CN102566438A - Modelica language-based simulation modeling method of amplitude-changing mechanism of automobile crane - Google Patents
Modelica language-based simulation modeling method of amplitude-changing mechanism of automobile crane Download PDFInfo
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Abstract
The invention relates to the technical field of simulation systems of amplitude-changing mechanisms of automobile cranes, particularly to a Modelica language-based simulation modeling method of the amplitude-changing mechanism of the automobile crane. The Modelica language-based simulation modeling method comprises the following steps: 1) dismantling the system; 2) performing component-level modeling; 3) performing sub-system-level modeling; 4) performing system-level modeling; 5) performing simulation control; and 6) finally demonstrating a simulation result. The Modelica language-based simulation modeling method disclosed by the invention adopts a modeling language Modelica of a multi-domain uniform object-oriented physical system for performing mechanical, hydraulic, control and other multi-domain coupled modeling and simulation on the amplitude-changing mechanism of the automobile crane, and various performance curves in two models, namely control and non-control, are analyzed and compared, so that the model adopting the method is proved to be capable of greatly improving the stability of the whole machine in comparison with mechanical and hydraulic models, and avoiding great hydraulic shock and vibration.
Description
[technical field]
The present invention relates to truck-mounted crane derricking gear analogue system technical field, specifically a kind of truck-mounted crane derricking gear emulation modelling method based on the Modelica language.
[background technology]
Truck-mounted crane is owing to utilize automobile chassis, has the going through performance of automobile, maneuverability, and travel speed is fast, transfers to advantage such as can devote oneself to work rapidly behind the operation place, is widely used in cargo handling, transfer, equipment is installed and occasion such as work high above the ground.And derricking gear is the important component part of truck-mounted crane, and its structural shape and operation operating mode are various, and work characteristics intermittently, repeat, circulation.In frequent starting, the braking procedure, mechanism and structure are being born strong shock and vibration, are multi-field coupled systems such as typical machinery, hydraulic pressure, control.So, to the truck-mounted crane derricking gear rationally, science, comprehensively Dynamic Modeling emulation multi-field and that deposit just seems particularly important and urgent.
The changing-breadth system of truck-mounted crane mainly is made up of machinery and two fields of hydraulic pressure, and traditional particular area modeling and simulation analysis tool, the obviously task of not competent its overall performance simulation analysis.For further studying and improve the dynamic perfromance of truck-mounted crane changing-breadth system, also must take into full account the influence of control section to the machine system dynamic response.Like this, the modeling of system just relates to a plurality of fields such as machinery, hydraulic pressure and control.And if the characteristic of simple vehicle into account crane amplitude variation mechanism self mechanical system can adopt machinery system dynamics analysis software instrument (for example MSC_ADMAS) to carry out emulation; If but consider whole changing-breadth system dynamic property, stability etc.; These characteristics not only relate to the dynamics of mechanical system; And relate to hydraulic systems, electronics electric-control system etc.; So adopt single instrument to be difficult to because the characteristic that the coupling of a plurality of different field subsystems causes is analyzed accurately, and can not consider the energy coupling effect of machinery, hydraulic pressure and control to these.
To the typical multi-field problem in the above truck-mounted crane derricking gear; Also produced in the engineering particular area emulation tool has been carried out method integrated or that carry out multi-field continuation; For example; The model of machinery system dynamics simulation analysis software ADAMS is exported to the MATLAB/Simulink model, be integrated into then in the MATLAB/Simulink software, and carry out large-scale associative simulation with hydraulic power simulation analysis software AMSim.Though this thinking provides a kind of solution multipotency territory Coupled Dynamics method of emulation, this kind method is difficult to accomplish the seamless integrated of multiple different instruments.And the problem of different field adopts different instruments to set up different models to carry out emulation, certainly will will run into the challenge of data transfer, and model repeats and be not reusable, can cause the problem of aspects such as simulation accuracy, modeling efficiency, simulation velocity.
The Modelica language is OO emulational language, and it is the modeling basis of Mworks.The Modelica language is to be unified Modeling that solves multi-field physical system and collaborative simulation, on the basis of conclusion and unified previous multiple modeling language, and a kind of include statements Include modeling language that proposed in 1997 based on equation.It adopts math equation to describe the physics law and the phenomenon of different field subsystem; Constitute with multi-field integrated based on the inherent assembly connection mechanism implementation model of language according to the topological structure of physical system, through finding the solution the realization simulation run of differential algebraic equations system.
[summary of the invention]
The object of the invention is exactly will solve above-mentioned deficiency and a kind of truck-mounted crane derricking gear emulation modelling method based on the Modelica language is provided; Have modularization, stratification, standardization and parametrization, and realistic model interoperability and the strong characteristics of reusability.
For realizing a kind of truck-mounted crane derricking gear emulation modelling method based on the Modelica language of above-mentioned purpose design, it comprises the steps:
1) system disassembles: at first real car crane amplitude variation mechanism is carried out system-level disassembling; Make up a series of physical system models; Comprise mechanical subsystem, hydraulic subsystem and RACS; And then mechanical subsystem, hydraulic subsystem and the RACS that obtains decomposed, obtain the element of different field;
2) component-level modeling: carry out modeling analysis to decomposing the primary element that obtains; Make up the interface of element; At first make up the interface of same class component, interface is divided into input interface and output interface, and the output interface of last element is connected with the input interface of back one element; Transmission between the different types of components will guarantee that it has identical interface, and the physical model of same parts is described through the system of equations between its input interface, the output interface;
3) subsystem irrespective of size modeling: the element that utilizes the component-level modeling to obtain, and combine the element in basic storehouse of Modelica and the Hylib storehouse, mechanical subsystem, hydraulic subsystem and the RACS of truck-mounted crane derricking gear are built;
4) system-level modeling: through the realistic model of corresponding " void " model substituted component or subsystem in the use parts; Graphic interface function through platform: window management, drag and drop, mobile " void " model icon, interface connection and interpolation parameter, system of equations make up;
5) Simulation Control;
6) last, the simulation result demonstration.
Said mechanical subsystem comprises brace table, revolute pair, arm; Said hydraulic subsystem comprises oil cylinder, hydraulic pump, hydraulic cylinder, surplus valve, proportional servo valve, equalizing valve, retaining valve, and said RACS comprises speed pickup, displacement transducer, totalizer, subtracter and control element.
Said component-level modeling, the modeling of subsystem irrespective of size, system-level modeling adopt open modeling pattern.
The said parametric modeling that when making up element, adopts.
Beneficial effect of the present invention: this method is to the deficiency of prior art; The modeling and simulation that adopts a kind of modeling language Modelica of multi-field unified object-oriented physical system to carry out the multi-field couplings such as machinery, hydraulic pressure and control of truck-mounted crane derricking gear; And through analyzing the various performance curves in relatively control and two kinds of models of non-control; Thereby proof adopts the model of this kind method; Can make complete machine stability obtain bigger raising, and avoid big hydraulic shock and vibration than the mechanical-hydraulic model.
[description of drawings]
Fig. 1 is the physical construction synoptic diagram of derricking gear;
Fig. 2 is the luffing hydraulic cylinder twisted point position view of Fig. 1;
Fig. 3 is the hydraulic part synoptic diagram of derricking gear;
Fig. 4 is the control element icon synoptic diagram after encapsulating;
Fig. 5 is uncontrolled derricking gear Mworks platform model synoptic diagram;
Fig. 6 is the derricking gear Mworks platform model synoptic diagram of band control;
Fig. 7 is the 3D flash demo synoptic diagram of derricking gear system;
Fig. 8 is not for having control and having the proportional servo valve input signal of control system to contrast synoptic diagram;
Fig. 9 is not for there being the contrast synoptic diagram of controlling and the arm change angle of control system being arranged;
Figure 10 is not for there being the contrast synoptic diagram of controlling and the arm variable phase angle speed of control system being arranged;
Figure 11 is not for having control and having the pivoting support center vertical direction stress curve of control system to contrast synoptic diagram;
Figure 12 is not for there being the contrast synoptic diagram of controlling and the luffing hydraulic cylinder top hydraulic coupling of control system being arranged;
Figure 13 is not for there being the contrast synoptic diagram of controlling and the hydraulic pump top hole pressure of control system being arranged;
Among the figure: 1 is that brace table, 2 is that luffing hydraulic cylinder, 3 is back that the revolute pair, 4 between brace table and the arm is that arm, 5 is that control element TimeTable, 6 is that angular transducer, 7 is that totalizer, 8 is that angular-rate sensor, 9 is that negative feedback component, 10 is that angular velocity constant, O are that arm root twisted point, C are that luffing hydraulic cylinder root twisted point, A (B) are the supporting twisted point of luffing hydraulic cylinder and arm.
[embodiment]
Further specify below below in conjunction with accompanying drawing the present invention being done:
The truck-mounted crane derricking gear simulation modeling step that the present invention is based on the Modelica language comprises: system disassembles, component-level modeling, the modeling of subsystem irrespective of size and system-level modeling, promptly comprises top-down system decomposition and from bottom to top system building.At first, the deviser carries out system-level disassembling to real car crane amplitude variation mechanism, makes up a series of physical system models, comprises mechanical system, hydraulic system and control system etc., and then the subsystem that obtains is decomposed, and obtains the element of different field; Carry out modeling analysis to decomposing the primary element that obtains then, use above primary element to be built into each sub-systems of derricking gear respectively, and then use the complete truck-mounted crane derricking gear system of subsystem establishment that obtains of building.For truck-mounted crane derricking gear system; Mechanical subsystem comprises brace table, revolute pair, arm etc.; Hydraulic system comprises oil cylinder, hydraulic pump, hydraulic cylinder, surplus valve, proportional servo valve, equalizing valve, retaining valve etc., and RACS comprises speed pickup, displacement transducer, totalizer, subtracter and control element TimeTable.Above model element not only can use on the MWorks platform of Suzhou with the exploitation of first soft control company, can also use at the dymola platform of the Sweden that supports the Modelica linguistic norm.The present invention simultaneously adopts open modeling pattern, and the user in use can expand this software library according to the demand of self.
In the process of component-level modeling; The basic storehouse of Modelica and other commerce or non-commercial storehouse provide some primary elements that can directly use; Singularity for the practical set-up system; Some are not included in the element in the basic storehouse of Modelica and commercial storehouse or the non-commercial storehouse, can make up through developing voluntarily.When making up the interface of element; It at first is same class component; The just above-mentioned system that carries out respectively is classified as one type with machinery, hydraulic pressure etc. in disassembling, type the most significantly characteristics be exactly identical physics background, interface is divided into input interface and output interface; Interface has guaranteed the parameter transmission between the element, and the output interface of last element is connected with the input interface of back one element; Transmission between the different types of components will guarantee that it has identical interface, can link to each other with rotating element like oil motor, mainly is that they have common revolute interface; The physical model of same parts is described through the system of equations between its input interface, the output interface.When making up parts, also adopt parametric modeling, helped the repeated use of model.Parts to building encapsulate, and the user only need revise its parameter, just applicable different model system.
In the process of subsystem irrespective of size modeling, the element that utilizes the component-level modeling to obtain, and combine the element in basic storehouse of Modelica and the Hylib storehouse, mechanical system, hydraulic system and the control system of truck-mounted crane derricking gear are built.Realistic model through corresponding " void " model (being component icon) substituted component or subsystem in the use parts; Graphic interface function through platform: window management, drag and drop, mobile " void " model icon, structures such as interface connection and interpolation parameter, system of equations.
Like annex map 1, shown in Figure 2, the physical construction of truck-mounted crane derricking gear is made up of arm, brace table and luffing hydraulic cylinder.Through stretching of control luffing hydraulic cylinder, drive the relative brace table of arm and in perpendicular, rotate, to realize luffing.The research object QY100 truck-mounted crane of present embodiment adopts FC single hydraulic cylinder changing-breadth system, and derricking gear then designs according to the physical dimension of 31 heavy industry QY100 model cranes.Fig. 2 is the mutual alignment of arm and luffing hydraulic cylinder twisted point, and arm root twisted point O point and hydraulic cylinder root twisted point C point can be confirmed according to the criterion of crane amplitude variation train of mechanism design.And the position of the supporting twisted point A (B) of luffing hydraulic cylinder and arm is confirmed by following method, and the structural condition that twisted point A (B) needs to satisfy is: when arm laid respectively at minimum angle of elevation and maximum elevation state, luffing hydraulic cylinder length was shortest length
And maximum length
Owing to adopt single-stage luffing hydraulic cylinder, so its maximum length and fundamental length have the L of relation
Max=(1.7～1.8) L
MinAvailable thus triangle formula is tried to achieve the position of A (B) point.The relation at its limit and angle is:
Shown in Figure 3 like annex; Multi-disciplinary Modeling for the luffing hydraulic cylinder of truck-mounted crane; Hydraulic cylinder is a unidimensional system in Modelica hydraulic pressure Hylib 2.4 storehouses; Can only export the stroke, thrust, speed of hydraulic cylinder etc., but can not express the direction of corresponding output, and many rigid bodies storehouse of in crane amplitude variation system modelling process shown in the present, using is three-dimensional.Many rigid bodies of two dimension storehouse element is converted into three-dimensional machinery power with the hydraulic coupling of hydraulic cylinder, and the three-dimensional exploded of power is by input, the decision of output physical construction.The major parameter of hydraulic cylinder is in the model: piston rod length 4m, hydraulic cylinder length 4.3m, rodless cavity area 0.1m
2, piston rod area 0.04m
2
Shown in Figure 4 like annex, be the control element TimeControl input and output icon after the encapsulation, realize through programming its inside.Be to realize the control element TimeControl of arm change angle control function, this element can accurately be controlled luffing hydraulic cylinder bi-directional expansion through the openings of sizes of control solenoid directional control valve, and avoids solenoid directional control valve moment standard-sized sheet or the moment hydraulic shock that causes of full cut-off; Promptly slowly open at t0 moment valve; After physical location was about to reach the target location, valve was slowly closed, to guarantee when the derricking gear first motion; The smooth starting of arm ability; When arm is about to run to the target location, in time adjust control signal, make variable phase angle speed be reduced to zero gradually.Control element TimeControl provides the output between-1～1, and its output form is following:
t≤t
o y＝0
t
o＜t＜t
o+2?
?t
2＜t＜t
2+2?
t
o+2＜t＜t
1 y＝1 t
2+2＜t＜t
3 y＝-1
t
1＜t＜t
1+2?
?t
3＜t＜t
3+2?
t
1+2＜t＜t
2 y＝0 t
3+2＜t y＝0
TimeControl output when (a) arm hoists | TimeControl output when (b) arm descends
Wherein, t
0And t
2Be respectively arm and hoist and descend the initial moment, with the parametric form setting; t
1And t
3Be respectively arm and be about to arrive and to hoist and descend the target location constantly, calculate by the angular transducer measurement.Be input as arm and the measured arm of the brace table twisted point place angular transducer angle that hoists.
Like annex map 5, shown in Figure 6, the mechanical part of arm and brace table mainly is based on interface in the basic storehouse of Modelica, element, kinematic pair, sensor etc. and builds through distortion and secondary development, and all metal material density unifications are set to 7.7g/cm
3Hydraulic unit mainly is based on oil cylinder, hydraulic pump, hydraulic cylinder in Hylib 2.4 storehouses, and various Hydraulic Elements such as surplus valve, proportional servo valve, retaining valve etc. are out of shape and secondary development two is built.In modeling, adopt the 3-position 4-way proportional reversing valve, maximum oil pressure relief is set at 80MPa, and the delivery rate of hydraulic pump is set at 40L/min.Based on above-mentioned theory and principle, be MWorks platform model such as Fig. 5 and shown in Figure 6 that simulation object makes up with QY100 model truck-mounted crane derricking gear.
Among the present invention; Angular transducer AngleSensor is used for measuring change angle, and SpeedSensor is used for measuring variable phase angle speed, the signal that at last sensor is recorded; Control the openings of sizes of hydraulic proportional servo-valve in the hydraulic cylinder through closed loop differential negative-feedback process; Guaranteeing when the luffing starting and ending, telescopic arm can smooth starting and is stopped, and luffing can remain a constant speed in amplitude changing process.
Annex map 8 to shown in Figure 13 be the visual simulation result of part, wherein dotted line and solid line are represented in the changing-breadth system the various change curves that do not have control and control system is arranged respectively.Can see intuitively through contrast, adopt truck-mounted crane model that the method for the invention sets up at the luffing starting and ending time, telescopic arm can smooth starting and is stopped, and the luffing that in amplitude changing process, can remain a constant speed., do not have big hydraulic shock in its luffing hydraulic cylinder, and very large impulsive force is caused in the revolution centre of support, and not only can avoid hydraulic shock, and can obtain luffing speed stably through PD control through the changing-breadth system of PD control.
Among the present invention; The deviser is a research object with the QY100 truck-mounted crane; The dynamics simulation model of multi-field couplings such as the machinery, hydraulic pressure of its changing-breadth system is set up in utilization based on the Mworks platform of modelica language; And the amplitude that hoists of derricking gear and speed carried out accurate PD control modeling, write control program; The truck-mounted crane changing-breadth system course of work is carried out dynamic simulation, analyze and to have compared under control and two kinds of situation of non-control, the stress curve of Hydraulic Elements such as hydraulic cylinder, and truck-mounted crane turned round the acting force and the moment of supporting mechanism.Simulation result shows, PD control has guaranteed that arm can smooth starting when the luffing starting and ending and stop, and the luffing that in amplitude changing process, can remain a constant speed.Make the stability of total system the highest, avoid producing big shock and vibration; Result verification the science and the feasibility of this paper multi-field multiple physical field coupling model of modelica of setting forth.For the engineering design of truck-mounted crane changing-breadth system provides theoretical foundation; In the middle of the modeling and dynamic analysis of the engineering machinery system that its method and program can be widely used in is mechanical, electrical, liquid, control are coupled, large complicated engineering machinery systematic research there is certain directive significance.
Claims (4)
1. the truck-mounted crane derricking gear emulation modelling method based on the Modelica language is characterized in that, comprises the steps:
1) system disassembles: at first real car crane amplitude variation mechanism is carried out system-level disassembling; Make up a series of physical system models; Comprise mechanical subsystem, hydraulic subsystem and RACS; And then mechanical subsystem, hydraulic subsystem and the RACS that obtains decomposed, obtain the element of different field;
2) component-level modeling: carry out modeling analysis to decomposing the primary element that obtains; Make up the interface of element; At first make up the interface of same class component, interface is divided into input interface and output interface, and the output interface of last element is connected with the input interface of back one element; Transmission between the different types of components will guarantee that it has identical interface, and the physical model of same parts is described through the system of equations between its input interface, the output interface;
3) subsystem irrespective of size modeling: the element that utilizes the component-level modeling to obtain, and combine the element in basic storehouse of Modelica and the Hylib storehouse, mechanical subsystem, hydraulic subsystem and the RACS of truck-mounted crane derricking gear are built;
4) system-level modeling: through the realistic model of corresponding " void " model substituted component or subsystem in the use parts; Graphic interface function through platform: window management, drag and drop, mobile " void " model icon, interface connection and interpolation parameter, system of equations make up;
5) Simulation Control;
6) last, the simulation result demonstration.
2. the method for claim 1; It is characterized in that: said mechanical subsystem comprises brace table, revolute pair, arm; Said hydraulic subsystem comprises oil cylinder, hydraulic pump, hydraulic cylinder, surplus valve, proportional servo valve, equalizing valve, retaining valve, and said RACS comprises speed pickup, displacement transducer, totalizer, subtracter and control element.
3. according to claim 1 or claim 2 method, it is characterized in that: said component-level modeling, the modeling of subsystem irrespective of size, system-level modeling adopt open modeling pattern.
4. method as claimed in claim 3 is characterized in that: the said parametric modeling that when making up element, adopts.
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| CN105329788A (en) * | 2015-12-10 | 2016-02-17 | 青岛海西重机有限责任公司 | Uniform velocity amplitude-varying control method for jib crane |
| CN108732938A (en) * | 2017-04-14 | 2018-11-02 | 北京空间技术研制试验中心 | Dynamics and control of spacecraft model base construction method based on Modelica models |
| CN110245378A (en) * | 2019-05-09 | 2019-09-17 | 上海大学 | The mechanical-hydraulic coupling modeling method of bridge crane hoisting system |
| CN111414695A (en) * | 2020-03-19 | 2020-07-14 | 苏州同元软控信息技术有限公司 | Modelica-based joint simulation system and construction method thereof |
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Cited By (9)
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|---|---|---|---|---|
| CN103064297A (en) * | 2012-09-25 | 2013-04-24 | 大连理工大学 | Double mobile crane cooperative hoisting simulation method based on kinematics and dynamics |
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| CN108732938A (en) * | 2017-04-14 | 2018-11-02 | 北京空间技术研制试验中心 | Dynamics and control of spacecraft model base construction method based on Modelica models |
| CN110245378A (en) * | 2019-05-09 | 2019-09-17 | 上海大学 | The mechanical-hydraulic coupling modeling method of bridge crane hoisting system |
| CN111414695A (en) * | 2020-03-19 | 2020-07-14 | 苏州同元软控信息技术有限公司 | Modelica-based joint simulation system and construction method thereof |
| CN113562640A (en) * | 2021-08-19 | 2021-10-29 | 三一汽车起重机械有限公司 | Amplitude variation test method and amplitude variation test system for crane |
| CN113562640B (en) * | 2021-08-19 | 2023-08-15 | 三一汽车起重机械有限公司 | Amplitude-changing test method and test system for crane |
| CN113569341A (en) * | 2021-09-23 | 2021-10-29 | 中汽研汽车检验中心（天津）有限公司 | Design method of cross-platform simulation architecture of automobile domain |
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