CN102254464A - Method for simulating mechanism motion virtual experiment based on mechanical principles of members - Google Patents
Method for simulating mechanism motion virtual experiment based on mechanical principles of members Download PDFInfo
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Abstract
The invention relates to a method for simulating a mechanism motion virtual experiment based on mechanical principles of members. The method comprises the following steps of: 1) establishing the logic models of basic members in a uniform modeling language mode, namely Modelica, establishing the three-dimensional geometric models of the members by using three-dimensional modeling software, and integrating the three-dimensional geometric models of the members with the logic models of the members to establish a complete experimental member model which is described in extensible makeup language (XML); 2) constructing the experiment scene Modelica model of the virtual experiment, reading corresponding member files according to the members which are required by the experiment, selecting the three-dimensional models of the members, and assembling interfaces which are required to be connected among the members; 3) after the assembly is finished, setting simulation parameters, and starting the compilation solving simulation of the scene model; and 4) processing the data of a solving result file, and driving the visualization of a mechanism three-dimensional model in the assembly simulation environment of the virtual experiment. Compared with the prior art, the method for simulating the mechanism motion virtual experiment based on the mechanical principles of the members has the advantages that: boring theoretical knowledge becomes vivid and easy to grasp and has high universality, and the like.
Description
Technical field
The present invention relates to a kind of emulation mode of machine power experimental teaching, especially relate to a kind of mechanism kinematic virtual experimental emulation mode based on the member mechanical principle.
Background technology
Multi-field general modeling and simulating Modelica (MO) is for solving complicated physical system multidomain uniform modeling and simulation problems, and a kind of object-oriented that proposes is based on the include statements Include modeling language of equation.
OpenSceneGraph is a high performance 3D graphical development storehouse.Be widely used in fields such as visual simulating, recreation, virtual reality, high-end technology research and development and modeling.
Traditional experimental teaching need offer the hardware environment and the software environment of student's hands-on, and this need take a large amount of teaching resources.In recent years, because the increase of number of student has caused certain pressure to experimental teaching, and the virtual experimental teaching platform can play an important role aspect the raising student innovation ability.
Present virtual experimental is mostly towards specific subject, and also do not have the virtual experimental universal developing platform now, and the exploitation of virtual experimental belongs to the single-piece exploitation basically, and this has limited virtual experimental popularizing in experimental education.
Domestic virtual experimental field is in the starting stage: the College Physics network three-dimensional experiment based on Virtools of Jilin University, the virtual experimental platform based on the Jini technology of Sichuan Teachers University, Institutes Of Technology Of Taiyuan is based on the remote dummy laboratory of LabView, the Based Intelligent Control virtual laboratory based on VRML and MATLAB of Zhengzhou University.The starting of external virtual experimental field early, obtained the security assurance information teaching virtual laboratory of many achievements as: Colombia state university, the information technology teaching virtual experimental of University of California, east is real, the electronic multimedia virtual laboratory of Swiss Federal Institute of Technology, the e-Learning of Purdue University virtual laboratory etc.
Summary of the invention
Purpose of the present invention is exactly to provide a kind of mechanism kinematic virtual experimental emulation mode based on the member mechanical principle for the defective that overcomes above-mentioned prior art existence.
Purpose of the present invention can be achieved through the following technical solutions:
A kind of mechanism kinematic virtual experimental emulation mode based on the member mechanical principle is characterized in that, may further comprise the steps:
1) on the logical relation basis between each member of analyzing mechanical principle mechanism exercise testing, from mechanism member, take out basic building block, set up the logical model of these basic building blocks in the mode of unified modeling language Modelica, the unified Modelica model bank that is stored in, set up the 3-D geometric model of member simultaneously by 3 d modeling software, the 3-D geometric model of member and the logical model of member are integrated, the full experiment component model that foundation is described with XML is set up the experiment build list table;
2) from the experiment build list table, choose the member that needs, and define the annexation of each member, build the experiment scene Modelica model of virtual experimental; The member required according to experiment reads in corresponding member file, and the three-dimensional model of selected member is assembled the interface that needs between the member to connect;
3) after assembling is finished, obtain the Modelica description document of experiment scene model, the parameter of emulation is set, emulation is found the solution in the compiling of beginning model of place;
4) the solving result file is carried out data processing, obtain how much exercise data files of component model, thereby drive the visual of mechanism's three-dimensional model in the virtual experimental assembly simulation environment, realize that the three-dimensional of mechanical principle experiment is built and visual simulating.
The full experiment component model information that XML in the described step 1) describes comprises:
(1) member essential information: member ID, member title, element type, discipline information, founder's information, date created, described member ID is corresponding one by one with member in the Modelica storehouse;
(2) component interface tabulation: be used for the interface that is connected between member and the member;
(3) structure attribute tabulation: the parameter that component inside is explained with mathematic(al) representation;
(4) logical place of member in the Modelica storehouse;
(5) the Visualization Model information and the Conversion Matrix of Coordinate of geometric features.
Whether whether described component inside comprise the ID, title, symbol, value, unit, minimum value, maximal value of parameter, show and can revise at modeling environment with the parameter of mathematic(al) representation statement; Describedly whether can revise that be used to show can be for the parameter of user input values, described whether at the modeling environment display definition need turn back to the result parameter of modeling environment.
Described Modelica storehouse is a tree structure, and what logical place was deposited is the path of this member from root node to its child node.
It is as follows that simulation process is found the solution in the compiling of the model of place in the described step 3):
The Modelica description document of experiment scene is imported into and is found the solution module; when finding the solution, solver calls in each subject Modelica basic building block storehouse and each subject Modelica combined member storehouse earlier; obtain the simulation time setting; call the compiling solver and find the solution experiment scene Modelica file; obtain the result of the plt form output data form of each moving link, solving result converts as a result by finding the solution the data parsing instrument that description document turns back to modeling environment to.
It is specific as follows that described compiling solver is found the solution experiment scene Modelica file:
Experiment scene Modelica model conversion is become the flat mode of describing with serial system of equations, by the OpenModelica compiler, convert flat mode to the C language source code, by the GCC compiler C programmer is compiled into executable file again, realize the calculating of experiment scene model is found the solution.
In the described step 4) that the solving result file is carried out data processing is specific as follows:
The file conversion of plt form is become VR Flier animation path file, and its process is at first to intercept the data that need from the plt file; Secondly by the operation of C++ document flow, data file is read in Installed System Memory, assignment is given corresponding array; At last, position coordinates and angle are converted into transformation matrix.
Compared with prior art, the present invention has the following advantages:
1) adopts OO physical system modeling language Modelica, utilize the consistance of the inherent math equation description of different field physics law, realize the unified Modeling of different subjects experiment component models;
2) based on the experiment component model, set up the link association between the member, be assembled into the experiment scene model, experimentize again and find the solution, set up the virtual experimental platform, support to finish multi-disciplinary virtual experimental;
3) at the cognitive features of experiment of mechanical subject mechanism kinematic, with entire mechanism exercise testing procedural abstraction is the virtual experimental component model that unified mode is described, this model comprises visual information and logical message, logical message is by unified modeling language Modelica modeling, assembling virtual experimental scene under reality environment, carry out the compiling of math equation by the MO model to scene and find the solution, obtain the output data of mechanism kinematic, it is visual with simulation result to return reality environment again;
4) based on original VR-Platform VR Filer, developed the virtual experimental assembly simulation system of the cognitive experiment of mechanism kinematic, development and application by virtual experimental system, the student can be in this virtual environment on, utilize component base that mechanism's experiment is built and emulation, this makes the student understand better that mechanism forms and motion principle, allows the uninteresting knowwhy image that becomes be easy to grasp;
5) employing is calculated the virtual experimental modeling and simulation with unified modeling method and is found the solution, and has relative independentability between each module, have versatility, thereby this system is easy to be extended to the virtual experimental of other subjects.
Description of drawings
Fig. 1 is a test simulation process flow diagram of the present invention;
Fig. 2 finds the solution process flow diagram for compiling solver of the present invention.
Embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.
Embodiment
As shown in Figure 1, a kind of mechanism kinematic virtual experimental emulation mode based on the member mechanical principle is characterized in that, may further comprise the steps:
1) on the logical relation basis between each member of analyzing mechanical principle mechanism exercise testing, from mechanism member, take out basic building block, set up the logical model of these basic building blocks in the mode of unified modeling language Modelica, the unified Modelica model bank that is stored in, set up the 3-D geometric model of member simultaneously by 3 d modeling software, the 3-D geometric model of member and the logical model of member are integrated, the full experiment component model that foundation is described with XML is set up the experiment build list table;
2) from the experiment build list table, choose the member that needs, and define the annexation of each member, build the experiment scene Modelica model of virtual experimental; The member required according to experiment reads in corresponding member file, and the three-dimensional model of selected member is assembled the interface that needs between the member to connect;
3) after assembling is finished, obtain the Modelica description document of experiment scene model, the parameter of emulation is set, emulation is found the solution in the compiling of beginning model of place;
4) the solving result file is carried out data processing, obtain how much exercise data files of component model, thereby drive the visual of mechanism's three-dimensional model in the virtual experimental assembly simulation environment, realize that the three-dimensional of mechanical principle experiment is built and visual simulating.
The full experiment component model information that XML in the described step 1) describes comprises:
(1) member essential information: member ID, member title, element type, discipline information, founder's information, date created, described member ID is corresponding one by one with member in the Modelica storehouse;
(2) component interface tabulation: be used for the interface that is connected between member and the member;
(3) structure attribute tabulation: the parameter that component inside is explained with mathematic(al) representation; Whether whether this parameter comprise the ID, title, symbol, value, unit, minimum value, maximal value of parameter, show and can revise at modeling environment; Describedly whether can revise that be used to show can be for the parameter of user input values, described whether at the modeling environment display definition need turn back to the result parameter of modeling environment.
(4) logical place of member in the Modelica storehouse; Described Modelica storehouse is a tree structure, and what logical place was deposited is the path of this member from root node to its child node.
(5) the Visualization Model information and the Conversion Matrix of Coordinate of geometric features.
As shown in Figure 2; it is as follows that simulation process is found the solution in the compiling of the model of place in the described step 3): the Modelica description document of experiment scene is imported into and is found the solution module; when finding the solution, solver calls in each subject Modelica basic building block storehouse and each subject Modelica combined member storehouse earlier; obtain the simulation time setting; call the compiling solver and find the solution experiment scene Modelica file; obtain the result of the plt form output data form of each moving link, solving result converts as a result by finding the solution the data parsing instrument that description document turns back to modeling environment to.
It is specific as follows that described compiling solver is found the solution experiment scene Modelica file: experiment scene Modelica model conversion is become the flat mode of describing with serial system of equations, by the OpenModelica compiler, convert flat mode to the C language source code, by the GCC compiler C programmer is compiled into executable file again, realizes the calculating of experiment scene model is found the solution.
In the described step 4) that the solving result file is carried out data processing is specific as follows: the file conversion of plt form is become VR Flier animation path file, and its process is, at first the data that intercepting needs from the plt file; Secondly by the operation of C++ document flow, data file is read in Installed System Memory, assignment is given corresponding array; At last, position coordinates and angle are converted into transformation matrix.
The path file that obtains after the data processing above utilizing, model of creation loads listing file, and guarantees that the order of stress model must be corresponding with the order of output key point.Can load relevant data by VR Flier platform, and the frame of animation and the time parameter between the frame are set, can drive emulation three-dimensional model.
Virtual experimental with simple and easy punch body is an example,
Wherein table 1 is an elementary cell member logical model
Table 1
Table 2 is the member logical model combined situation of simple and easy punch press experiment
Table 2
Concrete experimentation is as follows:
Step 1: will test member and import platform.With flywheel, pedestal, slide block, connecting rod, plug drives, and 7 members of drift import platform.
Step 2: add the connection between the member.Select the matched interfaces of connecting rod and plug, establish a connection.
Step 3: the structure attribute parameter is set.After finishing connection, select drive member, rotary speed parameter is set.
Step 4: the simulation run parameter is set.Be set, concluding time, total emulation step number the start time of emulation.
Step 5: from " mechanism kinematic virtual experimental " menu, choosing begins the emulation that experimentizes.Simulation calculation gets the result will drive simple and easy punch body motion.
Claims (7)
1. the mechanism kinematic virtual experimental emulation mode based on the member mechanical principle is characterized in that, may further comprise the steps:
1) on the logical relation basis between each member of analyzing mechanical principle mechanism exercise testing, from mechanism member, take out basic building block, set up the logical model of these basic building blocks in the mode of unified modeling language Modelica, the unified Modelica model bank that is stored in, set up the 3-D geometric model of member simultaneously by 3 d modeling software, the 3-D geometric model of member and the logical model of member are integrated, the full experiment component model that foundation is described with XML is set up the experiment build list table;
2) from the experiment build list table, choose the member that needs, and define the annexation of each member, build the experiment scene Modelica model of virtual experimental; The member required according to experiment reads in corresponding member file, and the three-dimensional model of selected member is assembled the interface that needs between the member to connect;
3) after assembling is finished, obtain the Modelica description document of experiment scene model, the parameter of emulation is set, emulation is found the solution in the compiling of beginning model of place;
4) the solving result file is carried out data processing, obtain how much exercise data files of component model, thereby drive the visual of mechanism's three-dimensional model in the virtual experimental assembly simulation environment, realize that the three-dimensional of mechanical principle experiment is built and visual simulating.
2. a kind of mechanism kinematic virtual experimental emulation mode based on the member mechanical principle according to claim 1 is characterized in that, the full experiment component model information that the XML in the described step 1) describes comprises:
(1) member essential information: member ID, member title, element type, discipline information, founder's information, date created, described member ID is corresponding one by one with member in the Modelica storehouse;
(2) component interface tabulation: be used for the interface that is connected between member and the member;
(3) structure attribute tabulation: the parameter that component inside is explained with mathematic(al) representation;
(4) logical place of member in the Modelica storehouse;
(5) the Visualization Model information and the Conversion Matrix of Coordinate of geometric features.
3. a kind of mechanism kinematic virtual experimental emulation mode according to claim 2 based on the member mechanical principle, it is characterized in that described component inside comprises the ID, title, symbol, value, unit, minimum value, maximal value of parameter, whether shows and whether can revise at modeling environment with the parameter of mathematic(al) representation statement; Describedly whether can revise that be used to show can be for the parameter of user input values, described whether at the modeling environment display definition need turn back to the result parameter of modeling environment.
4. a kind of mechanism kinematic virtual experimental emulation mode based on the member mechanical principle according to claim 2 is characterized in that described Modelica storehouse is a tree structure, and what logical place was deposited is the path of this member from root node to its child node.
5. a kind of mechanism kinematic virtual experimental emulation mode based on the member mechanical principle according to claim 1 is characterized in that it is as follows that simulation process is found the solution in the compiling of the model of place in the described step 3):
The Modelica description document of experiment scene is imported into and is found the solution module; when finding the solution, solver calls in each subject Modelica basic building block storehouse and each subject Modelica combined member storehouse earlier; obtain the simulation time setting; call the compiling solver and find the solution experiment scene Modelica file; obtain the result of the plt form output data form of each moving link, solving result converts as a result by finding the solution the data parsing instrument that description document turns back to modeling environment to.
6. a kind of mechanism kinematic virtual experimental emulation mode based on the member mechanical principle according to claim 5 is characterized in that it is specific as follows that described compiling solver is found the solution experiment scene Modelica file:
Experiment scene Modelica model conversion is become the flat mode of describing with serial system of equations, by the OpenModelica compiler, convert flat mode to the C language source code, by the GCC compiler C programmer is compiled into executable file again, realize the calculating of experiment scene model is found the solution.
7. a kind of mechanism kinematic virtual experimental emulation mode based on the member mechanical principle according to claim 1 is characterized in that, in the described step 4) that the solving result file is carried out data processing is specific as follows:
The file conversion of plt form is become VR Flier animation path file, and its process is at first to intercept the data that need from the plt file; Secondly by the operation of C++ document flow, data file is read in Installed System Memory, assignment is given corresponding array; At last, position coordinates and angle are converted into transformation matrix.
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Application publication date: 20111123 |