机电系统一体化建模与动力学仿真向量键合图法  

Vector bond graph method for integrated modeling and dynamic simulation of electromechanical systems

作　　者：王中双[1] 师永珍 尹久政 WANG Zhong-shuang;SHI Yong-zhen;YIN Jiu-zheng(School of Mechatronic Engineering,Qiqihar University,Qiqihar 161006,China)

机构地区：[1]齐齐哈尔大学机电工程学院,黑龙江齐齐哈尔161006

出　　处：《机电工程》2021年第5期566-572,共7页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(51175272)。

摘　　要：针对机电系统一体化动力学仿真过程中存在的问题,提出了适用于计算机自动建模的向量键合图法。考虑到系统独立贮能场、耗散场方程是非线性的情况,推导出了系统状态方程;以修正非线性连续接触碰撞力混合模型为基础,建立了间隙运动副的向量键合图模型;在此基础上,建立了计及驱动电机、非线性运动副间隙的曲柄滑块压力机机构系统向量键合图模型,实现了非线性机电系统的一体化自动建模及动力学仿真,验证了所述方法的可靠性。研究结果表明:建立的系统状态方程通用性更强,建模方式程式化;建立的间隙运动副向量键合图模型具有精细度高、模块化的特点,特别适用于精确计及运动副间隙的机电系统一体化计算机建模及动力学仿真;运动副间隙对机电系统动态性能产生一定程度的影响,使机构连杆两端运动副约束反力、刀具加速度呈高频振荡状态,最大值分别增加3.55%、2.8%、5.7%,进一步说明了该方法的有效性。Aiming at the problem of integrated dynamic simulation of electromechanical systems,a vector bond graph method suitable for computer automatic modeling was proposed.Considering that the equations of independent energy storage field and dissipation field were nonlinear,the system state equations were derived.Based on improved hybrid nonlinear continuous contact and collision model,the vector bond graph model describing joint clearance was made.Based on this,the vector bond graph model of a crank slider press mechanism system including driving motor and nonlinear joint clearance was made,the integrated automatic modeling and dynamic simulation of the nonlinear electromechanical system were realized,and the reliability of this procedure was verified.The results indicate that the established system state equations are more universal and the modeling method is stylized.The proposed model has the characteristics of high precision and modularization,which is especially suitable for the integrated computer modeling and dynamic simulation of electromechanical system with accurate calculation of joint clearance.The joint clearance has a certain degree of influence on the dynamic performance of electromechanical system,which makes the joint constraint force at both ends of the linkage and the tool acceleration oscillate in a high-frequency state.The maximum value increases by 3.55%,2.8%and 5.7%,respectively,which further demonstrates the effectiveness of the method presented.

关 键 词：向量键合图 机电系统 运动副间隙 状态方程 一体化建模 动力学仿真 

分 类 号：TH113[机械工程—机械设计及理论]