CN115906336B - Modeling method and system for digital twin model of coal mining machine based on hardware-in-loop simulation - Google Patents
Modeling method and system for digital twin model of coal mining machine based on hardware-in-loop simulation Download PDFInfo
- Publication number
- CN115906336B CN115906336B CN202310016315.4A CN202310016315A CN115906336B CN 115906336 B CN115906336 B CN 115906336B CN 202310016315 A CN202310016315 A CN 202310016315A CN 115906336 B CN115906336 B CN 115906336B
- Authority
- CN
- China
- Prior art keywords
- model
- mining machine
- coal mining
- coal
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention relates to a modeling method and a system for a digital twin model of a coal mining machine based on hardware in-loop simulation. The method comprises the following steps: the control instruction is received by the electric control system of the coal mining machine and is decomposed into an actuator action instruction corresponding to the actuator of the coal mining machine; inputting an actuator action instruction into a coal cutter actuator model and obtaining a virtual sensing and protecting signal through simulation; outputting the signals as digital sensor responses to a model order reduction and display system; decoupling the signals by a signal decomposer and displaying the data as a conventional data visualization model, a stress visualization model and a motion visualization model; and fusing the visual models into a comprehensive visual digital twin model. According to the invention, the state data of the coal mining machine is input into the twin model based on a digital twin technology, the working process of the coal mining machine is visualized through model regeneration visualization, the self health state of the coal mining machine can be reflected through the virtual sensor, and the remote comprehensive visual control of the coal mining machine is realized.
Description
Technical Field
The invention relates to the technical field of coal mining; specifically, the invention relates to a modeling method and a system for a digital twin model of a coal mining machine based on hardware-in-the-loop simulation.
Background
The coal mine safety production situation is still severe and complex at the present stage, and the development of technical equipment for coal mine automation, digitization and intellectualization must be enhanced, so that the coal mine safety guarantee capability is improved. The reliability of the coal mining machine serving as main mechanical equipment for safe and efficient production of a modern mine directly influences the normal work of the whole coal mining face, and particularly in an automatic working face, the reliable and safe work of the equipment is a key index for ensuring the personnel reduction and synergy of the working face.
The automation level of the coal mining machine is a key factor influencing the automation level of the fully mechanized coal face, and especially for the application occasions with severe working conditions and complex environments of the coal mining face, the remote automatic coal mining faces the problems of unclear vision and high equipment operation and maintenance difficulty.
Disclosure of Invention
In view of the above, the present invention provides a method and system for modeling a digital twinning model of a shearer based on hardware-in-loop simulation that solves or at least alleviates one or more of the above-identified and other problems of the prior art.
To achieve the foregoing objective, a first aspect of the present invention provides a method for comprehensively and visually modeling a digital twin model of a coal mining machine based on a hardware-in-the-loop simulation technique, wherein the method comprises the following steps:
step I: the coal cutter control system receives a coal cutter control instruction input by the control instruction input module of the coal cutter, and decomposes the coal cutter control instruction into an actuator action instruction corresponding to an executing mechanism of the coal cutter through the control instruction decomposition module;
step II: inputting the actuator action instruction into a coal cutter executing mechanism model, and obtaining virtual sensing and protecting signals through simulation of a rocker arm model and a traction model in a coal cutter executing mechanism motion model of the coal cutter executing mechanism model;
step III: outputting the virtual sensing and protecting signals as digital sensor response to a model order reduction and display system;
step IV: in the model order reduction and display system, decoupling the virtual sensing and protection signals through a signal decomposer, displaying the data of the threshold protection and working state of the coal mining machine, which are obtained by decoupling, as a conventional data visualization model, transmitting stress data fed back by the coal mining machine executing mechanism, which are obtained by decoupling, into the stress model, displaying the stress data into the stress model after mathematical model order reduction processing, and displaying the posture data of the coal mining machine executing mechanism, which are obtained by decoupling, as a motion visualization model; and
step V: and fusing the data in the conventional data visualization model, the stress visualization model and the motion visualization model into a comprehensive visualization digital twin model.
In the aforementioned comprehensive visual modeling method for a digital twin model of a coal mining machine, optionally, the motion model of the actuating mechanism of the coal mining machine is a mathematical simulation model, and the method further includes the following steps: and converging model parameters of the mathematical simulation model according to a response signal of the mathematical simulation model and a difference function of a real response signal of the coal mining machine electric control system, and converging the mathematical simulation model to be consistent with a real motion model of the coal mining machine executing mechanism.
In the aforementioned comprehensive visual modeling method of the digital twin model of the coal mining machine, optionally, the motion model of the actuating mechanism of the coal mining machine is subjected to model initialization before operation, the model initialization is processed by a model variable initialization module, and the converging process comprises the following steps:
the control instruction decomposition module inputs the control instruction of the coal mining machine into a time sequence parameter table in the motion model of the coal mining machine executing mechanism, the real response signal of the coal mining machine inputs real-time state data of the coal mining machine into a state parameter table of the motion model of the coal mining machine executing mechanism, a data reading component in the motion model of the coal mining machine executing mechanism reads the time sequence parameter table, the time sequence parameter and the state parameter in the state parameter table into the rocker arm model and the traction model for real-time calculation simulation, a result of the real-time calculation simulation is output into a parameter conversion extraction module through a reduction model of the whole machine of the coal mining machine, the parameter conversion extraction module carries out initialization parameter self-convergence through the rocker arm model and the traction model, and finally obtains a model variable of the motion model of the coal mining machine executing mechanism of the next period and outputs the model variable into the model variable initialization module for storage.
In the aforementioned method for modeling the digital twin model of the coal mining machine in comprehensive visualization, optionally, the method further comprises the following steps:
performing virtual measurement of environmental stress and electric stress through the coal cutter executing mechanism model, so that the virtual measurement of the environmental stress and the electric stress has the same early warning and fault protection logic as the real coal cutter;
comparing the time sequence of the early warning and fault protection logic of the coal mining machine with the time sequence of the early warning and fault protection logic of the coal mining machine executing mechanism model, and correcting the early warning and fault protection logic of the coal mining machine executing mechanism model in real time.
In the aforementioned method for modeling the digital twin model of the coal mining machine in a comprehensive visual manner, optionally, in the step III, a digital sensor response output module is adopted to perform the output, and the digital sensor output module is a software program interface module, and is used for performing data interaction between software of the virtual sensing and protecting signals from the motion model of the coal mining machine mechanism and the model reduction and display system.
In the aforementioned method for modeling the digital twin model of the coal mining machine in comprehensive visualization, optionally, in the step IV, the signal decomposer is a software decoupling, and the step of decoupling includes: and decomposing the data packet input with the virtual sensing and protecting signals into a data matrix, wherein the data matrix is divided into a conventional data visualization model matrix, a stress model matrix and a motion mechanism model matrix according to data types.
In the aforementioned comprehensive visual modeling method of the digital twin model of the coal mining machine, optionally, the conventional data visual model matrix comprises coal mining machine threshold protection and coal mining machine working state data, and the coal mining machine threshold protection and coal mining machine working state data is transmitted to the conventional data visual module in a matrix mode and is displayed as a conventional data visual model as a basic monitoring interface;
the stress model matrix carries out mathematical model order reduction according to the stress type, and the stress model matrix after the order reduction is displayed as a stress visualization model in a stress visualization mode; and
and the motion mechanism model matrix is used as input information to assign values to motion parameters of the motion model of the coal cutter mechanism and then is directly displayed as a motion visualization model.
In the aforementioned method for modeling the digital twin model of the coal mining machine in a comprehensive visual manner, optionally, the virtual sensing and protecting signals comprise an electric signal, a hydraulic signal and a temperature signal.
In order to achieve the foregoing object, a second aspect of the present invention provides a digital twinning model synthesis and visualization modeling system for a coal cutter, wherein the digital twinning model synthesis and visualization modeling system for a coal cutter performs digital twinning model synthesis and visualization modeling based on the digital twinning model synthesis and visualization modeling method for a coal cutter as set forth in any one of the first aspects.
In the aforementioned coal cutter digital twin model integrated visual modeling system, optionally, the coal cutter digital twin model integrated visual modeling system includes:
the coal cutter is provided with a control instruction input module, a coal cutter electric control system, an executor control instruction decomposition module and a coal cutter real response signal output module, wherein the control instruction input module inputs a coal cutter control instruction to the coal cutter electric control system, and the coal cutter electric control system decomposes the coal cutter control instruction into an executor action instruction corresponding to a coal cutter executing mechanism through the executor control instruction decomposition module;
the coal cutter executing mechanism model comprises a coal cutter mechanism motion model module, wherein the coal cutter mechanism motion model module comprises a rocker arm model module and a traction model module, the coal cutter executing mechanism model further comprises a digital sensor response output module, and the digital sensor response output module is used for outputting virtual sensing and protection signals obtained by the coal cutter mechanism motion model in an anti-true mode to a model order reduction and display system; and
the model order reduction and display system comprises a signal decomposer module and a comprehensive visual module, wherein the signal decomposer module decouples the virtual sensing and protecting signals, the data of the threshold protection and working state of the coal mining machine obtained by decoupling are displayed as a conventional data visual model, the stress data fed back by the coal mining machine executing mechanism obtained by decoupling are transmitted to the stress model and displayed as a stress visual model after mathematical model order reduction processing is carried out, the gesture data of the coal mining machine executing mechanism obtained by decoupling are displayed as a motion visual model, and the data in the conventional data visual model, the stress visual model and the motion visual model are fused into a comprehensive visual digital twin model by the comprehensive visual module.
According to the modeling method and the comprehensive visual modeling system for the digital twin model of the coal mining machine based on hardware-in-loop simulation, state data in the running process of the coal mining machine is input into the twin model based on the digital twin technology, the working process of the coal mining machine is visualized and transparentized through model regeneration visualization, and the self health state of the coal mining machine can be reflected through a virtual sensor in the model, so that the remote comprehensive visual control of the coal mining machine is realized.
Drawings
The present disclosure will become more apparent with reference to the accompanying drawings. It is to be understood that these drawings are solely for purposes of illustration and are not intended as a definition of the limits of the invention. In the figure:
FIG. 1 is a schematic block diagram of one embodiment of a digital twinning model comprehensive visual modeling system of a shearer of the present invention and a flow chart of one embodiment of a modeling method thereof;
FIG. 2 is a schematic block diagram of the initialization of a motion model of the shearer actuator in the embodiment of FIG. 1;
fig. 3 is a decoupling schematic diagram of the signal decomposer in the embodiment of fig. 1.
Detailed Description
The composition, characteristics, advantages and the like of the digital twin model modeling method and system for a coal mining machine based on hardware-in-the-loop simulation according to the present invention will be described below by way of example with reference to the accompanying drawings and specific embodiments, however, all descriptions should not be construed as limiting the scope of the present invention in any way.
Furthermore, to the extent that any individual feature described or implied in the embodiments set forth herein, or any individual feature shown or implied in the figures, the invention still allows any combination or deletion of such features (or equivalents thereof) without any technical hurdle, and further embodiments according to the invention are considered to be within the scope of the disclosure herein.
FIG. 1 is a schematic block diagram of one embodiment of a digital twinning model comprehensive visual modeling system for a shearer of the present invention and a flowchart of one embodiment of a modeling method thereof.
As can be seen from fig. 1, the comprehensive visual modeling system of the digital twin model of the coal mining machine can comprise three systems, namely a real coal mining machine system, a model system of an execution mechanism of the coal mining machine and a model order reduction and display system. The digital twinning technology of the coal mining machine through the modeling method of the visual modeling system can relate to the digital twinning of a motion mechanism and a stress model of the coal mining machine.
The shearer is referred to herein as a shearer entity. According to an illustrative example, the shearer may have a control command input module, a shearer electronic control system, an actuator control command decomposition module, and a shearer true response signal output module.
And an operator inputs a coal cutter control command to the coal cutter motor control system through the control command input module. For example, the control command input module may be a remote controller, a body control panel, or the like, or may be a remote operation module or the like. The instruction may be a manual operation input instruction. For example, when a user operates the "left-hand-arm up" function of the shearer, the user may press a "left-hand-arm up" command via a remote control or electric cabinet panel, which is entered into the shearer actuator motion model in a communication controlled manner via the shearer electric control system.
The coal cutter control system decomposes the coal cutter control instruction into an actuator action instruction corresponding to each actuator of the coal cutter through the actuator control instruction decomposition module. The control command typically has only one operation at a time, such as operating a remote control, a fuselage panel, a remote operation module, etc., at which time the shearer performs the corresponding action. In some embodiments, the actuator may be a swing arm, drum, haulage, etc. of the shearer, which may be broken down into acceleration, deceleration of haulage, lifting of the drum, etc. to the haulage or swing arm where the drum is located.
For example, when the function of raising the left rocker arm of the coal mining machine is executed, the motion model of the executing mechanism of the coal mining machine recognizes whether other control instructions are output or not in the meaning of the instructions, the time of the instruction operation and the corresponding time, and the motion state information such as the specific height of raising the rocker arm of the coal mining machine is simulated, and the state information is the response output signal of the digital sensor. And the kinematic information such as rocker arm height and the like output by the coal cutter executing mechanism model and the state information such as motor current, oil pressure, temperature and the like for each executing mechanism output by the coal cutter real object are transmitted to the model order reduction and display system.
Here, the shearer true response signal refers to a signal of a sensor on the shearer. The coal mining machine can be provided with various sensors for detecting the running condition of each executing mechanism of the coal mining machine, and a real response signal of the coal mining machine is generated through a real response signal output module of the coal mining machine and is output to a model of the executing mechanism of the coal mining machine and a model order reduction and display system. At the position of the coal cutter executing mechanism model, the real response signal of the coal cutter can be used for converging the motion model of the coal cutter executing mechanism so as to correct the alignment of the motion model of the coal cutter executing mechanism and realize the function of closed loop feedback self-identification. At the model order reduction and display system, the real response signal of the coal mining machine can be decomposed and reduced by a signal decomposer according to specific requirements, and visual output is realized.
As shown in the figure, the coal cutter executing mechanism model comprises a coal cutter mechanism motion model module and a digital sensor response output module.
The shearer mechanism motion model module may include a rocker arm model module and a traction model module. After the actuator action instruction is input into the coal cutter mechanism motion model, virtual sensing and protection signals such as electricity, hydraulic pressure, temperature and the like are obtained through the simulation of a rocker arm model and a traction model in the coal cutter mechanism motion model, and are used as output signals of a digital sensor response output module and output to a model order reduction and display system.
The motion model of the coal cutter mechanism can be a mathematical simulation model, has a self-convergence function according to the real response signal output of the coal cutter, can converge model parameters according to the difference function of the real response signal output of the simulation model and the real response signal output of the coal cutter entity, and ensures that the mathematical model can be quickly converged to be consistent with the physical model. In an alternative embodiment, the convergence of the model parameters of the mathematical simulation model may be implemented by comparing the response signal of the mathematical simulation model with the real response signal formation of the coal mining machine of the electric control system of the coal mining machine according to the convergence of the difference function.
The motion model of the coal cutter mechanism needs to be initialized before running and needs to be processed through a model variable initialization module. As shown in fig. 2. FIG. 2 is a schematic block diagram of the initialization of the motion model of the shearer actuator in the embodiment of FIG. 1. The specific implementation process of the convergence method comprises the following steps: the command decomposition module inputs commands and time sequences into a time sequence parameter table in the motion model, and the coal mining machine response signal inputs real-time state data into a state parameter table of the model; the time sequence parameters and the state parameters are finally read into the rocker arm model and the traction model through a data reading component in the model to perform real-time calculation simulation; the simulation result is output to a parameter conversion extraction module through a coal cutter complete machine reduced order model, the module carries out initialization parameter self-convergence on the output state variable of the model through the rocker arm model and the traction model, finally obtains the model variable of the next period, and outputs the model variable to a model variable initialization module for storage.
In an alternative embodiment, the coal cutter mechanism motion model may have an environmental stress and electrical stress virtual measurement function, where the virtual measurement function has the same early warning and fault protection logic as the coal cutter entity, and has a self-correction function; and the self-correction function compares the early warning and protection time sequence of the physical model with the virtual protection time sequence in the mechanism model and corrects the early warning and fault protection logic in real time.
For example, if the sensor on the rocker arm fails, the actual height of the rocker arm cannot be known when the rocker arm is operated to move up and down, but can be raised by an acceleration command, and then the amount of rise required can be known after the rocker arm model is known, for example, the amount of rise can be controlled according to the duration of operation, so that a digital model is generated. The shearer can still be reliably operated and monitored in the event of a sensor failure.
Similarly, if it is inconvenient to install sensors at certain locations of the shearer, the digital twinning model may also be used to simulate to visually display the movement and status of those locations, thereby facilitating monitoring and manipulation.
The digital sensor response output module is used for outputting virtual sensing and protection signals obtained by the coal cutter mechanism motion model in an anti-true mode to the model order reduction and display system. Thus, in the event of a sensor failure of the shearer, the shearer can still be maneuvered and monitored through the visual model.
In an alternative embodiment, the digital sensor output module may be a software program interface module, such as a software program interface API module, for inter-software data interaction of the virtual measurement data signals from the shearer facility motion model software with the model reduction and display system.
The model order reduction and display system comprises a signal decomposer module and a comprehensive visual module.
The signal decomposer module decouples the virtual sense and protect signals. Fig. 3 is a decoupling schematic diagram of the signal decomposer in the embodiment of fig. 1. For example, the signal decomposer may decouple the signal into three parts, and the signal decomposer is a software decomposer, that is, decompose the input data packet into data matrices, where the data matrices are divided according to data types, and the data types are divided into three types, namely, a conventional data visualization model matrix, a stress model matrix, and a motion mechanism model matrix. The conventional data visualization model matrix comprises coal mining machine threshold protection and state data related to the working of the coal mining machine, and the data are transmitted to the conventional data visualization module in a matrix mode and are displayed as a conventional data visualization model as a basic monitoring interface. The stress model matrix is subjected to mathematical model order reduction according to the stress type, and the stress model matrix after the order reduction is displayed as a stress visualization model in a stress visualization mode. And the motion mechanism model matrix is used as input information to assign values to each motion parameter of the motion model of the coal cutter mechanism and then directly output to the motion visualization model for display. And finally, fusing the data in the conventional data visualization module, the stress visualization module and the motion visualization module into a digital twin comprehensive visualization model, wherein the model has the functions of basic state data display, three-dimensional motion and stress visualization and model self-correction.
The method comprises the steps of after signal decoupling, displaying the data of the threshold protection and working state of the coal mining machine obtained by decoupling as a conventional data visualization model, transmitting the stress data fed back by the coal mining machine executing mechanism obtained by decoupling into the stress model, displaying the stress data into the stress model after mathematical model reduction processing, and displaying the posture data of the coal mining machine executing mechanism obtained by decoupling as a motion visualization model. The model reduction processing can reduce the calculation dimension, reduce the calculation amount, save the calculation time and the CPU load. The comprehensive visual module can fuse the data in the conventional data visual model, the stress visual model and the motion visual model into a comprehensive visual digital twin model.
For example, the kinematic information such as rocker arm height and the like output by the coal cutter actuator model and the state information such as motor current, oil pressure, temperature and the like for each actuator output by the coal cutter real object are transmitted to the model order reduction and display system. Then, the information is transmitted to the model order reduction and display system, and signals are decoupled and output into three parts through the signal decomposer module: all signals generated by the true response signal output module of the coal mining machine are directly transmitted to the conventional data visualization module for display; the method comprises the steps of obtaining the dynamic information of a rocker arm of a coal mining machine and the dynamic state characteristic matrix information of rocker arms of all subsystems in a rocker arm transmission system through stress model simulation, obtaining a reduced state information matrix through model reduction simplification, and displaying a stress visual module through a visual mode. The attitude state data of the executing mechanism of the coal mining machine is directly output to the visual model for display through the motion model. The kinematic information output by the rocker arm model is final height information of the rocker arm, the information is calculated to obtain travel information, kinematic state information and the like of each actuating mechanism of the rocker arm through the rocker arm motion model, and finally visual display is carried out through motion visualization. And finally, the conventional data visualization module, the stress visualization module and the motion visualization module are used for fusing the data in the three modules into a comprehensive visual digital twin model, and the model has the functions of basic state data display, three-dimensional motion and stress visualization and model self-correction.
The comprehensive visual modeling method for the digital twin model of the coal mining machine based on the hardware-in-the-loop simulation technology is described in the following in combination with the comprehensive visual modeling system for the digital twin model of the coal mining machine of the invention in FIG. 1. The method may include the following steps I to V.
In the step I, a coal cutter control system receives a coal cutter control instruction input by a control instruction input module of the coal cutter, and decomposes the coal cutter control instruction into an actuator action instruction corresponding to an executing mechanism of the coal cutter through a control instruction decomposition module.
As described above, the control command received by the electric control system of the coal mining machine may be from a remote controller, a body panel, a remote operation module, etc., and may be used for controlling the traction device or the rocker arm device. The rocker arm device can be hydraulically operated; the traction device can be controlled by a motor. The control command can be manually operated by an operator to be input into the electric control system of the coal mining machine. The electric control system of the coal mining machine decomposes the instruction input by an operator into actuator action instructions corresponding to each actuator of the coal mining machine.
And the electric control system of the coal mining machine outputs an execution mechanism control instruction to the execution mechanism of the coal mining machine after receiving the control instruction. The actuator control instruction is decomposed into actuator action instructions corresponding to the coal cutter actuator in a control instruction decomposition module. In an alternative embodiment, the control instruction decomposition module may be a sub-module in a coal mining machine electric control system. The actuator operation command may be, for example, a rocker arm control command, a traction control command, or the like.
In the step II, the actuator action instruction is input into a coal cutter executing mechanism model, and virtual sensing and protecting signals are obtained through simulation of a rocker arm model and a traction model in a coal cutter executing mechanism motion model of the coal cutter executing mechanism model.
The shearer actuator model here comprises a shearer mechanism motion model, which may comprise a rocker arm model and a traction model, or may further comprise other models. These models can simulate the movement of real devices in a shearer. Meanwhile, virtual sensing and protecting signals can be obtained based on the rocker arm model and the traction model. In alternative embodiments, the virtual sensing and protection signals may include electrical signals, hydraulic signals, temperature signals, and the like. The virtual sensing and protecting signals such as electricity, hydraulic pressure, temperature and the like are obtained through the rocker arm model and the traction model in the motion model of the coal cutter mechanism in a simulation mode, and can be used as output signals of the digital sensor response output module to be output to the model order reduction and display system.
The motion model of the coal cutter executing mechanism can be a mathematical simulation model. On the basis, the method further comprises the step of converging the mathematical simulation model, and the method is self-converged according to the real response signal output of the coal mining machine. Specifically, in the step, model parameters of the mathematical simulation model are converged according to a response signal of the mathematical simulation model and a difference function output by a real response signal of the coal mining machine electric control system, and the mathematical simulation model is converged to be consistent with a real motion model of the coal mining machine executing mechanism.
In an alternative embodiment, the shearer actuator motion model may have environmental stress and electrical stress virtual measurement functions. The virtual measurement function has the same early warning and fault protection logic as the entity of the coal mining machine and has a self-correction function; regarding the self-correction function, the function compares the early warning and protection time sequence of the physical model with the virtual protection time sequence in the mechanism model, and corrects the early warning and fault protection logic in real time.
The visual modeling method of the digital twin model of the coal mining machine comprises the following steps that the virtual measurement of the environmental stress and the electric stress is carried out through the executing mechanism model of the coal mining machine, so that the virtual measurement of the environmental stress and the electric stress has the same early warning and fault protection logic as the real coal mining machine; comparing the time sequence of the early warning and fault protection logic of the coal mining machine with the time sequence of the early warning and fault protection logic of the coal mining machine executing mechanism model, and correcting the early warning and fault protection logic of the coal mining machine executing mechanism model in real time.
In addition, the motion model of the coal cutter executing mechanism can be subjected to model initialization before operation, and the model initialization can be processed through a model variable initialization module. Fig. 2 is a schematic block diagram of the motion model initialization of the shearer actuator in the embodiment of fig. 1.
As shown in fig. 2, in an alternative embodiment, the process of convergence includes the steps that the control instruction decomposition module inputs the control instruction of the coal mining machine into a time sequence parameter table in the motion model of the coal mining machine executing mechanism, the real-time state data of the coal mining machine is input into a state parameter table of the motion model of the coal mining machine executing mechanism by the real response signal of the coal mining machine, a data reading component in the motion model of the coal mining machine executing mechanism reads the time sequence parameter table and the time sequence parameter and the state parameter in the state parameter table into the rocker arm model and the traction model for real-time calculation simulation, the result of the real-time calculation simulation is output into a parameter conversion extraction module through a complete machine reduced order model, and the parameter conversion extraction module carries out initialization parameter self-convergence through the rocker arm model and the traction model, and finally obtains the model variable of the motion model of the coal mining machine executing mechanism of the next period and outputs the model variable initialization module for storage.
In step III, the virtual sensing and protection signals are output to a model reduction and display system as digital sensor responses.
In an alternative embodiment, a digital sensor response output module is used for outputting, and the digital sensor output module may be a software program interface module, and is used for performing data interaction between the virtual sensing and protecting signals from the coal cutter mechanism motion model and the model order reduction and display system.
In the step IV, in the model order reduction and display system, the virtual sensing and protection signals are decoupled through a signal decomposer, the data of the threshold protection and working state of the coal mining machine obtained through decoupling are displayed as a conventional data visualization model, the stress data fed back by the decoupled coal mining machine executing mechanism are transmitted to the stress model and displayed as a stress visualization model after mathematical model order reduction processing is performed, and the gesture data of the decoupled coal mining machine executing mechanism are displayed as a motion visualization model.
In an alternative embodiment, the signal is decoupled out into three parts by a signal decomposer in the model reduction and display module. The signal decomposer may be a software decoupling, and the decoupling step may include decomposing a data packet into which the virtual sensing and protection signals are input into a data matrix, and dividing the data matrix into a conventional data visualization model matrix, a stress model matrix and a motion mechanism model matrix according to data types.
The conventional data visualization model matrix can comprise coal cutter threshold protection and coal cutter working state data, and the coal cutter threshold protection and coal cutter working state data are transmitted to the conventional data visualization module in a matrix mode and are displayed as a conventional data visualization model as a basic monitoring interface. The stress model matrix can be subjected to mathematical model order reduction according to the stress type, and the stress model matrix after the order reduction is displayed as a stress visualization model in a stress visualization mode. The motion mechanism model matrix can be used as input information to assign values to motion parameters of the motion model of the coal cutter mechanism and then be directly displayed as a motion visualization model.
In step V, data in the conventional data visualization model, the stress visualization model, and the motion visualization model are fused into a comprehensive visualization digital twin model. The comprehensive visual digital twin model has the functions of basic state data display, three-dimensional motion and stress visualization and model self-correction.
The method and system for modeling the digital twin model of the coal mining machine based on hardware-in-the-loop simulation are described in detail below by taking the function of 'left rocker arm rising' of the coal mining machine operated by a user as an example.
Specifically, in this example, the user presses the "left rocker up" command via a remote control or electric cabinet panel (i.e., control command input module) that enters the shearer mechanism motion model in a communicatively controlled manner via the shearer electric control system.
The motion model of the coal cutter mechanism comprises a rocker arm model and a traction model. The motion model of the coal cutter mechanism recognizes whether other control instructions are output or not according to the instruction meaning, the instruction pressing time and the corresponding time, and simulates the motion state information such as the specific height of the rising of the rocker arm of the coal cutter, and the state information is the response output signal of the digital sensor. And the kinematic information such as rocker arm height and the like output by the coal cutter executing mechanism model and the state information such as motor current, oil pressure, temperature and the like for each executing mechanism output by the coal cutter real object are transmitted to the model order reduction and display system.
In the model order reduction and display system, signals are decoupled and output into three parts through the signal decomposer: all signals generated by the true response signal output module of the coal mining machine are directly transmitted to the conventional data visualization module for display; the method comprises the steps of obtaining the dynamic information of a rocker arm, namely the kinematic information of the rocker arm model and the load state information such as motor current for each executing mechanism, which is output by a coal mining machine object, through stress model simulation, obtaining the vibration of the rocker arm of the coal mining machine and the rocker arm mechanical state characteristic matrix information of each subsystem in a rocker arm transmission system, finally obtaining a reduced state information matrix through model reduction simplification, and displaying by a stress visual module in a visual mode. And the attitude state data of the executing mechanism of the coal mining machine is directly output to a visual model for display through a motion model. The kinematic information output by the rocker arm model can comprise final height information of the rocker arm, the information is used for calculating travel information, kinematic state information and the like of each actuating mechanism of the rocker arm through the rocker arm motion model, and finally visual display is carried out through motion visualization.
In addition, the true response signal output of the coal mining machine can enable the output coal mining machine rocker arm to be actually lifted to converge the rocker arm model. The real response signal of the left rocker arm of the electric control system of the coal mining machine, which is output by the real response signal output module of the coal mining machine, can comprise, but is not limited to, motion information such as the height of the left rocker arm, the action stroke of the left rocker arm and the like, and information such as motor current, oil pressure and temperature of the left rocker arm, vibration of the left rocker arm, transmission of the left rocker arm and the like.
According to the hardware-in-loop simulation technology-based comprehensive visual modeling method and the hardware-in-loop simulation technology-based comprehensive visual modeling system for the digital twin model of the coal mining machine, state data in the running process of the coal mining machine are input into the twin model based on the digital twin technology, the working process of the coal mining machine is visualized and transparentized through model regeneration visualization, the self health state of the coal mining machine can be reflected through a virtual sensor in the model, remote comprehensive visual control of the coal mining machine is realized, and the method and the system have the characteristics of convenience in implementation and high reliability.
The technical scope of the present invention is not limited to the above description, and those skilled in the art may make various changes and modifications to the above-described embodiments without departing from the technical spirit of the present invention, and these changes and modifications should be included in the scope of the present invention.
Claims (10)
1. The comprehensive visual modeling method for the digital twin model of the coal mining machine based on the hardware-in-the-loop simulation technology is characterized by comprising the following steps of:
step I: the coal cutter control system receives a coal cutter control instruction input by the control instruction input module of the coal cutter, and decomposes the coal cutter control instruction into an actuator action instruction corresponding to an executing mechanism of the coal cutter through the control instruction decomposition module;
step II: inputting the actuator action instruction into a coal cutter executing mechanism model, and obtaining virtual sensing and protecting signals through simulation of a rocker arm model and a traction model in a coal cutter executing mechanism motion model of the coal cutter executing mechanism model;
step III: outputting the virtual sensing and protecting signals as digital sensor response to a model order reduction and display system;
step IV: in the model order reduction and display system, decoupling the virtual sensing and protection signals through a signal decomposer, displaying the data of the threshold protection and working state of the coal mining machine, which are obtained by decoupling, as a conventional data visualization model, transmitting stress data fed back by the coal mining machine executing mechanism, which are obtained by decoupling, into the stress model, displaying the stress data into the stress model after mathematical model order reduction processing, and displaying the posture data of the coal mining machine executing mechanism, which are obtained by decoupling, as a motion visualization model; and
step V: and fusing the data in the conventional data visualization model, the stress visualization model and the motion visualization model into a comprehensive visualization digital twin model.
2. The method for comprehensively visually modeling a digital twin model of a coal mining machine according to claim 1, wherein the motion model of the actuating mechanism of the coal mining machine is a mathematical simulation model, and the method further comprises the steps of: and converging model parameters of the mathematical simulation model according to a response signal of the mathematical simulation model and a difference function of a real response signal of the coal mining machine electric control system, and converging the mathematical simulation model to be consistent with a real motion model of the coal mining machine executing mechanism.
3. The method for comprehensively visual modeling of a digital twin model of a coal mining machine according to claim 2, wherein the motion model of the actuating mechanism of the coal mining machine is subjected to model initialization before operation, the model initialization is processed by a model variable initialization module, and the converging process comprises the following steps:
the control instruction decomposition module inputs the control instruction of the coal mining machine into a time sequence parameter table in the motion model of the coal mining machine executing mechanism, the real response signal of the coal mining machine inputs real-time state data of the coal mining machine into a state parameter table of the motion model of the coal mining machine executing mechanism, a data reading component in the motion model of the coal mining machine executing mechanism reads the time sequence parameter table, the time sequence parameter and the state parameter in the state parameter table into the rocker arm model and the traction model for real-time calculation simulation, a result of the real-time calculation simulation is output into a parameter conversion extraction module through a reduction model of the whole machine of the coal mining machine, the parameter conversion extraction module carries out initialization parameter self-convergence through the rocker arm model and the traction model, and finally obtains a model variable of the motion model of the coal mining machine executing mechanism of the next period and outputs the model variable into the model variable initialization module for storage.
4. The method for comprehensively visually modeling a digital twin model of a coal mining machine according to claim 1, further comprising the steps of:
performing virtual measurement of environmental stress and electric stress through the coal cutter executing mechanism model, so that the virtual measurement of the environmental stress and the electric stress has the same early warning and fault protection logic as the real coal cutter;
comparing the time sequence of the early warning and fault protection logic of the coal mining machine with the time sequence of the early warning and fault protection logic of the coal mining machine executing mechanism model, and correcting the early warning and fault protection logic of the coal mining machine executing mechanism model in real time.
5. The method of claim 1, wherein in step III, a digital sensor response output module is used for the output, the digital sensor output module being a software program interface module for performing data interaction between the virtual sensing and protection signals from the shearer mechanism motion model and the model reduction and display system.
6. The method for modeling a digital twin model of a shearer of claim 1, wherein in the step IV, the signal decomposer is a software decoupling, the step of decoupling comprising: and decomposing the data packet input with the virtual sensing and protecting signals into a data matrix, wherein the data matrix is divided into a conventional data visualization model matrix, a stress model matrix and a motion mechanism model matrix according to data types.
7. The method for comprehensively visually modeling the digital twin model of the coal mining machine according to claim 6, wherein the method comprises the following steps:
the conventional data visualization model matrix comprises coal cutter threshold protection and coal cutter working state data, and the coal cutter threshold protection and coal cutter working state data are transmitted to the conventional data visualization module in a matrix mode and are displayed as a conventional data visualization model as a basic monitoring interface;
the stress model matrix carries out mathematical model order reduction according to the stress type, and the stress model matrix after the order reduction is displayed as a stress visualization model in a stress visualization mode; and
and the motion mechanism model matrix is used as input information to assign values to motion parameters of the motion model of the coal cutter mechanism and then is directly displayed as a motion visualization model.
8. The method for comprehensively visual modeling of a digital twin model of a coal mining machine according to claim 1, wherein the virtual sensing and protecting signals comprise an electric signal, a hydraulic signal and a temperature signal.
9. A coal cutter digital twin model comprehensive visual modeling system, which is characterized by performing coal cutter digital twin model comprehensive visual modeling based on the coal cutter digital twin model comprehensive visual modeling method according to any one of claims 1 to 8.
10. The shearer digital twin model integrated visual modeling system of claim 9, wherein the shearer digital twin model integrated visual modeling system comprises:
the coal cutter is provided with a control instruction input module, a coal cutter electric control system, an executor control instruction decomposition module and a coal cutter real response signal output module, wherein the control instruction input module inputs a coal cutter control instruction to the coal cutter electric control system, and the coal cutter electric control system decomposes the coal cutter control instruction into an executor action instruction corresponding to a coal cutter executing mechanism through the executor control instruction decomposition module;
the coal cutter executing mechanism model comprises a coal cutter mechanism motion model module, wherein the coal cutter mechanism motion model module comprises a rocker arm model module and a traction model module, the coal cutter executing mechanism model further comprises a digital sensor response output module, and the digital sensor response output module is used for outputting virtual sensing and protection signals obtained by the coal cutter mechanism motion model in an anti-true mode to a model order reduction and display system; and
the model order reduction and display system comprises a signal decomposer module and a comprehensive visual module, wherein the signal decomposer module decouples the virtual sensing and protecting signals, the data of the threshold protection and working state of the coal mining machine obtained by decoupling are displayed as a conventional data visual model, the stress data fed back by the coal mining machine executing mechanism obtained by decoupling are transmitted to the stress model and displayed as a stress visual model after mathematical model order reduction processing is carried out, the gesture data of the coal mining machine executing mechanism obtained by decoupling are displayed as a motion visual model, and the data in the conventional data visual model, the stress visual model and the motion visual model are fused into a comprehensive visual digital twin model by the comprehensive visual module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310016315.4A CN115906336B (en) | 2023-01-06 | 2023-01-06 | Modeling method and system for digital twin model of coal mining machine based on hardware-in-loop simulation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310016315.4A CN115906336B (en) | 2023-01-06 | 2023-01-06 | Modeling method and system for digital twin model of coal mining machine based on hardware-in-loop simulation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115906336A CN115906336A (en) | 2023-04-04 |
| CN115906336B true CN115906336B (en) | 2023-05-16 |
Family
ID=85732065
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310016315.4A Active CN115906336B (en) | 2023-01-06 | 2023-01-06 | Modeling method and system for digital twin model of coal mining machine based on hardware-in-loop simulation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115906336B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111208759A (en) * | 2019-12-30 | 2020-05-29 | 中国矿业大学(北京) | Digital twin intelligent monitoring system for unmanned fully mechanized coal mining face of mine |
| CN113722979A (en) * | 2021-07-30 | 2021-11-30 | 太原理工大学 | Coal mining machine virtual-real interaction system based on digital twinning and construction method thereof |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102759909A (en) * | 2012-06-14 | 2012-10-31 | 中国矿业大学 | Work state virtual simulation system for electric haulage shearer based on different geological conditions |
| CN207992717U (en) * | 2017-12-07 | 2018-10-19 | 国家电网公司 | A kind of gate of hydropower station on-line condition monitoring system |
| CN111173510A (en) * | 2020-03-14 | 2020-05-19 | 天地科技股份有限公司 | Intelligent control method and system for fully mechanized mining equipment for complex condition working face |
| CN114358730A (en) * | 2021-12-31 | 2022-04-15 | 中煤科工集团信息技术有限公司 | Coal business processing method and equipment based on machine learning |
| CN114626165A (en) * | 2022-03-30 | 2022-06-14 | 大连理工大学 | Construction method of digital twin body of jib crane |
| CN114658489A (en) * | 2022-04-13 | 2022-06-24 | 辽宁工程技术大学 | Coal mine rock burst disaster monitoring and early warning system based on digital twins |
-
2023
- 2023-01-06 CN CN202310016315.4A patent/CN115906336B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111208759A (en) * | 2019-12-30 | 2020-05-29 | 中国矿业大学(北京) | Digital twin intelligent monitoring system for unmanned fully mechanized coal mining face of mine |
| CN113722979A (en) * | 2021-07-30 | 2021-11-30 | 太原理工大学 | Coal mining machine virtual-real interaction system based on digital twinning and construction method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115906336A (en) | 2023-04-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10591886B2 (en) | Control system, control program, and control method for device switching responsive to abnormality detection | |
| CN105209987A (en) | Information processing device, and information processing device control method and control program | |
| Miyagi et al. | Modeling and analysis of fault-tolerant systems for machining operations based on Petri nets | |
| CN110430128B (en) | Edge computing gateway | |
| KR101135274B1 (en) | Plant control system and method | |
| US8862251B2 (en) | Controller for machine tool and machining-related data processing system provided therewith | |
| CN105137902B (en) | Simulation system | |
| CN106054822B (en) | Planning and engineering method, software tool and simulation tool | |
| CN113722979A (en) | Coal mining machine virtual-real interaction system based on digital twinning and construction method thereof | |
| KR101178186B1 (en) | Method of alarming abnormal situation of plc based manufacturing system using plc signal pattern in pc based system | |
| CN115906336B (en) | Modeling method and system for digital twin model of coal mining machine based on hardware-in-loop simulation | |
| CN113420465A (en) | Hydraulic support full-life cycle management method based on digital twin model | |
| CN107797528A (en) | Produce control device | |
| Riascos et al. | Detection and treatment of faults in manufacturing systems based on Petri Nets | |
| CN105739463B (en) | Molding equipment and peripheral equipment for molding equipment | |
| CN107065647A (en) | A kind of chassis fault diagnosis and health detecting system | |
| CN105300700A (en) | Engine test parking protection system and test bed measurement and control system with engine test parking protection system | |
| CN111571594B (en) | Method for improving transparency and stability of teleoperation robot | |
| CN106707948A (en) | Shearer frequency-converted haulage unit computer monitoring system | |
| CN114193459B (en) | Control system of mechanical arm and test method thereof | |
| CN108376206B (en) | Method for monitoring mechanical equipment on line in real time by applying kinematics combined simulation platform | |
| WO2023053511A1 (en) | Control system, information processing method, and information processing device | |
| US20220391561A1 (en) | Simulation device, simulation method, and non-transitory computer-readable storage medium storing simulation program | |
| EP4160452A1 (en) | Computer-implemented method and surveillance arrangement for identifying manipulations of cyber-physical-systems as well as computer-implemented-tool and cyber-physical-system | |
| CN117270417A (en) | Safety detection method, system and readable storage medium for earth-rock machinery |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |