and cross coupling characteristics, which becomes a bottleneck for restricting the high-speed high-efficiency ultra-precision machining of the aerostatic spindle. Therefore, how to build a high-fidelity aerostatic main shaft model, a multi-field coupling mechanism in the main shaft is revealed essentially, and the accuracy of the aerostatic main shaft multi-physical-field digital twin model is improved, so that the problem to be solved is urgent.
Most of the current aerostatic spindle dynamics modeling methods mainly aim at a single physical field such as a temperature field, an electromagnetic field or a fluid field, and an aerostatic spindle dynamics model is built. The 5 degree of freedom air bearing-rotor coupling dynamics model was established at the university of Zhejiang Industrial science Chen Guoda, and the influence of unbalanced electromagnetic force and air film pressure distribution on the stability of the spindle rotor was analyzed (Chen G, chen Y, lu Q, et al Multi-Physics Fields Based Nonlinear Dynamic Behavior Analysis of Air Bearing Motorized Spindle [ J ]. Micromachines,2020,11 (8): 723.). The study neglects the effect of the spindle temperature field on the aerostatic spindle dynamics. Digital twinning is an emerging technology with high-fidelity characteristics, a virtual model equivalent to a physical entity is created in an information space based on a digital form, and the high-fidelity simulation of the physical entity behavior of the virtual model is realized through fusion and interaction of data and information. The university of Shanghai electric spindle thermal characteristic analysis method based on digital twinning is proposed by Xu Rongfei and Fan Kaiguo, and the thermal boundary condition of the temperature of a key temperature measuring point of a spindle is corrected, so that the digital twinning of the thermal characteristic of the physical space and the virtual space is realized (Xu Rongfei, fan Kaiguo. Digital twinning electric spindle thermal characteristic research [ J ]. Chinese mechanical engineering, 2022:1-9).
Through literature investigation, most of researches at present mainly analyze a single physical field of an aerostatic main shaft dynamics model, and because the aerostatic main shaft multi-field coupling model is high in complexity, large in calculation amount and difficult in experimental verification, only a coupling effect between two physical fields is considered in individual researches, and the multi-field coupling mechanism inside the aerostatic main shaft is not clear. Therefore, research on the aerostatic main shaft multi-physical field digital twin model is urgently needed to be carried out, a multi-field coupling mechanism inside the main shaft is revealed essentially, and accuracy of the aerostatic main shaft multi-physical field digital twin model is improved.
Disclosure of Invention
In order to solve the problems in the prior art, the invention discloses an aerostatic main shaft simulation method based on a multi-physical-field digital twin model, which realizes dynamic interactive coupling of an internal temperature field, an electromagnetic field, a fluid field and a main shaft structure of the aerostatic main shaft, thereby obtaining a high-precision simulation result of the aerostatic main shaft.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: an aerostatic main shaft simulation method based on a multi-physical field digital twin model comprises the following steps:
s1, acquiring characteristic parameters and initial working condition parameters of an aerostatic main shaft;
s2, based on the S1 aerostatic main shaft physical characteristic parameters and the working condition parameters, an aerostatic main shaft structure model is established, and a thermal load of the aerostatic main shaft is applied to a corresponding main shaft structure to obtain a thermosetting coupling digital twin model of the aerostatic main shaft;
s3, based on the S2 aerostatic main shaft structural model, electromagnetic force load is acted on the supporting position of the aerostatic main shaft rotor motor to obtain an electromagnetic solid coupling digital twin model of the aerostatic main shaft;
s4, calculating the bearing capacity and the bearing moment of the air bearing under the coupling action of the temperature field and the electromagnetic field based on the S2 and the S3, and applying the bearing capacity and the bearing moment of the air bearing on a rotor-bearing joint surface to obtain a fluid-solid coupling digital twin model of the air hydrostatic spindle;
s5, based on a thermosetting coupling digital twin model of the air static pressure main shaft in S2, an electromagnetic solid coupling digital twin model of the air static pressure main shaft in S3 and a fluid solid coupling digital twin model of the air static pressure main shaft in S4, dynamic interaction among the thermosetting coupling model, the electromagnetic solid coupling model and the fluid solid coupling model is realized, and an electric-magnetic-air-solid-thermal multi-physical field coupling multi-physical field digital twin model of the air static pressure main shaft is established;
s6, carrying out interactive fusion on data and information between the air static pressure main shaft multi-physical-field digital twin model and the main shaft physical entity in S5, and correcting and verifying the air static pressure main shaft multi-physical-field digital twin model;
s7, simulating the influence rule of internal multi-field interaction coupling on the dynamic characteristics and vibration response of the aerostatic spindle in the operation process based on the corrected aerostatic spindle multi-physical-field digital twin model.
The characteristic parameters in S1 comprise geometric parameters of a radial/thrust aerostatic bearing, a main shaft rotor, a motor, a shell and a cooling device and the characteristics of the materials used; the geometric structure parameters are obtained from a design drawing file of the aerostatic main shaft, and the initial working condition parameters refer to the working rotation speed, the air supply pressure and the load of the physical entity of the aerostatic main shaft.
The main shaft heat load in S2 comprises motor heat generation, air bearing gas friction heat generation and heat dissipation;
the heat generation of the motor comprises heat generation of a stator core and a winding, and the calculation formulas are respectively expressed as follows:
P Cu ＝T 2 Fa/K m 2
wherein P is Fe For generating heat of stator core, P Cu For generating heat of windings, K a Is a correction coefficient, P is the iron loss value of the unit weight of the silicon steel sheet, B is the air gap flux density, f is the alternating frequency, T is the motor torque, fa= 1.405 is the change coefficient of winding resistance with temperature, K m Is the motor constant;
the air bearing generates heat by gas friction, and the air bearing comprises air static pressure radial bearings and thrust bearings:
in which Q J Generate heat for radial bearing gas friction, Q T The friction heat generation amount of the thrust bearing gas, eta is the motion viscosity coefficient of the gas, omega is the rotation angular velocity, L is the length of the radial bearing, D is the diameter of the radial bearing, h is the gas film thickness of the bearing, r 1 Is the outer diameter of the thrust bearing, r 1 Is a thrust bearingThe inner diameter of the bearing;
the heat dissipation is to calculate the heat transfer and loss in the air static pressure main shaft by determining the heat transfer mode and the heat transfer coefficient among the air bearing, the air film, the main shaft rotor, the motor rotor, the cooling water, the motor stator, the motor cooling sleeve and the main shaft shell core component.
The electromagnetic load in S3 refers to a radial electromagnetic force generated by an electromagnetic field in an air gap between a motor stator and a rotor, wherein the radial electromagnetic force is calculated according to maxwell' S electromagnetic field law, and an instantaneous radial electromagnetic force f (θ, t) in a unit area between the motor rotor and the stator air gap is:
where θ is the circumferential angle, t is the time, b (θ, t) is the instantaneous magnetic flux density, μ 0 ＝4π×10 -7 H/m is the vacuum permeability.
S4, solving a gas lubrication Reynolds equation by adopting a finite difference method, integrating the gas film pressure obtained by solving along the surface of the air bearing, and calculating to obtain the bearing capacity and the bearing moment of the air bearing; the air bearing gas lubrication reynolds equation is:
where p is the film pressure, h is the film thickness, η is the kinematic viscosity coefficient of the gas, R is the radius of the journal, ω is the angular velocity of the journal, and θ is the circumferential angle of the bearing.
S5, realizing the dynamic interaction among the thermosetting coupling model, the electromagnetic solid coupling model and the fluid solid coupling model means at the time t i When the temperature field and the electromagnetic field are influenced by the comprehensive effect, the spindle rotor flexibly deforms to cause the change of the air bearing air film thickness distribution, and the Reynolds equation is solved to calculate the bearing capacity and bearing capacity of the air bearingThe moment, the bearing capacity and the bearing moment of the air bearing are then fed back into the aerostatic spindle dynamics model, and are applied to the corresponding bearing nodes of the air bearing rotor, and then the next time t is carried out i+1 And (5) carrying out iterative computation until the main shaft system reaches a stable state.
And S6, correcting and verifying the aerostatic main shaft multi-physical-field digital twin model, and comparing the parameters with a calculation result based on the aerostatic main shaft digital twin model by monitoring vibration, thermal deformation and natural frequency parameters of a main shaft rotor of the aerostatic main shaft in the actual running process, calculating the deviation of the parameters and the calculation result, and correcting the main shaft digital twin model according to the data deviation, so that the aerostatic main shaft multi-physical-field digital twin model capable of being synchronized in real time is obtained.
On the other hand, the invention provides an aerostatic main shaft simulation system based on a multi-physical-field digital twin model, wherein the parameter acquisition module, the thermosetting coupling digital twin model building module, the electromagnetic solid coupling digital twin model building module, the fluid solid coupling digital twin model building module, the coupling module, the correction module and the simulation module;
the parameter acquisition module is used for acquiring characteristic parameters and initial working condition parameters of the aerostatic main shaft;
the thermosetting coupling digital twin model building module is used for building an aerostatic main shaft structure model according to the entity characteristic parameters and the working condition parameters of the aerostatic main shaft, and applying the thermal load of the aerostatic main shaft to a corresponding main shaft structure to obtain a thermosetting coupling digital twin model of the aerostatic main shaft;
the electromagnetic solid coupling digital twin model construction module is used for exerting electromagnetic force load on the supporting position of the rotor motor of the aerostatic spindle according to the aerostatic spindle structure model to obtain an electromagnetic solid coupling digital twin model of the aerostatic spindle;
the fluid-solid coupling digital twin model construction module is used for calculating the bearing capacity and the bearing moment of the air bearing under the coupling action of the temperature field and the electromagnetic field based on the thermosetting coupling digital twin model and the magnetic-solid coupling digital twin model, and applying the bearing capacity and the bearing moment of the air bearing on the rotor-bearing joint surface to obtain a fluid-solid coupling digital twin model of the air hydrostatic spindle;
the coupling module is based on a thermosetting coupling digital twin model, an electromagnetic solid coupling digital twin model and a fluid solid coupling digital twin model of the aerostatic main shaft, so that dynamic interaction among the thermosetting coupling model, the electromagnetic solid coupling model and the fluid solid coupling model is realized, and an electric-magnetic-gas-solid-thermal multi-physical field digital twin model of the aerostatic main shaft under the coupling action of multiple physical fields is established;
the correction module is used for carrying out interactive fusion on data and information between the air static pressure main shaft multi-physical-field digital twin model and the main shaft physical entity, and correcting and verifying the air static pressure main shaft multi-physical-field digital twin model;
the simulation module simulates the influence rule of internal multi-field interaction coupling on the dynamic characteristics and vibration response of the aerostatic spindle in the operation process based on the corrected aerostatic spindle multi-physical field digital twin model.
The invention also provides a computer device, which comprises a processor and a memory, wherein the memory is used for storing a computer executable program, the processor reads the computer executable program from the memory and executes the computer executable program, and the processor can realize the aerostatic spindle simulation method based on the multi-physical-field digital twin model when executing the computer executable program.
Meanwhile, a computer readable storage medium is provided, and a computer program is stored in the computer readable storage medium, and when the computer program is executed by a processor, the aerostatic main shaft simulation method based on the multi-physical-field digital twin model can be realized.
Compared with the prior art, the invention has at least the following beneficial effects:
the aerostatic main shaft simulation method based on the multi-physical-field digital twin model provided by the invention not only can improve the accuracy of the aerostatic main shaft dynamic model under the coupling effect of the multi-physical-field, but also can promote the application of the digital twin technology in actual working conditions;
the invention establishes an aerostatic main shaft unified physical field model, realizes dynamic interaction among a main shaft thermosetting coupling model, an electromagnetic solid coupling model and a fluid solid coupling model, and reveals a coupling mechanism among a main shaft structure, a temperature field, an electromagnetic field and a fluid field, thereby obtaining more accurate simulation results;
and correcting and verifying the aerostatic main shaft multi-physical-field digital twin model by monitoring vibration, thermal deformation and natural frequency parameters of a main shaft rotor of the aerostatic main shaft in the actual running process, so that the aerostatic main shaft multi-physical-field digital twin model capable of being synchronized in real time is obtained. The accuracy of the digital twin model of the aerostatic main shaft is improved, and a good foundation is laid for tracking the actual running state of the aerostatic main shaft in real time.
Drawings
FIG. 1 is a schematic diagram of an aerostatic spindle multi-physical field digital twin model according to the present invention;
FIG. 2 is a schematic diagram showing information interaction fusion between an aerostatic spindle digital twin model and a physical entity;
FIG. 3 is a technical roadmap of an aerostatic main shaft simulation method based on a multi-physical-field digital twin model;
Detailed Description
The invention is described in detail below with reference to the accompanying drawings.
The existing aerostatic main shaft multi-physical field coupling dynamics modeling research has the following problems: most of the current studies are mainly directed to a single physical field such as a temperature field, an electromagnetic field or a fluid field to establish an aerostatic spindle dynamics model. Because the air static pressure main shaft multi-field coupling model has high complexity, large calculation amount and difficult experimental verification, only a coupling effect between two physical fields is considered in individual research, and the internal multi-field coupling mechanism of the air static pressure main shaft is not clear. Aiming at the problems, the invention develops the aerostatic main shaft multi-physical field digital twin model, fully considers the dynamic coupling action between the main shaft structure and the temperature field, electromagnetic field and fluid field, reveals the multi-field coupling mechanism inside the main shaft essentially, and realizes the high-fidelity aerostatic main shaft dynamic model, as shown in figure 1.
As shown in fig. 2 and 3, the aerostatic main shaft simulation method based on the digital twin model of multiple physical fields provided by the invention comprises the following steps:
s1, acquiring characteristic parameters and initial working condition parameters of an aerostatic main shaft (physical entity); the characteristic parameters comprise geometric structural parameters of a radial/thrust aerostatic bearing, a main shaft rotor, a motor, a shell and a cooling device and the characteristics of the materials used; the geometric structure parameters are obtained from a design drawing file of the aerostatic spindle. The initial working condition parameters refer to the working rotation speed, the air supply pressure and the load of the physical entity of the aerostatic main shaft.
S2, based on the S1 aerostatic main shaft physical characteristic parameters and the working condition parameters, an aerostatic main shaft structure model is established, and a thermal load of the main shaft is applied to a corresponding main shaft structure to obtain an aerostatic main shaft thermosetting coupling digital twin model. The spindle thermal load includes motor heat generation, air bearing gas friction heat generation, and heat dissipation. The heat generation of the motor mainly comprises stator core heat generation P Fe And winding heat generation P Cu The calculation formulas are respectively expressed as follows:
P Cu ＝T 2 Fa/K m 2
the air bearing gas friction heat generation comprises air static pressure radial bearing gas friction heat generation quantity Q J Heat generation quantity Q by gas friction with thrust bearing T ：
The heat dissipation is to calculate the heat transfer and loss in the air static pressure main shaft by determining the heat transfer mode and the heat transfer coefficient among the air bearing, the air film, the main shaft rotor, the motor rotor, the cooling water, the motor stator, the motor cooling sleeve and the main shaft shell core component.
And S3, based on the S2 aerostatic main shaft structural model, electromagnetic force load is acted on the corresponding position of the motor rotor to obtain an aerostatic main shaft electromagnetic solid coupling digital twin model. The electromagnetic load refers to radial electromagnetic force generated by an electromagnetic field in an air gap between a motor stator and a rotor. The radial electromagnetic force is calculated according to Maxwell's electromagnetic field law. The instantaneous radial electromagnetic force (f (θ, t)) per unit area in the motor rotor and stator air gap is:
s4, based on the S2 and the S3, calculating the bearing capacity and the bearing moment of the air bearing under the coupling action of the temperature field and the electromagnetic field, and applying the bearing capacity and the bearing moment of the air bearing on the rotor-bearing joint surface to obtain the air static pressure main axial flow solid coupling digital twin model. The bearing capacity and the bearing moment of the air bearing are obtained by solving a gas lubrication Reynolds equation by adopting a finite difference method, integrating the gas film pressure obtained by solving along the surface of the air bearing, and calculating the bearing capacity and the bearing moment of the air bearing. The air bearing gas lubrication reynolds equation is:
s5, based on the thermosetting coupling digital twin model of the air static pressure main shaft in S2, the electromagnetic solid coupling digital twin model of the air static pressure main shaft in S3 and the fluid solid coupling digital twin model of the air static pressure main shaft in S4, the dynamic interaction among the thermosetting coupling model, the electromagnetic solid coupling model and the fluid solid coupling model is realized, and the air static pressure main shaft digital twin model under the coupling action of electric-magnetic-air-solid-thermal multiple physical fields is established. The realization of the dynamic interaction among the thermosetting coupling model, the electromagnetic solid coupling model and the fluid solid coupling model means at the time t i When the main shaft rotor generates a magnetic field due to the influence of the combined action of the temperature field and the electromagnetic fieldThe air bearing air film thickness distribution is changed due to the flexible deformation to a certain degree, and the bearing capacity and the bearing moment of the air bearing are calculated by solving the Reynolds equation. The bearing capacity and the bearing moment of the air bearing are then fed back into the aerostatic spindle dynamics model, which is applied to the corresponding bearing node of the air bearing rotor, and then the next time t is carried out i+1 And (5) carrying out iterative computation until the main shaft system reaches a stable state.
S6, based on the air static pressure main shaft multi-physical field digital twin model in S5, carrying out interactive fusion on data and information between the main shaft digital twin virtual model and the main shaft physical entity, and correcting and verifying the air static pressure main shaft multi-physical field digital twin model. The multi-physical-field digital twin model of the aerostatic main shaft is corrected and verified, and vibration, thermal deformation and natural frequency parameters of a main shaft rotor of the aerostatic main shaft are monitored in the actual operation process. Comparing the parameters with a calculation result based on the aerostatic main shaft digital twin model, and calculating the deviation of the two parameters. And correcting the main shaft digital twin model according to the data deviation, so as to obtain the aerostatic main shaft multi-physical-field digital twin model capable of synchronizing in real time.
S7, simulating the influence rule of internal multi-field interaction coupling on the dynamic characteristics and vibration response of the aerostatic spindle in the operation process based on the corrected aerostatic spindle multi-physical-field digital twin model.
The invention also provides an aerostatic main shaft simulation system based on the multi-physical-field digital twin model, which comprises a parameter acquisition module, a thermosetting coupling digital twin model building module, an electromagnetic solid coupling digital twin model building module, a fluid solid coupling digital twin model building module, a coupling module, a correction module and a simulation module;
the parameter acquisition module is used for acquiring characteristic parameters and initial working condition parameters of the aerostatic main shaft;
the thermosetting coupling digital twin model building module is used for building an aerostatic main shaft structure model according to the entity characteristic parameters and the working condition parameters of the aerostatic main shaft, and applying the thermal load of the aerostatic main shaft to a corresponding main shaft structure to obtain a thermosetting coupling digital twin model of the aerostatic main shaft;
the electromagnetic solid coupling digital twin model construction module is used for exerting electromagnetic force load on the supporting position of the rotor motor of the aerostatic spindle according to the aerostatic spindle structure model to obtain an electromagnetic solid coupling digital twin model of the aerostatic spindle;
the fluid-solid coupling digital twin model construction module is used for calculating the bearing capacity and the bearing moment of the air bearing under the coupling action of the temperature field and the electromagnetic field based on the thermosetting coupling digital twin model and the magnetic-solid coupling digital twin model, and applying the bearing capacity and the bearing moment of the air bearing on the rotor-bearing joint surface to obtain a fluid-solid coupling digital twin model of the air hydrostatic spindle;
the coupling module is based on a thermosetting coupling digital twin model, an electromagnetic solid coupling digital twin model and a fluid solid coupling digital twin model of the aerostatic main shaft, so that dynamic interaction among the thermosetting coupling model, the electromagnetic solid coupling model and the fluid solid coupling model is realized, and an electric-magnetic-gas-solid-thermal multi-physical field digital twin model of the aerostatic main shaft under the coupling action of multiple physical fields is established;
the correction module is used for carrying out interactive fusion on data and information between the air static pressure main shaft multi-physical-field digital twin model and the main shaft physical entity, and correcting and verifying the air static pressure main shaft multi-physical-field digital twin model;
the simulation module simulates the influence rule of internal multi-field interaction coupling on the dynamic characteristics and vibration response of the aerostatic spindle in the operation process based on the corrected aerostatic spindle multi-physical field digital twin model.
In addition, the invention also provides a computer device, which comprises a processor and a memory, wherein the memory is used for storing computer executable programs, the processor reads part or all of the computer executable programs from the memory and executes the computer executable programs, and the aerostatic main shaft simulation method based on the multi-physical field digital twin model can be realized when the processor executes part or all of the computer executable programs.
In another aspect, the present invention provides a computer readable storage medium, where a computer program is stored, where the computer program, when executed by a processor, can implement the aerostatic spindle simulation method based on the multiple physical field digital twin model according to the present invention.
The computer device may be an in-vehicle computer, a notebook computer, a desktop computer, or a workstation.
The processor may be a Central Processing Unit (CPU), a Graphics Processor (GPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or an off-the-shelf programmable gate array (FPGA).
The memory can be an internal memory unit of a notebook computer, a desktop computer or a workstation, such as a memory and a hard disk; external storage units such as removable hard disks, flash memory cards may also be used.
Computer readable storage media may include computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. The computer readable storage medium may include: read Only Memory (ROM), random access Memory (RAM, random Access Memory), solid state disk (SSD, solid State Drives), or optical disk, etc. The random access memory may include resistive random access memory (ReRAM, resistance Random Access Memory) and dynamic random access memory (DRAM, dynamic Random Access Memory), among others.
Finally, it should be noted that the examples are disclosed for the purpose of aiding in the further understanding of the present invention, but those skilled in the art will appreciate that: various alternatives and modifications are possible without departing from the spirit and scope of the invention and the appended claims. Therefore, the invention should not be limited to the disclosed embodiments, but rather the scope of the invention is defined by the appended claims.
Claims (10)
1. The aerostatic main shaft simulation method based on the multi-physical-field digital twin model is characterized by comprising the following steps of:
s1, acquiring characteristic parameters and initial working condition parameters of an aerostatic main shaft;
s2, based on the S1 aerostatic main shaft physical characteristic parameters and the working condition parameters, an aerostatic main shaft structure model is established, and a thermal load of the aerostatic main shaft is applied to a corresponding main shaft structure to obtain a thermosetting coupling digital twin model of the aerostatic main shaft;
s3, based on the S2 aerostatic main shaft structural model, electromagnetic force load is acted on the supporting position of the aerostatic main shaft rotor motor to obtain an electromagnetic solid coupling digital twin model of the aerostatic main shaft;
s4, calculating the bearing capacity and the bearing moment of the air bearing under the coupling action of the temperature field and the electromagnetic field based on the S2 and the S3, and applying the bearing capacity and the bearing moment of the air bearing on a rotor-bearing joint surface to obtain a fluid-solid coupling digital twin model of the air hydrostatic spindle;
s5, based on a thermosetting coupling digital twin model of the air static pressure main shaft in S2, an electromagnetic solid coupling digital twin model of the air static pressure main shaft in S3 and a fluid solid coupling digital twin model of the air static pressure main shaft in S4, dynamic interaction among the thermosetting coupling model, the electromagnetic solid coupling model and the fluid solid coupling model is realized, and an electric-magnetic-air-solid-thermal multi-physical field coupling multi-physical field digital twin model of the air static pressure main shaft is established;
s6, carrying out interactive fusion on data and information between the air static pressure main shaft multi-physical-field digital twin model and the main shaft physical entity in S5, and correcting and verifying the air static pressure main shaft multi-physical-field digital twin model;
s7, simulating the influence rule of internal multi-field interaction coupling on the dynamic characteristics and vibration response of the aerostatic spindle in the operation process based on the corrected aerostatic spindle multi-physical-field digital twin model.
2. The method for simulating an aerostatic spindle based on a digital twin model with multiple physical fields according to claim 1, wherein the characteristic parameters in S1 include geometric parameters of radial/thrust aerostatic bearings, spindle rotor, motor, housing and cooling device and material characteristics used; the geometric structure parameters are obtained from a design drawing file of the aerostatic main shaft, and the initial working condition parameters refer to the working rotation speed, the air supply pressure and the load of the physical entity of the aerostatic main shaft.
3. The method for simulating an aerostatic spindle based on a digital twin model with multiple physical fields according to claim 1, wherein the spindle thermal load in S2 comprises motor heat generation, air bearing gas friction heat generation and heat dissipation;
the heat generation of the motor comprises heat generation of a stator core and a winding, and the calculation formulas are respectively expressed as follows:
P Cu ＝T 2 Fa/K m 2
wherein P is Fe For generating heat of stator core, P Cu For generating heat of windings, K a Is a correction coefficient, P is the iron loss value of the unit weight of the silicon steel sheet, B is the air gap flux density, f is the alternating frequency, T is the motor torque, fa= 1.405 is the change coefficient of winding resistance with temperature, K m Is the motor constant;
the air bearing generates heat by gas friction, and the air bearing comprises air static pressure radial bearings and thrust bearings:
in which Q J Generate heat for radial bearing gas friction, Q T The friction heat generation amount of the thrust bearing gas, eta is the motion viscosity coefficient of the gas, omega is the rotation angular velocity, L is the length of the radial bearing, D is the diameter of the radial bearing, h is the gas film thickness of the bearing, r 1 Is the outer diameter of the thrust bearing, r 1 Is the inner part of the thrust bearingDiameter is as follows;
the heat dissipation is to calculate the heat transfer and loss in the air static pressure main shaft by determining the heat transfer mode and the heat transfer coefficient among the air bearing, the air film, the main shaft rotor, the motor rotor, the cooling water, the motor stator, the motor cooling sleeve and the main shaft shell core component.
4. The method for simulating an aerostatic main shaft based on a digital twin model with multiple physical fields according to claim 1, wherein the electromagnetic force load in S3 refers to a radial electromagnetic force generated by an electromagnetic field in an air gap between a motor stator and a rotor, the radial electromagnetic force is calculated according to maxwell' S electromagnetic field law, and the instantaneous radial electromagnetic force f (θ, t) per unit area in the air gap between the motor rotor and the stator is:
where θ is the circumferential angle, t is the time, b (θ, t) is the instantaneous magnetic flux density, μ 0 ＝4π×10 -7 H/m is the vacuum permeability.
5. The method for simulating the aerostatic main shaft based on the multi-physical-field digital twin model according to claim 1, wherein the bearing capacity and the bearing moment of the air bearing in the step S4 are obtained by solving a gas lubrication Reynolds equation by adopting a finite difference method, integrating the pressure of a gas film obtained by solving along the surface of the air bearing, and calculating the bearing capacity and the bearing moment of the air bearing; the air bearing gas lubrication reynolds equation is:
where p is the film pressure, h is the film thickness, η is the kinematic viscosity coefficient of the gas, R is the radius of the journal, ω is the angular velocity of the journal, and θ is the circumferential angle of the bearing.
6. The method for simulating an aerostatic spindle based on a digital twin model with multiple physical fields according to claim 1, wherein the implementing the dynamic interactions between the thermosetting coupling model, the electromagnetic solid coupling model and the fluid solid coupling model in S5 means at time t i When the temperature field and the electromagnetic field are combined, the main shaft rotor is flexibly deformed to cause the change of the air bearing air film thickness distribution, the Reynolds equation is solved to calculate the bearing capacity and the bearing moment of the air bearing, then the bearing capacity and the bearing moment of the air bearing are fed back into the aerostatic main shaft dynamic model, the bearing capacity and the bearing moment of the air bearing are applied to corresponding supporting nodes of the air bearing-rotor, and then the next time t is carried out i+1 And (5) carrying out iterative computation until the main shaft system reaches a stable state.
7. The method for simulating the aerostatic main shaft based on the multi-physical-field digital twin model according to claim 1, wherein in S6, the aerostatic main shaft multi-physical-field digital twin model is corrected and verified, vibration, thermal deformation and natural frequency parameters of a main shaft rotor in an actual operation process of the aerostatic main shaft are monitored, the parameters are compared with calculation results based on the aerostatic main shaft digital twin model, deviation of the two parameters is calculated, and the main shaft digital twin model is corrected according to the data deviation, so that the aerostatic main shaft multi-physical-field digital twin model capable of being synchronized in real time is obtained.
8. An aerostatic main shaft simulation system based on a multi-physical-field digital twin model is characterized by comprising a parameter acquisition module, a thermosetting coupling digital twin model building module, an electromagnetic solid coupling digital twin model building module, a fluid solid coupling digital twin model building module, a coupling module, a correction module and a simulation module;
the parameter acquisition module is used for acquiring characteristic parameters and initial working condition parameters of the aerostatic main shaft;
the thermosetting coupling digital twin model building module is used for building an aerostatic main shaft structure model according to the entity characteristic parameters and the working condition parameters of the aerostatic main shaft, and applying the thermal load of the aerostatic main shaft to a corresponding main shaft structure to obtain a thermosetting coupling digital twin model of the aerostatic main shaft;
the electromagnetic solid coupling digital twin model construction module is used for exerting electromagnetic force load on the supporting position of the rotor motor of the aerostatic spindle according to the aerostatic spindle structure model to obtain an electromagnetic solid coupling digital twin model of the aerostatic spindle;
the fluid-solid coupling digital twin model construction module is used for calculating the bearing capacity and the bearing moment of the air bearing under the coupling action of the temperature field and the electromagnetic field based on the thermosetting coupling digital twin model and the magnetic-solid coupling digital twin model, and applying the bearing capacity and the bearing moment of the air bearing on the rotor-bearing joint surface to obtain a fluid-solid coupling digital twin model of the air hydrostatic spindle;
the coupling module is based on a thermosetting coupling digital twin model, an electromagnetic solid coupling digital twin model and a fluid solid coupling digital twin model of the aerostatic main shaft, so that dynamic interaction among the thermosetting coupling model, the electromagnetic solid coupling model and the fluid solid coupling model is realized, and an electric-magnetic-gas-solid-thermal multi-physical field digital twin model of the aerostatic main shaft under the coupling action of multiple physical fields is established;
the correction module is used for carrying out interactive fusion on data and information between the air static pressure main shaft multi-physical-field digital twin model and the main shaft physical entity, and correcting and verifying the air static pressure main shaft multi-physical-field digital twin model;
the simulation module simulates the influence rule of internal multi-field interaction coupling on the dynamic characteristics and vibration response of the aerostatic spindle in the operation process based on the corrected aerostatic spindle multi-physical field digital twin model.
9. A computer device comprising a processor and a memory, the memory being configured to store a computer executable program, the processor reading the computer executable program from the memory and executing the computer executable program, the processor executing the computer executable program to implement the aerostatic spindle simulation method based on the multiple physical field digital twin model according to any one of claims 1 to 7.
10. A computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and when the computer program is executed by a processor, the computer program can implement the aerostatic spindle simulation method based on the multi-physical field digital twin model as claimed in any one of claims 1 to 7.
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| CN110532625A (en) * | 2019-07-31 | 2019-12-03 | 西安交通大学 | Aero-engine turbine disk-twin the modeling method of rotor-bearing system number |
| CN112364452A (en) * | 2020-11-09 | 2021-02-12 | 浙江工业大学 | Multi-field coupling numerical analysis method for movement locus of aerostatic spindle rotor |
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| KR20100135092A (en) * | 2009-06-16 | 2010-12-24 | 현대위아 주식회사 | Hybrid thrust bearing |
| CN110532625A (en) * | 2019-07-31 | 2019-12-03 | 西安交通大学 | Aero-engine turbine disk-twin the modeling method of rotor-bearing system number |
| CN112364452A (en) * | 2020-11-09 | 2021-02-12 | 浙江工业大学 | Multi-field coupling numerical analysis method for movement locus of aerostatic spindle rotor |
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