Construction and application method of excavation load library model of excavation machine

Abstract

The invention discloses a construction and application method of an excavation load library model of an excavation machine, which comprises the following steps of: combining a single-action operation model by using an excavation machine dynamics calibration model and an operation medium discrete element calibration model, and setting a working condition combination of the single-action operation model according to the distance between a mechanism pin shaft and an operation plane and an included angle between mechanisms; the method comprises the following steps: completing operation simulation by using an angle-time function between mechanisms, establishing a corresponding relation between a single-action mining attitude point and mining load force, constructing a mining load library model, and realizing application of loading the mining load force based on the mining load library model. According to the method, under the condition that the high precision of the mining load library model is guaranteed, the requirement for complete machine performance design optimization under the mining load effect is met, the product design and research and development cycle is shortened, and the product performance optimization test cost is reduced.

Description

Technical Field

[0001] The present invention relates to a method for constructing and applying a digging load library model of a digging machine, belonging to the field of simulation technology. Background Art

[0002] The operation object of a digging machine is generally a granular medium, such as crushed stone, soil and other media. Establishing an accurate simulation model of a digging machine is the key to the simulation technology for improving the product design parameter index. The medium model of the digging operation belongs to a part of the discrete element simulation content. The simulation of the load of the granular medium is a technical problem in the entire simulation field. Its simulation calculation amount is large and the calculation efficiency is low. The trajectory simulation of the complex action model of the digging operation and the actual operation cannot be reproduced, which affects the model accuracy and the scope of use. At present, the two key problems of the accuracy and calculation efficiency of the granular operation medium load model cannot meet the requirements of the product performance model.

[0003] The current simulation technologies for constructing the resistance model of the digging operation medium mainly include two types. One type of simulation technology is the mathematical fitting simulation technology of the digging resistance. By analyzing the variation law of the digging resistance generated by the digging medium material during the digging process, and corresponding to the relationship between the digging posture and fitting the correlation coefficient, a mathematical model of the digging resistance is constructed. Another type of simulation technology is the rigid-discrete coupling simulation technology. The medium model is constructed by using the discrete element analysis software, and the medium model and the mechanism dynamics model are coupled bidirectionally to simulate and analyze the variation of the digging resistance and the dynamic response during the complex digging process. The rigid-discrete coupling simulation technology solves the problem of the mutual matching of the dynamic stress curve of the digging resistance and the operation trajectory, and can simulate the variation of the digging resistance during the actual operation process.

[0004] The mathematical fitting simulation technology of the digging resistance constructs a mathematical model of the digging resistance by analyzing the variation law of the digging resistance during the digging operation process and fitting the relevant digging resistance coefficients. This simulation technology can only simulate the variation trend of the digging resistance, and the model accuracy is low. It cannot reflect the dynamic change process of the digging resistance, and the digging resistance and the digging trajectory posture cannot correspond one by one.

[0005] The simulation analysis technology of the digging operation load calculates the variation process of the digging resistance through the bidirectional coupling analysis of the granular medium and the mechanism dynamics model. The disadvantage is that it requires multi-software coupling calculation, and there are huge amounts of coupling calculation data and poor efficiency. The model has poor reusability and a narrow scope of application, and cannot meet the simulation calculation requirements of the product performance model. Summary of the Invention

[0006] A method for constructing and applying a digging load library model for a digging machine is proposed to address the problems of low simulation accuracy, poor calculation efficiency, and insufficient model reusability in the current digging resistance model. By setting the test conditions for the single-action digging operation of the bucket and the arm, a dynamic model of the digging machine and a discrete element model of the working medium are established to reproduce the test process. The dynamic model of the digging machine and the discrete element model of the working medium are calibrated according to the force on the oil cylinder during the test. A single-action operation model is constructed using the calibrated dynamic model of the digging machine and the discrete element model of the working medium. The operation model is driven by the rotational angular velocity function between mechanisms. The attitude points of the operation model are determined by the distance between the pin shaft of the mechanism and the working surface and the included angle between mechanisms. The corresponding relationship between the digging trajectory attitude points and the digging load force is established to complete the construction of the digging load library model.

[0007] To achieve the above object, the present invention adopts the following technical solutions: The present invention provides a method for constructing and applying a digging load library model for a digging operation machine, including: Conducting a test on the digging machine; Based on the test record data, constructing a dynamic model of the working mechanism and a discrete element model of the working medium, and combining them to complete the working model of the working mechanism; the working mechanism includes a bucket and an arm; Calibrating the dynamic model of the working mechanism and the discrete element model of the working medium to obtain a calibrated dynamic model of the working mechanism and a calibrated discrete element model of the working medium; Constructing a single-action operation model of the digging machine based on the calibrated dynamic model of the working mechanism and the calibrated discrete element model of the working medium; Performing batch condition setting on the single-action operation model of the digging machine and driving it to complete the digging operation; Extracting the single-action operation attitude points during the digging operation, establishing the corresponding relationship between the attitude points of the single-action operation model and the digging load force, and completing the construction of the digging load library model; Loading the digging load force based on the movement trajectory of the digging machine and the digging load library model.

[0008] Preferably, the conducting of the test on the digging machine includes conducting a test on the single-action digging operation of the arm and conducting a test on the single-action digging operation of the bucket; The conducting of the test on the single-action digging operation of the arm includes: independently controlling the telescopic movement of the arm oil cylinder through the handle to complete the single-action digging operation of the arm, recording the initial displacements of the bucket, arm, and boom oil cylinders, the displacement-time function of the driving oil cylinder for the single-action operation of the arm, and the oil cylinder pressure data of the bucket, arm, and boom oil cylinders during the operation process; The bucket single-action excavation operation test includes: controlling the telescopic movement of the bucket cylinder separately through the handle to complete the bucket single-action excavation operation, recording the initial displacements of the bucket, arm, and boom cylinders, the displacement-time function of the driving cylinder during the bucket single-action operation, and the cylinder pressure data of the bucket, arm, and boom cylinders during the operation process.

[0009] Preferably, the excavation machinery test also includes: Repeating the test 3 groups under the same excavation conditions.

[0010] Preferably, based on the test record data, constructing a dynamics model of the working mechanism and a discrete element model of the working medium, and combining them to complete the working mechanism operation model, including: The working mechanism operation model uses the initial displacements of the bucket, arm, and boom cylinders from the test as the initial postures, and drives the cylinders of the operation model with the actual driving displacement X and time function of the working mechanism cylinders in the test to ensure that the simulation trajectory of the operation model is consistent with the test operation trajectory.

[0011] Preferably, calibrating the dynamics model of the working mechanism and the discrete element model of the working medium to obtain the calibrated dynamics model of the working mechanism and the calibrated discrete element model of the working medium, including: Comparing the force on the test cylinder with the force on the cylinder of the operation model, and by adjusting the parameters of the dynamics model of the working mechanism and the discrete element model of the working medium, achieving that the force deviation of the cylinder of the operation model does not exceed 10%, and obtaining the calibrated dynamics model of the working mechanism and the calibrated discrete element model of the working medium.

[0012] Preferably, constructing a single-action operation model of the excavation machinery based on the calibrated dynamics model of the working mechanism and the calibrated discrete element model of the working medium, including: Using the calibrated dynamics model of the working mechanism and the calibrated discrete element model of the working medium to combine and construct a bucket single-action operation model, an arm single-action operation model, and a boom single-action operation model.

[0013] Preferably, performing batch condition setting on the single-action operation model of the excavation machinery, including: The condition of the bucket single-action operation model takes the distance H between the bucket pin and the excavation surface 铲 and the distance H between the arm pin and the excavation surface 斗 as variables for the model, and H 铲 is set in the range of 0 < H 铲 ≤ L 铲 , H 斗 is set in the range of L 铲 < H 斗 ≤ L 斗 + L 铲 ; where L 铲 refers to the bucket length, L斗 Length of the dipper arm In the working condition of the single-action operation model of the dipper arm, the distance H between the pin shaft of the dipper arm and the excavation surface 斗 , the angle a between the vehicle body and the boom, and the angle c between the bucket and the dipper arm mechanism are set as variables of the model H 斗 The setting range is L 铲 <H 斗 ≤L 斗 +L 铲 , the setting range of a is a min ≤a≤a max , the setting range of c is c min ≤c≤c max , where a min and a max represent the minimum and maximum values of a, and c min and c max represent the minimum and maximum values of c In the working condition of the single-action operation model of the boom, the distance H between the pin shaft of the boom and the excavation surface 动 , the angle b between the boom and the dipper arm, and the angle c between the bucket and the dipper arm mechanism are set as variables of the model H 动 The setting range is 0<H 动 ≤L 动 +L 斗 +L 铲 , the setting range of b is b min ≤b≤b max , the setting range of c is c min ≤c≤c max , where L 动 refers to the length of the boom, and b min and b max represent the minimum and maximum values of b Within the set range, the distance between the pin shaft of the working mechanism and the excavation surface is batch-set at intervals of △H, and the angles between the working mechanisms are batch-set at angular intervals, and a single-action operation model of the excavation machinery is batch-constructed

[0014] Preferably, the value range of the interval △H is 5 cm - 30 cm The value range of the angular interval is 0.1° - 1°

[0015] Preferably, batch working condition settings are performed on the single-action operation model of the excavation machinery and driving is completed for the excavation operation, including Driving the single-action operation model to complete the excavation operation with the time function of the angular velocity ω between the working mechanisms

[0016] Preferably, for the single-action operation attitude points during the extraction and excavation operation, establishing the correspondence between the single-action operation model attitude points and the excavation load force includes: Taking the distance between the pin shaft of the working mechanism and the excavation surface and the included angle between the working mechanisms as the single-action operation attitude points, which is expressed as: The single-action operation attitude point combination of the bucket is determined as (H 铲 ,H 斗 ,c); The single-action operation attitude point combination of the arm is determined as (H 斗 ,a,b,c); The single-action operation attitude point combination of the boom is determined as (H 动 ,a,b,c); Based on the single-action operation attitude point combinations of the bucket, arm, and boom and their respective corresponding excavation load forces, establishing the correspondence between the single-action operation attitude points and the excavation load force, and completing the construction of the excavation load library model.

[0017] Preferably, loading the excavation load force based on the motion trajectory of the excavation machinery and the excavation load library model includes: Decomposing the motion trajectory of the excavation machinery into discrete trajectory points at intervals of the calculation time step △t during the operation time period t 1 ~t n , and each moment's trajectory point is determined by the single-action operation attitude point combination; Identifying the trajectory points at times t 1 and t 2 , decoupling the trajectory points into single-action attitude points, and outputting the attitude point value at time 0 or t 1 and t 2 according to the change in the included angle between the working mechanisms at times t 2 ; Constructing an FMU to set the assignment conditions for the single-action attitude points, and based on the assignment conditions, converting the attitude point value at time t 2 into the assigned attitude point value output by the FMU; Using the assigned attitude point value output by the FMU as the input of the excavation load library model for attitude retrieval, and outputting the excavation load force corresponding to the single-action operation attitude point; loading the resultant force of the excavation load force corresponding to the single-action operation attitude point of the bucket, the excavation load force corresponding to the single-action operation attitude of the arm, and the excavation load force corresponding to the single-action operation attitude of the boom to the centroid position of the bucket, and completing the process of loading the excavation load force at time t 2 ; Using the above method to complete the process of loading the excavation load force at times t 3 、t 4 、...... t n-1 、t n in sequence.

[0018] Preferably, according to t 1 and t 2 When the included angle between the working mechanisms changes, output 0 or the pose point value at t 2 The pose point value at the moment includes: If t 1 and t 2 The included angles between the working mechanisms at the moment are equal, then the output value is 0: If t 1 and t 2 The included angles between the working mechanisms at the moment are not equal, then output the pose point value at t 2 The pose point value at the moment, expressed as: the bucket pose point (H 2铲 , H 2斗 , c 2 ), the arm pose point (H 2斗 , a 2 , b 2 , c 2 ), and the boom pose point (H 2动 , a 2 , b 2 , c 2 ), where the subscript 2 represents the moment of t 2 The moment.

[0019] Preferably, the FMU construction sets the assignment conditions for single-action pose points, including: The assignment condition for the bucket pose point is: H 铲 ≤H 2铲 <H 铲 +△H, take the value of H 铲 ; H 斗 ≤H 2斗 <H 斗 +△H, take the value of H 斗 ; c≤c 2 <c+△c, take the value of c; The assignment condition for the arm pose point is: H 斗 ≤H 2斗 <H 斗 +△H, take the value of H 斗 ; a≤a 2 <a+△a, take the value of a; b≤b 2 <b+△b, take the value of b; c≤c 2 <c+△c, take the value of c; The assignment condition for the boom pose point is: H 动 ≤H 2动 <H 动 +△H, take the value of H 动 ; a≤a 2 <a+△a, take the value of a; b≤b 2<b + △b, take the value of b; c ≤ c 2 <c + △c, take the value of c; where △H is the set distance interval, and △a, △b, △c are all set angle intervals; Based on the above assignment conditions, the 2 moment attitude point value is assigned by the FMU as the attitude point value: the output value of the bucket attitude point (H 铲 , H 斗 , c), the output value of the arm attitude point (H 斗 , a, b, c) and the output value of the boom attitude point (H 动 , a, b, c); If the input value is 0, the FMU output value is 0.

[0020] By adopting the above technical means, the beneficial effects achieved by the present invention are as follows: The present invention proposes a method for constructing and applying an excavation load library model for an excavation machine. By constructing a dynamic model of the excavation machine and a discrete element model of the working medium to simulate the actual excavation operation process and calibrating it, a bucket single-action operation model, an arm single-action operation model, and a boom single-action operation model are constructed by combining the calibrated dynamic model of the excavation machine and the discrete element model of the working medium. The single-action excavation operation simulation is completed by driving with the angular velocity function between mechanisms, the single-action operation attitude points are extracted, and the corresponding relationship between the single-action operation trajectory attitude points and the excavation load force is established to complete the construction of the excavation load library model under the condition of all attitude points within the operation trajectory range. The present invention ensures that under the condition of high-precision of the excavation load library model, it meets the requirements of the application model for optimizing the design of the overall machine performance under the action of the excavation load, shortens the product design and R & D cycle, reduces the product performance optimization test cost, improves the calculation efficiency of the influence analysis of the excavation load force during the movement process of the application model, expands the applicable scenarios and application scope of the excavation load library model, and reduces the test test cost and the product R & D and verification cycle. Description of the Drawings

[0021] Figure 1 Schematic diagram of the calibration process of the excavation load model provided by the embodiment of the present invention; Figure 2 Schematic diagram of the construction process of the excavation load library model provided by the embodiment of the present invention; Figure 3 Schematic diagram of the application process of the excavation load library model provided by the embodiment of the present invention; Figure 4 Schematic diagram of the single-action excavation attitude of the boom and arm provided by the embodiment of the present invention; Figure 5 Schematic diagram of the single-action excavation attitude of the bucket provided by the embodiment of the present invention. Detailed Embodiments

[0022] To make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with the embodiments and the drawings. Herein, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but not to limit the present invention.

[0023] Herein, it should also be noted that in order to avoid obscuring the present invention with unnecessary details, only the structures and / or processing steps closely related to the solution according to the present invention are shown in the drawings, while other details less related to the present invention are omitted.

[0024] It should be emphasized that the term "comprising / including" when used herein refers to the presence of features, elements, steps or components, but does not exclude the presence or addition of one or more other features, elements, steps or components.

[0025] It should be emphasized here that the step marks mentioned hereinafter are not intended to limit the order of the steps. Instead, it should be understood that the steps can be executed in the order mentioned in the embodiments, or different from the order in the embodiments, or several steps can be executed simultaneously.

[0026] The abbreviations and key terms involved in the following technical solutions of the present invention are defined as follows: Excavation working surface: The vertical plane of the bucket tooth tip point, the boom pin point, the arm pin point and the bucket pin point; Boom excavation distance H 动 : The vertical distance between the boom pin point and the excavation working surface; Arm excavation distance H 斗 : The vertical distance between the arm pin point and the excavation working surface; Bucket excavation distance H 铲 : The vertical distance between the bucket pin point and the excavation working surface; Boom working angle a: The angle between the vertical line of the boom pin point and the excavation working surface and the boom; Arm working angle b: The angle between the boom and the arm mechanism; Bucket working angle c: The angle between the arm and the bucket mechanism; Boom length L 动 : The distance between the boom pin point and the arm pin point; Arm length L 斗 : The distance between the arm pin point and the bucket pin point; Bucket length L 铲 : The distance between the bucket pin point and the bucket tooth tip point.

[0027] An embodiment of the present invention proposes a method for constructing and applying a digging load library model for a digging operation machine. The construction of the digging load library model includes the processes of digging operation test and model calibration, as well as the process of constructing the digging load library model. The application model's motion trajectory within the operation time period t 1 ~t n is decomposed into discrete trajectory points at intervals of the calculation time step Δt. Each moment's trajectory point is determined by the combination of the single-action operation posture points of the mechanism. Identify the Δt operation trajectory points during the operation process of the application model, decouple the operation trajectory points of the application model into a combination of single-action operation posture points, perform conditional determination and single-action posture point assignment through the FMU according to the values of the single-action operation posture points decoupled by the application model. The digging load library model inputs the values of the single-action posture points after FMU assignment, and the digging load library model outputs the resultant force of the digging loads of the corresponding single-action posture points and loads it to the centroid position of the bucket of the application model to complete the application of the digging load library model.

[0028] Based on the above inventive concept, in an embodiment of the present invention, for the process of calibrating the digging load model, refer to Figure 1 , which includes the following steps: Step 1: Conduct a digging machine test. In this embodiment, conducting a digging machine test includes a single-action digging operation test of the arm and a single-action digging operation test of the bucket.

[0029] It should be noted that the same digging working conditions are repeatedly tested in 3 groups.

[0030] During the test, the excavator is arranged on a hard and flat road surface, a pit is set in front and filled with crushed stones or soil, the crushed stones are at the same level as the ground. The process of the single-action digging operation test of the bucket is as follows: The single-action digging operation of the bucket is completed by separately controlling the telescopic movement of the bucket cylinder through the handle, recording the initial displacements of the bucket, arm, and boom cylinders, the displacement-time function of the driving cylinder for the single-action operation of the bucket, and the cylinder pressure data of the bucket, arm, and boom cylinders during the operation process. The process of the single-action digging operation test of the arm is as follows: The single-action digging operation of the arm is completed by separately controlling the telescopic movement of the arm cylinder through the handle, recording the initial displacements of the bucket, arm, and boom cylinders, the displacement-time function of the driving cylinder for the single-action operation of the arm, and the cylinder pressure data of the bucket, arm, and boom cylinders during the operation process.

[0031] Step 2: Based on the data recorded in the test, construct a digging operation model for the bucket and the arm, including separately constructing a dynamic model of the working mechanism and a discrete element model of the working medium, and combining them to complete the digging operation model of the working mechanism. The working mechanism refers to the bucket and the arm.

[0032] In this embodiment, the initial attitude of the operation mechanism excavation operation model is the initial displacements of the bucket, the arm, and the boom cylinder obtained from the test. The operation model cylinder is driven by the actual driving displacement X of the operation mechanism cylinder and the time function in the test to ensure that the trajectory of the operation model is consistent with the test operation trajectory.

[0033] Step 3: Calibrate the constructed dynamic model of the operation mechanism and the discrete element model of the operation medium to obtain the calibrated dynamic model of the operation mechanism and the calibrated discrete element model of the operation medium. In this embodiment, the force on the test cylinder is compared with the force on the operation model cylinder to ensure that the force deviation of the cylinder during the operation does not exceed 10%, and the parameter debugging and calibration of the dynamic model of the excavation machinery operation mechanism and the discrete element model of the operation medium are completed.

[0034] In the embodiment of the present invention, for the construction process of the excavation load library model, refer to Figure 2 , which includes the following steps: Step 1: Construct a single-action operation model. The working conditions of the single-action operation model of the bucket, the single-action operation model of the arm, and the single-action operation model of the boom are constructed by combining the calibrated dynamic model of the operation mechanism and the calibrated discrete element model of the operation medium.

[0035] Step 2: Set the excavation working conditions of the single-action operation model and batch construct the excavation machinery operation model. The single-action excavation attitude of the bucket is as shown in Figure 5 . In this embodiment, the working condition setting of the single-action operation model of the bucket takes the distance H between the bucket pin and the excavation surface 铲 and the distance H between the arm pin and the excavation surface 斗 as the model setting variables. The setting range of H for the single-action operation of the bucket is 0 < H 铲 ≤ L 铲 , where L 铲 refers to the length of the bucket, and L 铲 < H 斗 ≤ L 斗 + L 铲 ; L 铲 refers to the length of the bucket, and L 斗 refers to the length of the arm. The single-action excavation attitude of the boom and the arm is as shown in Figure 4 . In this embodiment, for the working condition of the single-action operation model of the arm, the distance H between the arm pin and the excavation surface 斗 , the angle a between the vehicle body and the boom, and the angle c between the bucket and the arm mechanism are used as the model setting variables. The setting range of H for the operation of the arm is L 斗 < H 铲 ≤ L 斗 + L 斗 , and the setting range of a is a 铲 min ​≤a≤a max where c is set in the range c min ≤c≤c max ; For the single-action operation model condition of the boom, the variables of the model are set as the distance H between the boom pin and the excavation surface 动 , the angle b between the boom and the dipper arm, and the angle c between the bucket and the dipper arm mechanism. For the boom operation H 动 is set in the range 0 < H 动 ≤L 动 +L 斗 +L 铲 where b is set in the range b min ≤b≤b max and c is set in the range c min ≤c≤c max . L 动 represents the length of the boom.

[0036] Refer to Table 1 for the setting of the single-action operation model condition.

[0037] It should be noted that if high precision is required for the excavation load force in the model application, the distance H between the pins of each operating mechanism and the excavation surface can be set at intervals of ΔH = 5 cm, and the angular intervals Δa, Δb, and Δc of the angles a, b, and c between the operating mechanisms can be set at 0.1° to increase the distribution density of the attitude points; if lower precision is required for the excavation load force, the distance H between the pins of each operating mechanism and the excavation surface can be set at intervals of ΔH = 30 cm, and the angular intervals Δa, Δb, and Δc of the angles a, b, and c between the operating mechanisms can be set at 1° to reduce the distribution density of the attitude points.

[0038] Step 3: Drive the single-action operation model to perform excavation operations. In this embodiment, the single-action operation model is driven to complete the excavation operation with the time function of the angular velocity ω between the operating mechanisms.

[0039] The driving function of the operation model is set as θ = ω * t, and the angular velocity ω is set for model driving with the average rotational angular velocity between the test mechanisms; refer to Table 2 for the driving setting of the single-action operation model. For the single-action operation model of the bucket, the angular velocity driving mechanism is the movement between the bucket and the dipper arm mechanism, and the range of c movement is c min ≤c≤c max ; For the single-action operation model of the dipper arm, the angular velocity driving mechanism is the movement between the boom and the dipper arm mechanism, and the range of b movement is b min ≤b≤b max ; For the single-action operation model of the boom, the angular velocity driving mechanism is the movement between the boom and the vehicle body mechanism, and the range of a movement is a min ≤a≤a max .

[0040] Step 4: Extract the single-action operation attitude points of the excavation machinery. In this embodiment, the distance between the pin shaft of the working mechanism and the excavation surface and the included angle between the mechanisms are used as the single-action operation attitude points. According to the model requirements of Steps 2 and 3, the range of the distance interval ΔH between the pin shaft of the mechanism and the excavation surface is 5 - 30 cm, and the ranges of the included angle intervals Δa, Δb, and Δc between the mechanisms are 0.1 - 1°. The combination of the single-action operation attitude points of the bucket is (H 铲 ,H 斗 ,c); The combination of the single-action operation attitude points of the arm is (H 斗 ,a,b,c); The combination of the single-action operation attitude points of the boom is (H 动 ,a,b,c).

[0041] Step 5: Extract the corresponding excavation load force of the excavation machinery. In this embodiment, based on the single-action operation attitude electrical combinations of the bucket, arm, and boom and their respective corresponding excavation load forces, the corresponding relationship between the single-action operation model attitude points and the excavation load forces is established to complete the construction of the excavation load library model.

[0042] The excavation load library model has the function of identifying the input attitude point value and outputting the excavation load force corresponding to the attitude point.

[0043] Table 1 Working condition settings of the single-action operation model

[0044] Table 2 Drive settings of the single-action operation model

[0045] In this embodiment, for the application process of the excavation load library model, see Figure 3 , including the following steps: Step 1: Decompose the motion trajectory of the application model during the operation time period t 1 ~t n into discrete trajectory points at intervals of the calculation time step Δt. The trajectory point at each moment is determined by the combination of single-action operation attitude points; the application model is an actual model that is currently performing excavation operations. For example, the trajectory point of the application model at time t 1 is composed of the bucket attitude point (H 1铲 ,H 1斗 ,c 1 ), the arm attitude point (H 1斗 ,a 1 ,b 1 ,c 1 ), and the boom attitude point (H 1动 ,a 1 ,b1 , c 1 ), combined confirmation; t 2 The moment attitude point can be regarded as being completed by the combined movement of the bucket single movement, the arm single movement, and the boom single movement within the △t interval; if the application model has a high requirement for the analysis accuracy of the load force, the △t interval can be set to 0.01 s to increase the number of trajectory points; if the application model has a relatively low requirement for the analysis accuracy of the load force, the △t interval can be set to 0.1 s to reduce the number of trajectory points.

[0046] Step 2: Use the application model to identify the moment t 1 and t 2 (t 1 < t 2 ), and decouple the trajectory points into single-movement attitude points. According to the change of the mechanism included angle at the moments of t 1 and t 2 , output 0 or the attitude point value at the moment of t 2 ; Specifically, if the mechanism included angles at the moments of t 1 and t 2 are equal, the attitude output value is 0: if the mechanism included angles at the moments of t 1 and t 2 are not equal, then output the attitude point value at the moment of t 2 : the bucket attitude point is (H 2铲 , H 2斗 , c 2 ), the arm attitude point is (H 2斗 , a 2 , b 2 , c 2 ), and the boom attitude point is (H 2动 , a 2 , b 2 , c 2 ).

[0047] Step 3: Build an FMU to set the assignment conditions for single-movement attitude points. The FMU is an international general software data transmission interface; it is used for input and output of process data. Convert the single-movement attitude points of the application model at the moment of t 2 into the attitude point values of the excavation load library model; if the FMU input value is 0, the output value is 0; the FMU input attitude point assignment includes the bucket attitude point assignment condition, the arm attitude point assignment condition, and the boom attitude point assignment condition, which are specifically as follows: Bucket attitude point assignment condition: H 铲 ≤ H 2铲 < H 铲 + △H, take the value of H 铲 ; H 斗 ≤ H 2斗 < H斗 +△H, with a value of H 斗 ; c ≤ c 2 <c + △c, with a value of c.

[0048] Bucket attitude point assignment condition: H 斗 ≤ H 2斗 <H 斗 + △H, with a value of H 斗 ; a ≤ a 2 <a + △a, with a value of a; b ≤ b 2 <b + △b, with a value of b; c ≤ c 2 <c + △c, with a value of c.

[0049] Arm attitude point assignment condition: H 动 ≤ H 2动 <H 动 + △H, with a value of H 动 ; a ≤ a 2 <a + △a, with a value of a; b ≤ b 2 <b + △b, with a value of b; c ≤ c 2 <c + △c, with a value of c.

[0050] FMU output assignment attitude point value: Bucket attitude point output value (H 铲 , H 斗 , c), boom attitude point output value (H 斗 , a, b, c) and arm attitude point output value (H 动 , a, b, c), △H is set in the range of 5 - 30 cm; △a, △b and △c are set in the range of 0.1 - 1°.

[0051] Step 4: Mine the load library model. Use the FMU single-action attitude point output value in Step 3 as the model input attitude value for attitude retrieval. The model outputs the mined load force corresponding to the single-action attitude value, Apply the resultant force of the mined load force corresponding to the bucket attitude point (H 2 , H 铲 , c), boom attitude (H 斗 , a, b, c) and arm attitude (H 斗 , a, b, c) at time t 动 to the centroid position of the bucket of the application model to complete the process of loading the mined load force on the application model at time t 2 ; If the attitude point input value of the mined load library model is 0, the output value is 0.

[0052] Step 5: Repeat the processes of Step 2, Step 3 and Step 4 to complete t 3 , t 4 ,...... tn-1 , t n Analysis of the influence of the mining load force loading on the operation performance of the operation trajectory points of the moment application model, and realization of an application method for the application model to convert the trajectory points based on time segmentation into single-action posture point values to retrieve and mine the load library model and mine the load force.

[0053] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and deformations can be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. A method for constructing and applying a model of an excavation load bank for excavation machinery, characterized in that: include: Conducting pilot tests on excavation machinery; Based on the test record data, a dynamic model of the operating mechanism and a discrete element model of the operating medium are constructed, and the operating model of the operating mechanism is completed by combining them; the operating mechanism includes a bucket and a dipper arm; Calibrate the working mechanism dynamics model and the working medium discrete element model to obtain a working mechanism dynamics calibration model and a working medium discrete element calibration model; The single-action operation model of the excavator is constructed based on the dynamic calibration model of the operation mechanism and the discrete element calibration model of the operation medium; Setting batch working conditions for the single-action operation model of the excavator and driving it to complete the excavation operation; Extract the single-action operation posture points during the excavation operation, establish the corresponding relationship between the single-action operation model posture points and the excavation load force, and complete the construction of the excavation load library model; The excavation load force is loaded based on the motion trajectory of the excavation machine and the excavation load library model.

2. The method for constructing and applying an excavation load pool model for an excavation operation machine according to claim 1, characterized in that: The excavation machine test test includes a bucket arm single action excavation operation test test and a bucket single action excavation operation test test; The single-action digging test of the bucket arm includes: controlling the extension and retraction of the bucket arm cylinder by the handle to complete the single-action digging operation of the bucket arm, recording the initial displacement of the bucket arm and boom cylinders, the displacement-time function of the single-action operation driving cylinder of the bucket arm, and the cylinder pressure data of the bucket arm and boom cylinders during the operation process; The single-action excavation operation test of the bucket includes: controlling the extension and retraction of the bucket cylinder by the handle alone to complete the single-action excavation operation of the bucket, recording the initial displacement of the bucket, dipper rod and boom cylinders, the displacement-time function of the bucket single-action operation drive cylinder, and the cylinder pressure data of the bucket, dipper rod and boom cylinders during the operation process.

3. The method for constructing and applying an excavation load pool model for an excavation operation machine according to claim 2, characterized in that: The excavation machinery test also includes: The same excavation condition was tested three times.

4. The method for constructing and applying an excavation load bank model for an excavation operation machine according to claim 2, characterized in that: The method of constructing a dynamic model of the operating mechanism and a discrete element model of the operating medium based on the test record data, and combining them to complete the operating model of the operating mechanism, includes: The operating model of the operating mechanism uses the initial displacement of the bucket, dipper rod and boom cylinder tested in the experiment as the initial posture, and drives the operating model cylinder with the actual experimental driving operating mechanism cylinder displacement X and time function to ensure that the simulation trajectory of the operating model is consistent with the experimental operation trajectory.

5. The method for constructing and applying an excavation load bank model for an excavation operation machine according to claim 4, characterized in that: The calibrating the operating mechanism dynamics model and the operating medium discrete element model to obtain the operating mechanism dynamics calibration model and the operating medium discrete element calibration model includes: The force on the test cylinder is compared with that on the operating model cylinder. By adjusting the parameters of the operating mechanism dynamics model and the operating medium discrete element model, the force deviation of the operating model cylinder is ensured to be no more than 10%. The operating mechanism dynamics calibration model and the operating medium discrete element calibration model are then obtained.

6. The method for constructing and applying an excavation load bank model for an excavation operation machine according to claim 5, characterized in that: The method of constructing a single-action operation model of an excavator based on the operation mechanism dynamics calibration model and the operation medium discrete element calibration model includes: The bucket single-action operation model, the arm single-action operation model and the boom single-action operation model are constructed by combining the operating mechanism dynamics calibration model and the operating medium discrete element calibration model.

7. The method for constructing and applying an excavation load bank model for an excavation machine according to claim 6, characterized in that: The batch working condition setting of the single action operation model of the excavator includes: The working condition of the bucket single action operation model is based on the distance H between the bucket pin and the excavation surface. 铲 Distance H between the arm pin and the excavation surface 斗 Set variables for the model, H 铲 The setting range is 0<H 铲 ≤L 铲 , H 斗 Set the range to L 铲 <H 斗 ≤L 斗 +L 铲 ; Where L 铲 Refers to bucket length, L 斗 Refers to the length of the arm; The working condition of the bucket arm single action operation model is based on the distance H between the bucket arm pin and the excavation surface. 斗 , the angle a between the vehicle body and the boom, and the angle c between the bucket and the dipper arm mechanism are model setting variables, H 斗 Set the range to L 铲 <H 斗 ≤L 斗 +L 铲 , a sets the range to a min ≤a≤a max , c sets the range to c min ≤c≤c max , where a min and a max Indicates the minimum and maximum values ​​of a, c min and c max Indicates the minimum and maximum values ​​of c; The working condition of the boom single action operation model is based on the distance H between the boom pin and the excavation surface. 动 , the angle b between the boom and the dipper arm, and the angle c between the bucket and the dipper arm are model setting variables, H 动 The setting range is 0<H 动 ≤L 动 +L 斗 +L 铲 , b sets the range to b min ≤b≤b max , c sets the range to c min ≤c≤c max , where L 动 Refers to the length of the boom, b min and b max Indicates the minimum and maximum values ​​of b; Within the setting range, the distance between the operating mechanism pin and the excavation surface is batch set at intervals of △H, the angles between the operating mechanisms are batch set at angle intervals, and single-action operation models of excavators are batch constructed.

8. The method for constructing and applying an excavation load bank model for an excavation operation machine according to claim 7, characterized in that: The value range of the interval △H is 5cm-30cm; The angle interval has a value range of 0.1°-1°.

9. The method for constructing and applying an excavation load pool model for an excavation machine according to claim 7, characterized in that: The single-action operation model of the excavator is set up with batch working conditions and driven to complete the excavation operation, including: The single-action operation model is driven by the time function of the angular velocity ω between the operating mechanisms to complete the excavation operation.

10. The method for constructing and applying an excavation load pool model for an excavation machine according to claim 9, characterized in that: The extracting of the single action operation posture points during the excavation operation and establishing the corresponding relationship between the single action operation model posture points and the excavation load force includes: The distance between the working mechanism pin and the excavation surface and the angle between the working mechanisms are taken as the single action working posture point, which is expressed as: The combination of bucket single action operation posture points is determined as (H 铲 , H 斗 , c); The combination of arm single action working posture points is determined as (H 斗 , a, b, c); The combination of the arm single action operation posture points is determined as (H 动 , a, b, c); Based on the combination of single-action working posture points of bucket, dipper rod and boom and their corresponding excavation load forces, the corresponding relationship between single-action working posture points and excavation load forces is established to complete the construction of the excavation load library model.

11. The method for constructing and applying an excavation load pool model for an excavation machine according to claim 10, characterized in that: The loading of the excavation load force based on the motion trajectory of the excavator and the excavation load library model includes: The motion trajectory of the excavator is calculated in the working time period t1~t n The trajectory is decomposed into discrete points at intervals of calculation time step △t, and each trajectory point is determined by the combination of single-action operation posture points; Identify the trajectory points at time t1 and t2, decouple the trajectory points into single-action posture points, and output the posture point value at time 0 or t2 according to the change of the angle between the operating mechanisms at time t1 and t2; Constructing an FMU setting single action posture point assignment condition, and based on the assignment condition, converting the posture point value at time t2 into the assigned posture point value output by the FMU; The assigned posture point value output by the FMU is used as the input of the excavation load library model to perform posture retrieval, and the excavation load force corresponding to the single-action operation posture point is output; the resultant force corresponding to the excavation load force of the bucket single-action operation posture point, the excavation load force corresponding to the bucket arm single-action operation posture, and the excavation load force corresponding to the boom single-action operation posture are loaded to the bucket center of mass position, completing the process of loading the excavation load force at time t2; Use the above method to complete t3, t4, ... t n-1 ,t n Load the excavation load force process at all times.

12. The method for constructing and applying an excavation load pool model for an excavation machine according to claim 11, characterized in that: Outputting the attitude point value at time 0 or t2 according to the change of the angle between the operating mechanisms at time t1 and t2 includes: If the angle between the operating mechanism at time t1 and t2 is equal, the output value is 0; if the angle between the operating mechanism at time t1 and t2 is not equal, the attitude point value at time t2 is output, expressed as: bucket attitude point (H 2铲 , H 2斗 , c2), arm attitude point (H 2斗 , a2, b2, c2) and boom posture point (H 2动 , a2, b2, c2), where the subscript 2 represents the time t2.

13. The method for constructing and applying an excavation load pool model for an excavation machine according to claim 11, characterized in that: The construction of the FMU to set the single action posture point assignment conditions includes: The bucket attitude point assignment condition is: H 铲 ≤H 2铲 <H 铲 +△H, value H 铲 ; H 斗 ≤H 2斗 <H 斗 +△H, value H 斗 ; c≤c2<c+△c, value c; The arm attitude point assignment condition is: H 斗 ≤H 2斗 <H 斗 +△H, value H 斗 ; a≤a2<a+△a, take value a; b≤b2<b+△b, take value b; c≤c2<c+△c, take value c; The conditions for assigning the boom attitude point are: H 动 ≤H 2动 <H 动 +△H, value H 动 ; a≤a2<a+△a, take value a; b≤b2<b+△b, take value b; c≤c2<c+△c, take value c; where △H is the set distance interval, △a, △b, △c are all set angle intervals; Based on the assignment condition, the attitude point value at time t2 is assigned by the FMU output attitude point value: bucket attitude point output value (H 铲 , H 斗 , c), arm attitude point output value (H 斗 , a, b, c) and boom attitude point output value (H 动 , a, b, c); If the input value is 0, the FMU output value is 0.

Images