CN106874629B - Simulation modeling method for automatic leveling system of paver - Google Patents

Abstract

The invention discloses a simulation modeling method of an automatic leveling system of a paver, which comprises the steps of firstly establishing a three-dimensional model of the automatic leveling system of the paver, importing a three-dimensional entity model into VL motion software, and establishing a dynamic model of the automatic leveling system; then establishing a model of an automatic leveling hydraulic system and a control system in AMESim software; and finally, generating a combined simulation interface of VL motion and AMESim software, completing simulation modeling of the automatic leveling system of the paver, and realizing mechanical, electrical and hydraulic integrated simulation. The invention adopts AMESim and VL motion combined simulation modeling, and fully utilizes the modeling advantages of each software in respective subject field, so that the model is more accurate and more targeted; the modeling process is simplified, and the model is more visual and concise; the simulation model is used for replacing a physical prototype, so that the test cost is reduced, and the test period is shortened.

Description

A simulation modeling method for automatic leveling system of paver

technical field

The invention relates to a simulation modeling method for an automatic leveling system of a paver, belonging to the field of construction machinery.

Background technique

Asphalt concrete paver is the core equipment for high-grade pavement paving, which has an important influence on the quality of pavement construction. Flatness is an important parameter to evaluate the quality of use of high-grade highways, and an important link in the control of pavement construction, and the automatic leveling system of paver is a key component that determines the control of pavement flatness. With the rapid development of highway construction, the requirements for the smoothness of the road surface are also increasing, so it is necessary to conduct in-depth research on the automatic leveling system of paver.

The automatic leveling system of the paver consists of a leveling device, a leveling hydraulic system and a leveling control system, which is a typical application of the integrated technology of machine, electricity and hydraulic. There are many factors affecting the performance of the leveling system, including a series of factors such as hydraulic system, control strategy and mechanical structure. Only relying on the test method to study the automatic leveling system has disadvantages such as high test cost, long test period and difficult parameter modification. There are two main modeling methods used in the existing paver automatic leveling system: one is the mathematical modeling method, which uses mathematical methods to establish the transfer function of the automatic leveling system. This method requires assumptions and simplification of the system; the second is Using a single simulation software for modeling, focusing on modeling and analysis of a certain part of the automatic leveling system, such as hydraulic system and mechanical structure, it is impossible to complete the multi-disciplinary comprehensive modeling of mechanics, electricity and hydraulics.

The above mathematical modeling methods have the following disadvantages:

(1) The automatic leveling system needs to be assumed and simplified before modeling, such as ignoring some nonlinear factors, approximate linearization, etc., resulting in a large gap between the simulation model and the actual system, and the model accuracy is poor;

(2) In the process of modeling, it is necessary to abstract and simplify the complex mechanical, electrical and hydraulic systems into a reasonable mathematical structure, which requires not only a comprehensive and in-depth understanding of the system, but also a solid mathematical foundation. , this method has disadvantages such as difficult modeling and complex modeling process.

The above single simulation software modeling method has the following shortcomings: Since the design of simulation software is generally subject-specific, the use of single software simulation modeling can only better reflect the characteristics of a certain part of the automatic leveling system, and it is impossible to compare the machine and electricity through the model. , Liquid multidisciplinary comprehensive system for comprehensive analysis.

Therefore, in order to overcome the above-mentioned defects of the test method, the present invention introduces the simulation modeling technology into the research of the automatic leveling system. The simulation modeling method is used to evaluate the key parameters of the automatic leveling system. The model parameters are easy to modify, which is conducive to the realization of design diversification. At the same time, it has the advantages of less capital investment, short design cycle and high R&D efficiency.

SUMMARY OF THE INVENTION

Purpose: In order to overcome the deficiencies in the prior art, the present invention provides a simulation modeling method for an automatic leveling system of a paver. The method adopts multi-software co-simulation modeling, and makes full use of the modeling advantages of each software in their respective disciplines. , to realize the integrated modeling of machine, electricity and hydraulics of the automatic leveling system, improve the accuracy of simulation modeling, simplify the modeling process; at the same time, reduce the test cost and shorten the design cycle.

Technical scheme: in order to solve the above-mentioned technical problems, the technical scheme adopted in the present invention is:

A simulation modeling method for an automatic leveling system of a paver, comprising the following steps:

Step 1: Establish a 3D solid model of the paver automatic leveling system in Pro/E software;

Step 2: Import the three-dimensional solid model into the VL motion software, and establish the dynamic model of the paver automatic leveling system in the VL motion software;

Step 3: establish an electro-hydraulic system model of the paver automatic leveling system in the AMESim software, and the paver automatic leveling electro-hydraulic system model includes a hydraulic system and a control system model;

Step 4: Perform setting calculation in VL motion software to generate dynamic model simulation interface file; load dynamic model simulation interface file through interface module in AMESim software, generate co-simulation interface, and realize mechanical, electrical and hydraulic integrated co-simulation .

Further, the method for simulating and modeling an automatic leveling system of a paver is characterized in that: it further comprises step 5: checking the simulation results in the AMESim electro-hydraulic system model and the VL motion dynamic model.

In step 1, a three-dimensional solid model is established according to the actual structure size and mutual motion relationship of each component of the paver automatic leveling system.

In step 2, the relevant settings of the dynamic model of the automatic leveling system of the paver include: kinematic pair, constraint setting, vehicle body movement speed setting and screed support force setting.

In step 2, according to the simulation modeling requirements, a joint simulation control node is added, wherein the input control node includes: leveling cylinder displacement, leveling cylinder speed and screed elevation angle; and the output control node is leveling cylinder output force.

In step 3, AMESim adopts the graphical physical modeling method. This modeling method is intuitive and concise, and avoids the tedious mathematical modeling process. Therefore, it is only necessary to perform graphical modeling according to the principle of the automatic leveling system.

In step 3, according to the principle of the automatic leveling hydraulic system, the hydraulic component design library and the hydraulic library are used to build the automatic leveling hydraulic system model; according to the automatic leveling control system logic, the signal control library is used to establish the control system model and correctly connect with the hydraulic system.

In step 4, set the solution in the VL motion dynamic model, generate a simulation interface file with the extension ".vlcosim", and use the interface module in the AMESim software to import the simulation interface file with the extension ".vlcosim" to generate a co-simulation interface , and properly connected with the leveling hydraulic system and control system.

In step 4, data transmission and information exchange can be performed between the dynamic model and the electro-hydraulic system model to realize the integrated simulation of mechanics, electricity and fluids.

Beneficial effects: The simulation modeling method for the automatic leveling system of the paver provided by the present invention adopts multi-software joint simulation modeling, makes full use of the modeling advantages of each software in their respective discipline fields, and realizes the mechanical, electrical and hydraulic automatic leveling system. Integrated modeling improves the accuracy of simulation modeling and simplifies the modeling process; at the same time, it reduces the test cost and shortens the design cycle. It has the following advantages: 1. Adopt AMESim and VL motion co-simulation modeling, make full use of the modeling advantages of each software in their respective disciplines, and make the models of the mechanical structure, hydraulic system and control system of the automatic leveling system more accurate and targeted. It can realize the integrated simulation of machine, electricity and hydraulic. 2. The use of graphical modeling and three-dimensional solid modeling avoids complicated mathematical model derivation, simplifies the modeling process, and makes the model more intuitive and concise. 3. Use the simulation model to replace the physical prototype to study the automatic leveling system. It is convenient to modify the model parameters, reduce the test cost and shorten the test period.

Description of drawings

Fig. 1 is the modeling flow chart of the present invention;

Figure 2 is the dynamic model of the automatic leveling system;

Figure 3 shows the electro-hydraulic system model of the automatic leveling system.

Detailed ways

The present invention will be further described below in conjunction with specific embodiments.

As shown in Figure 1, it is a simulation modeling method for an automatic leveling system of a paver, including the following steps:

Step 1: Establish a three-dimensional solid model of the paver automatic leveling system in Pro/E software.

According to the actual structure size and mutual motion relationship of each component of the paver automatic leveling system, a three-dimensional solid model is established. In order to simplify the model and improve the modeling efficiency, secondary parts, such as bolts, pins, etc., are ignored; at the same time, parts or components without relative motion are defined as the same part.

Step 2: Import the three-dimensional solid model into the VL motion software, and establish the dynamic model of the paver automatic leveling system in the VL motion software, as shown in Figure 2.

The main kinematic pairs and constraints adopted by the dynamic model of the present invention are shown in Table 1.

Table 1 The main kinematic pairs and constraints of the paver automatic leveling system

serial number Constrained parts Constraint type Remark 1 pavement fixed -- 2 Leveling cylinder liner_piston rod Cylindrical pair 2 3 Lifting cylinder liner_piston rod Cylindrical pair 2 4 Body_Leveling cylinder liner Rotary pair 2 5 Boom_Leveling Cylinder Piston Rod Rotary pair 2 6 Body_Lifting cylinder liner Rotary pair 2 7 Boom_Lifting Cylinder Piston Rod Rotary pair 2 8 Screed_Pavement point constraint 2 9 Body_Pavement point constraint 3

It is necessary to set the vehicle body speed drive, simulate the paving speed, and select "One-Body VelocityDriver" for the drive form. The speed can be edited along the direction of the coordinate axis.

It is necessary to set the support force of the screed to simulate the force of the mixture on the screed. The direction of the force is perpendicular to the bottom surface of the screed, and the magnitude of the force can be edited.

According to the simulation modeling requirements of the automatic leveling system, a joint simulation control node is added. The input control nodes include: leveling cylinder displacement, leveling cylinder speed and screed elevation angle; output control nodes: leveling cylinder output force. The above input and output are relative to the VL motion dynamic model.

Step 3: Establish the electro-hydraulic system model of the paver automatic leveling system in AMESim software, as shown in Figure 3, namely the hydraulic system model and the control system model;

AMESim adopts the graphical physical modeling method, which is intuitive and concise, and avoids the tedious mathematical modeling process. Therefore, it is only necessary to perform graphical modeling according to the principle of the automatic leveling system.

The key components of the automatic leveling hydraulic system are the electromagnetic reversing valve and the two-way balance valve. According to the actual structure and size of the components, the hydraulic component design library (HCD) is used to build the model to better ensure the accuracy of the model; other components use hydraulic library components ; Connect all hydraulic components correctly to complete the modeling of the automatic leveling hydraulic system.

The automatic leveling control system involves control logic such as PWM control, sensitivity selection, dead zone and proportional zone settings. Using the signal control library in the AMESim software, according to the logic of the automatic leveling control system, the control system model is established and correctly connected with the hydraulic system.

Step 4: Perform setting calculation in VL motion software to generate a dynamic model simulation interface file; load the above-mentioned simulation interface file through the interface module in AMESim software, generate a co-simulation interface, and realize the co-simulation of machine, electricity and hydraulic integration;

Set the solution settings in the VL motion dynamic model, and select "AMESIM_COSIM" for the co-simulation method. After the setting is completed, perform analysis and calculation, generate a simulation interface file with the extension ".vlcosim", and save it to the working directory.

Use the interface module in the AMESim software to import the above-mentioned simulation interface file with the extension ".vlcosim", generate a co-simulation interface, and correctly connect with the leveling hydraulic system and control system.

After the above co-simulation interface is set, data transmission and information exchange can be carried out between the dynamic model and the electro-hydraulic system model to realize the integrated simulation of mechanics, electricity and hydraulics.

Step 5: View the simulation results in the AMESim electro-hydraulic system model and the VL motion dynamic model.

After the co-simulation is completed, the simulation calculation results of all parameters of the hydraulic system and control system can be viewed in the AMESim electro-hydraulic system model, and the leveling cylinder displacement, leveling cylinder speed, leveling cylinder output force and screed elevation angle included in the simulation interface can be viewed4 simulation results of dynamic parameters;

The co-simulation results in AMESim software can be imported into VL motion software to view the simulation curves of all dynamic parameters, and at the same time, the motion process of the entire automatic leveling system can be animated.

In addition to the above-mentioned embodiments, the present invention may also have other alternatives. In addition to Pro/E, VL motion provides interfaces with other mainstream CAD software such as CATIA, I-DEAS, UG, etc. Therefore, the 3D solid modeling of automatic leveling system can also be completed by modeling software such as CATIA, I-DEAS, UG, etc. All of the above alternatives are within the scope of protection claimed by the present invention.

The above is only the preferred embodiment of the present invention, it should be pointed out that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can also be made, and these improvements and modifications are also It should be regarded as the protection scope of the present invention.

Claims (5)

1. a paver automatic leveling system simulation modeling method is characterized in that: comprise the following steps: Step 1: In the Pro/E software, according to the actual structure size and mutual motion relationship of each component of the paver automatic leveling system, establish a three-dimensional solid model of the paver automatic leveling system; Step 2: Import the 3D solid model into the VL motion software, and establish the dynamic model of the paver automatic leveling system in the VL motion software. The related settings of the dynamic model include: kinematic pair, constraint setting, vehicle body motion speed setting and ironing. Tablet support setting; Among them, the kinematic pair and constraint settings include: Paver Automatic Leveling System Kinematics and Constraints serial number Constrained parts Constraint type Remark 1 pavement fixed -- 2 Leveling cylinder liner_piston rod Cylindrical pair 2 3 Lifting cylinder liner_piston rod Cylindrical pair 2 4 Body_Leveling cylinder liner Rotary pair 2 5 Boom_Leveling Cylinder Piston Rod Rotary pair 2 6 Body_Lifting cylinder liner Rotary pair 2 7 Boom_Lifting Cylinder Piston Rod Rotary pair 2 8 Screed_Pavement point constraint 2 9 Body_Pavement point constraint 3 The vehicle body motion speed settings include: setting the vehicle body speed drive, simulating the paving speed, selecting "One-BodyVelocity Driver" for the drive form, along the direction of the coordinate axis, and the speed can be edited; The supporting force of the screed includes: setting the supporting force of the screed, simulating the force of the mixture on the screed, the direction of the force is perpendicular to the bottom surface of the screed, and the magnitude of the force can be edited; According to the simulation modeling requirements of the automatic leveling system, a joint simulation control node is added; the input control nodes include: leveling cylinder displacement, leveling cylinder speed and screed elevation angle; output control node: leveling cylinder output force; Step 3: The electro-hydraulic system model of the automatic leveling system of the paver is established in the AMESim software by using a graphical physical modeling method, and the electro-hydraulic system model includes a hydraulic system model and a control system model; According to the principle of the automatic leveling hydraulic system, the hydraulic component design library and the hydraulic library are used to build the automatic leveling hydraulic system model; according to the logic of the automatic leveling control system, the signal control library is used to establish the control system model, and it is correctly connected with the hydraulic system to complete the automatic leveling hydraulic system. modeling; Step 4: Perform setting calculation in VL motion software to generate dynamic model simulation interface file; load dynamic model simulation interface file through interface module in AMESim software, generate co-simulation interface, and realize mechanical, electrical and hydraulic integrated co-simulation . 2. The paver automatic leveling system simulation modeling method according to claim 1, further comprising step 5: checking the simulation results in the AMESim electro-hydraulic system model and the VL motion dynamic model. 3 . The simulation modeling method for an automatic leveling system of a paver according to claim 1 , wherein the automatic leveling control system logic includes PWM control, sensitivity selection, dead zone and proportional zone setting control logic. 4 . 4. paver automatic leveling system simulation modeling method according to claim 1, is characterized in that: in step 4, in VL motion dynamic model, carry out solution setting, generate extension is " .vlcosim " simulation interface file , using the interface module in the AMESim software to import the simulation interface file with the extension ".vlcosim" to generate a co-simulation interface and connect it correctly with the leveling hydraulic system and the control system. 5. The paver automatic leveling system simulation modeling method according to claim 1 is characterized in that: in step 4, data transmission and information exchange can be carried out between the dynamic model and the electro-hydraulic system model to realize mechanical and electrical , Liquid integration simulation.

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