Land-based virtual-real symbiosis experiment system with traveling cable swinging

Abstract

The invention discloses a land-based virtual-real symbiosis experiment system for traveling cable swing, which comprises a land-based cable experiment table carrying a driving and loading module, and a mapping module for collecting real parameters of a traveling cable based on the driving and loading module to establish a mechanical model, the driving and loading module comprises driving equipment arranged on the land-based cable experiment table, the mapping module defines boundary conditions of the mapping module in a fixing mode of the land-based cable experiment table, and the boundary conditions serve as constraints of a dynamic model in the mapping module. By establishing real-time data transmission between the physical experiment table and the digital twin model, the problem of mapping lag is solved on the basis of real parameters collected by the driving and loading module, a simulation result can be fed back to the physical experiment table, parameter adjustment is guided, a digital research platform is provided for trailing cable reliability research in a land-based environment, and the reliability of a trailing cable is improved. And an effective guarantee is provided for ensuring absolute safety of cable running.

Description

Technical Field

[0001] This invention relates to the field of experimental testing technology for traveling cables, specifically to a land-based virtual-real symbiotic experimental system for the swinging of traveling cables. Background Technology

[0002] Traveling cables are widely used in equipment such as elevators, cranes, and rail transit. Their swaying behavior under dynamic operating conditions directly affects the safety and reliability of the equipment. Accurately simulating the mechanical response of cables in complex environments is of great significance for optimizing cable layout, preventing fatigue failure, and ensuring the safety of traveling cables.

[0003] For example, the system and method for detecting the swing amplitude of a traveling cable disclosed in Chinese Patent Publication No. CN111650596B involves moving the elevator car to the bottom floor and shaking the traveling cable to make it swing with the maximum lateral amplitude; the swing amplitude of the traveling cable directly in front of it is obtained by a photoelectric detection module; the corresponding maximum swing angle is obtained by calculating based on the swing amplitude and distance; the average of each maximum swing angle is taken as the swing amplitude threshold; the swing amplitude detection step involves obtaining the swing amplitude in real time through the photoelectric detection module and then calculating the current swing amplitude angle; the over-limit judgment and alarm step involves reporting and alarming when the current swing amplitude angle is greater than or equal to the swing amplitude threshold.

[0004] However, the above technologies mainly rely on physical test benches for parameter measurement and cannot optimize physical test parameters through virtual simulation. Their detection modules focus on macroscopic parameters such as cable swing amplitude and vibration frequency, without systematically integrating key parameters such as material properties, geometric dimensions and dynamic loads. This makes it difficult to support comprehensive experimental testing and ultimately results in the inability to predict and optimize the dynamic response of cables by pre-setting faults or disturbances in virtual scenarios. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a land-based virtual-real symbiosis experimental system with a swinging accompanying cable, which solves the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a land-based virtual-real symbiotic experimental system with a swinging accompanying cable, comprising:

[0007] A land-based cable test bench equipped with drive and loading modules;

[0008] A mapping module that establishes a mechanical model based on the actual parameters of the accompanying cable collected by the drive and loading module;

[0009] The driving and loading module includes driving devices arranged on the land-based cable test platform. The mapping module defines the boundary conditions of the mapping module in a fixed manner with the land-based cable test platform, and uses the boundary conditions as constraints on the dynamic model within the mapping module.

[0010] The driving and loading module obtains the actual parameters of the accompanying cable and establishes a digital twin model, which is connected to the digital twin model through the MQTT protocol.

[0011] A further improvement of the technical solution of the present invention is that: the land-based cable test bench adopts a modular frame built with metal profiles, and its fixed end is designed as a rotatable joint to simulate different constraint conditions, such as hinge and fixation, and the modular frame built supports flexible adjustment of cable length and number of fixed points.

[0012] A further improvement of the technical solution of the present invention is that the system includes at least one experiment. In the first experiment of the system, the driving device acquires all the real parameters of the traveling cable through photoelectric detection modules deployed at least one at the fixed end and middle end of the traveling cable, at least one nine-axis sensor deployed at the end of the cable, a mechanical vibration table deployed on the land-based cable test platform, and at least one axial flow fan array, tensile testing machine and three-dimensional scanner deployed on the land-based cable test platform.

[0013] Obviously, the photoelectric detection module disclosed in the technical solution mentioned in the background technology is the same as the above solution, directly detecting the accompanying cable. At least one photoelectric detection module is set according to the requirements, which can realize the detection of cable swing at a low cost. Furthermore, the microcomputer system connected to the photoelectric detection module is the processing unit in the overall solution. And because it is fully disclosed, the swing angle is calculated by the arctangent of the third swing data matrix element, which will not be elaborated here.

[0014] Specifically, at least one nine-axis sensor is deployed at the end of the cable to collect acceleration and angular velocity data in real time. This is achieved through microcomputer system technology. The sensor contains a vibrating object. When the device accelerates, the vibrating object displaces due to inertia. Acceleration and displacement are calculated by measuring the displacement. This is common knowledge and will not be elaborated further.

[0015] The electromagnetic vibration table simulates vibration interference with frequencies of 0-200Hz and accelerations of 0-5g, enabling interference control in the overall experimental system. Similarly, the deployed axial flow fan array controls the wind speed and direction through a frequency converter to simulate the external environmental variables of the swinging cable in a real-world scenario.

[0016] A further improvement of the technical solution of the present invention is that: the material parameters of the actual parameters of the accompanying cable are obtained based on a tensile testing machine, and the geometric dimensions of the actual parameters of the accompanying cable are obtained based on a three-dimensional scanning machine;

[0017] The actual parameters of the accompanying cable also include acceleration obtained from a nine-axis sensor. and displacement The concentrated force obtained from the mechanical vibration table Distributed force obtained based on axial flow fan array ;

[0018] Material parameters include elastic modulus ,density Geometric dimensions include the moment of inertia of the cross section. Cross-sectional area A;

[0019] Furthermore, when the tensile testing machine collects the properties of the cable to be tested, it uses... Obtain the elastic modulus E, where For stress, Let F be the cable deformation, F be the tensile force, and A be the cable cross-sectional area. Elongation This is the original length of the cable;

[0020] During the first system experiment, after the mapping module obtains the actual parameters of the accompanying cable, it defines the boundary conditions of the mapping module according to the fixing method of the land-based cable test bench. The fixing method includes hinge constraints and rigid clamping.

[0021] During the second system experiment, the mapping module also established a mechanical model based on the actual parameters of the accompanying cable obtained.

[0022] A further improvement to the technical solution of this invention lies in that: the mechanical model includes a motion model displaying the swing of the traveling cable, the motion model being based on the vibration principle of an elastic beam, with the beam's bending stiffness term and inertial force term constraining the external load, the external load being composed of distributed forces. With concentration The sum is expressed as follows:

[0023] ;

[0024] Where E is the modulus of elasticity, which is obtained by actual measurement using a tensile testing machine. The moment of inertia of the cross section is calculated from the cable's geometric dimensions, for example... D is the diameter. Density is calculated from the material's weight and volume, and A is the cross-sectional area. Let be the lateral displacement of the position along the cable length direction and over time t. For distributed force, For concentration, Indicates the bending stiffness of the beam. It represents inertial force.

[0025] A further improvement to the technical solution of this invention lies in the following: the boundary conditions defined by the mapping module include: when the motion model is set to a hinged connection at the fixed end of the traveling cable, the displacement and bending moment of the traveling cable are zero, i.e. and When the motion model is set to fixed at the fixed end of the traveling cable, the displacement and rotation angle of the traveling cable are zero, i.e. and In the above, before the first system experiment, after obtaining the material parameters and geometric dimensions of the traveling cable, the specific distributed force and concentrated force of the driving device are given, and the motion model of the traveling cable swinging is established through the specific terms of the external load. Generally, the traveling cable is mainly subjected to two external loads: distributed force and concentrated force. If friction is considered, a friction term is established. In subsequent experiments, the swinging of the traveling cable must satisfy the constraint formula of the motion model.

[0026] The mechanical model also includes distributed force constraints for the friction term introduced in the motion model, including:

[0027] ;

[0028] in, For density, Let be the coefficient of friction of the accompanying cable. This is the drag coefficient. The velocity at position x is obtained by the nine-axis sensor. This is the difference between the cable descent speed and the movement speed of the nine-axis sensor.

[0029] A further improvement of the technical solution of this invention lies in the following: the digital twin model in the mapping module obtains point cloud data in STL format through a 3D scanner, and outputs a parameterized surface model through fitting. The surface model is placed in a scene classification system. The digital twin model can change the average wind speed, turbulence intensity, and preset turbulence scale distribution force of the axial flow fan array. In the context of changing disturbance scenarios, the digital twin model modulates the sinusoidal vibration, random vibration, and pre-set concentrated force of the impact load on the mechanical vibration table. The digital twin model can be configured to handle various disturbance scenarios, including changing material parameters to pre-set disturbance scenarios related to changes in the physical fault, and changing size parameters to pre-set disturbance scenarios related to environmental disturbances.

[0030] Furthermore, the pre-configured digital twin interference scenario is disclosed in this embodiment with specific examples, such as changing the wind resistance and the body of the accompanying cable. Without considering friction, that is, changing the distributed force includes the following specific steps:

[0031] The average wind speed turbulence intensity and turbulence scale are preset, and the fan output is controlled by the frequency converter;

[0032] A dynamic wind resistance term is generated based on wind speed, and a distributed force is injected. ;

[0033] Define sinusoidal vibration, random vibration, and impact load, and generate concentrated force through a vibration table driving signal. ;

[0034] Modify the elastic modulus E or density ρ to trigger changes in the stiffness of the mechanical model, or adjust the cross-sectional area A or length of the CAD model to simulate cable wear or tensile deformation, and update the moment of inertia I and boundary conditions.

[0035] The processed data is input into the mechanical model to simulate changes in other values ​​of the cable body, such as tensile strength, after operation. The model predicts whether the changes are within the threshold range and feeds the simulation results back to the cable body to guide actual operation and optimization.

[0036] The specific steps include:

[0037] = ;

[0038] Where g is the acceleration due to gravity. For density, Let be the coefficient of friction of the accompanying cable. This is the drag coefficient. The velocity at position x is obtained by the nine-axis sensor. Given the wind speed of the axial flow fan, the motion model described above becomes: The equations are then discretized into a set of nodal equations. The Galerkin method is used to handle the spatial derivatives, and the Newmark-β method is used to handle the time integrals. Finally, the approximate solution is substituted into the weak form to obtain the matrix equations, and the dynamic response is solved.

[0039] A further improvement of the technical solution of the present invention is that: in the mapping module, the digital twin model acquires the coordinates of the scanned point cloud using a 3D scanner. Based on the conversion of CAD model into CAD model reference point coordinates By digitizing the boundary conditions, that is and / or Obtain the rotation matrix R and translation vector t, and optimize using a point cloud fitting algorithm. The parameterized surface model is fitted and placed in a multiphysics coupled scenario.

[0040] A further improvement to the technical solution of this invention lies in that: the multi-physics coupling scenario includes a motion model, a motion model constrained by distributed force with introduced friction terms, and boundary conditions, including: the distributed force... After decomposition, distributed force terms including wind resistance and friction are embedded. Boundary constraints for displacement, rotation angle, and bending moment are set according to the type of fixed end. The displacement of the motion model... As an input parameter to the friction term, the distributed force output by the friction term... Feedback is sent to the load term on the right side of the motion model, and the distributed force is pre-set in the digital twin model. Concentration Any value of the actual parameters of the accompanying cable can be used to synchronize physical experimental data in real time via the MQTT protocol to adjust the simulation output.

[0041] Compared with the prior art, the beneficial effects of the present invention are: by establishing real-time data transmission between the physical experimental platform and the digital twin model, and dynamically correcting the virtual model based on the real parameters collected by the driving and loading modules, such as elastic modulus and airflow distribution force, the mapping lag problem can be solved, and the simulation results can be fed back to the physical experimental platform to guide parameter adjustment;

[0042] By using multiple devices such as tensile testing machines, 3D scanners, and nine-axis sensors to collaboratively collect material parameters, geometric parameters, dynamic response, and load data, a more comprehensive input is provided for the mechanical model compared to single-parameter testing, significantly improving the model's prediction accuracy.

[0043] By supporting both articulated constraints and rigid clamping boundary conditions, the problem of fixed constraint methods in current experimental testing is solved. It can accurately reproduce the installation conditions of cables in different equipment such as elevators and cranes, and preset multiple scenarios such as airflow disturbance, vibration impact, and body failure. Compared with single interference simulation, it can more comprehensively verify the reliability of cables in complex environments. Attached Figure Description

[0044] Figure 1 This is a system block diagram of the present invention;

[0045] Figure 2 This is a schematic diagram of the process of the present invention. Detailed Implementation

[0046] Various exemplary embodiments, features, and aspects of this application will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0047] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0048] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this application can be implemented without certain specific details. In some instances, methods, means, and elements well-known to those skilled in the art have not been described in detail in order to highlight the main points of this application.

[0049] This invention provides a land-based virtual-real symbiosis experimental system for the swinging of a traveling cable, and a land-based cable experimental platform equipped with a drive and loading module;

[0050] A mapping module that establishes a mechanical model based on the real parameters of the accompanying cable collected by the drive and loading modules;

[0051] The drive and loading module includes drive devices arranged on the land-based cable test bench. The mapping module defines the boundary conditions of the mapping module in a fixed manner on the land-based cable test bench, and uses the boundary conditions as constraints on the dynamic model within the mapping module.

[0052] The driver and loading module obtains the actual parameters of the accompanying cable and establishes a digital twin model, which is transmitted and connected to the digital twin model via the MQTT protocol.

[0053] The land-based cable test bench uses a modular frame constructed from metal profiles. Its fixed end is designed as a rotatable joint to simulate different constraint conditions, such as hinged or fixed connections. The modular frame also supports flexible adjustment of cable length and the number of fixed points.

[0054] The system includes at least one experiment. In the first experiment, the driving device acquires all the real parameters of the traveling cable through at least one photoelectric detection module deployed at the fixed end and middle of the traveling cable, at least one nine-axis sensor deployed at the end of the cable, a mechanical vibration table deployed on the land-based cable test platform, and at least one axial flow fan array, tensile testing machine and three-dimensional scanner deployed on the land-based cable test platform.

[0055] Obviously, the photoelectric detection module disclosed in the technical solution mentioned in the background technology is the same as the above solution, directly detecting the accompanying cable. At least one photoelectric detection module is set according to the requirements, which can realize the detection of cable swing at a low cost. Furthermore, the microcomputer system connected to the photoelectric detection module is the processing unit in the overall solution. And because it is fully disclosed, the swing angle is calculated by the arctangent of the third swing data matrix element, which will not be elaborated here.

[0056] Specifically, at least one nine-axis sensor is deployed at the end of the cable to collect acceleration and angular velocity data in real time. This is achieved through microcomputer system technology. The sensor contains a vibrating object. When the device accelerates, the vibrating object displaces due to inertia. Acceleration and displacement are calculated by measuring the displacement. This is common knowledge and will not be elaborated further.

[0057] The electromagnetic vibration table simulates vibration interference with frequencies of 0-200Hz and accelerations of 0-5g, enabling interference control in the overall experimental system. Similarly, the deployed axial flow fan array controls the wind speed and direction through a frequency converter to simulate the external environmental variables of the swinging cable in a real-world scenario.

[0058] The material parameters of the actual parameters of the accompanying cable were obtained based on a tensile testing machine, and the geometric dimensions of the actual parameters of the accompanying cable were obtained based on a 3D scanning machine.

[0059] The actual parameters of the accompanying cable also include acceleration obtained from a nine-axis sensor. and displacement The concentrated force obtained from the mechanical vibration table Distributed force obtained based on axial flow fan array ;

[0060] Material parameters include elastic modulus ,density Geometric dimensions include the moment of inertia of the cross section. Cross-sectional area A;

[0061] Furthermore, when the tensile testing machine collects the properties of the cable to be tested, it uses... Obtain the elastic modulus E, where For stress, Let F be the cable deformation, F be the tensile force, and A be the cable cross-sectional area. Elongation This is the original length of the cable;

[0062] In the first experiment of the system, which is a physical experiment, after the mapping module obtains the real parameters of the accompanying cable, the boundary conditions of the mapping module are defined by the fixing method of the land-based cable test bench. The fixing method includes hinge constraints and rigid clamping.

[0063] In the second experiment of the system, the mapping module also established a mechanical model based on the actual parameters of the accompanying cable obtained.

[0064] The mechanical model includes a motion model that shows the swinging of the traveling cable. The motion model is based on the vibration principle of an elastic beam, with the beam's bending stiffness and inertial force terms constraining the external load. The external load is composed of distributed forces. With concentration The sum is expressed as follows:

[0065] ;

[0066] Where E is the modulus of elasticity, which is obtained by actual measurement using a tensile testing machine. The moment of inertia of the cross section is calculated from the cable's geometric dimensions, for example... D is the diameter. Density is calculated from the material's weight and volume, and A is the cross-sectional area. Let be the lateral displacement of the position along the cable length direction and over time t. For distributed force, For concentration, Indicates the bending stiffness of the beam. It represents inertial force.

[0067] The boundary conditions defined by the mapping module include: when the motion model is set to hinged at the fixed end of the traveling cable, the displacement and bending moment of the traveling cable are zero, i.e. and When the motion model is set to fixed at the fixed end of the traveling cable, the displacement and rotation angle of the traveling cable are zero, i.e. and In the above, before the first system experiment, after obtaining the material parameters and geometric dimensions of the traveling cable, the specific distributed force and concentrated force of the driving device are given, and the motion model of the traveling cable swinging is established through the specific terms of the external load. Generally, the traveling cable is mainly subjected to two external loads: distributed force and concentrated force. If friction is considered, a friction term is established. In subsequent experiments, the swinging of the traveling cable must satisfy the constraint formula of the motion model.

[0068] The mechanical model also includes distributed force constraints for the friction term introduced in the motion model, including:

[0069] ;

[0070] in, For density, Let be the coefficient of friction of the accompanying cable. This is the drag coefficient. The velocity at position x is obtained by the nine-axis sensor. This is the difference between the cable descent speed and the movement speed of the nine-axis sensor.

[0071] In the mapping module, the digital twin model uses STL format point cloud data acquired by a 3D scanner to fit and output a parameterized surface model. This surface model is then placed within a scene classification system. The digital twin model modifies the average wind speed, turbulence intensity, and turbulence-scale pre-distributed forces of the axial flow fan array. In varying disturbance scenarios, digital twin models are used to modify sinusoidal vibration, random vibration, and pre-set concentrated forces of impact loads on a mechanical vibration table. The disturbance scenarios include: changing material parameters of the digital twin model to pre-set the disturbance scenario of the body's fault changes; and changing size parameters of the digital twin model to pre-set the disturbance scenario of environmental disturbances.

[0072] Furthermore, the pre-configured digital twin interference scenario is disclosed in this embodiment with specific examples, such as changing the wind resistance and the body of the accompanying cable. Without considering friction, that is, changing the distributed force includes the following specific steps:

[0073] The average wind speed turbulence intensity and turbulence scale are preset, and the fan output is controlled by the frequency converter;

[0074] A dynamic wind resistance term is generated based on wind speed, and a distributed force is injected. ;

[0075] Define sinusoidal vibration, random vibration, and impact load, and generate concentrated force through a vibration table driving signal. ;

[0076] Modify the elastic modulus E or density ρ to trigger changes in the stiffness of the mechanical model, or adjust the cross-sectional area A or length of the CAD model to simulate cable wear or tensile deformation, and update the moment of inertia I and boundary conditions.

[0077] The processed data is input into the mechanical model to simulate changes in other values ​​of the cable body, such as tensile strength, after operation. The model predicts whether the changes are within the threshold range and feeds the simulation results back to the cable body to guide actual operation and optimization.

[0078] In the mapping module, the digital twin model uses a 3D scanner to acquire the coordinates of the scanned point cloud. Based on the conversion of CAD model into CAD model reference point coordinates By digitizing the boundary conditions, that is and / or Obtain the rotation matrix R and translation vector t, and optimize using a point cloud fitting algorithm. The parameterized surface model is fitted and placed in a multiphysics coupled scenario.

[0079] The multiphysics coupling scenario includes motion models, motion models with distributed force constraints incorporating friction terms, and boundary conditions, including: distributed forces... After decomposition, distributed force terms including wind resistance and friction are embedded. Boundary constraints for displacement, rotation angle, and bending moment are set according to the type of fixed end. The displacement of the motion model... As an input parameter to the friction term, the distributed force output by the friction term... Feedback is sent to the load term on the right side of the motion model, and the distributed force is pre-set in the digital twin model. Concentration Any value of the actual parameters of the accompanying cable can be used to synchronize physical experimental data in real time via the MQTT protocol to adjust the simulation output.

[0080] The specific steps include:

[0081] = ;

[0082] Where g is the acceleration due to gravity. For density, Let be the coefficient of friction of the accompanying cable. This is the drag coefficient. Position acquired by a nine-axis sensor The speed at that point, Given the wind speed of the axial flow fan, the motion model described above becomes: The equations are then discretized into a set of nodal equations. The Galerkin method is used to handle the spatial derivatives, and the Newmark-β method is used to handle the time integrals. Finally, the approximate solution is substituted into the weak form to obtain the matrix equations, and the dynamic response is solved.

[0083] In its specific implementation, this application provides a computer storage medium and a corresponding data processing unit. The computer storage medium is capable of storing a computer program, which, when executed by the data processing unit, can run the invention content of the land-based virtual-real symbiosis experimental system with a swinging accompanying cable provided by this invention, as well as some or all of the steps in various embodiments. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0084] Those skilled in the art will clearly understand that the technical solutions in the embodiments of the present invention can be implemented using computer programs and their corresponding general-purpose hardware platforms. Based on this understanding, the technical solutions in the embodiments of the present invention, or the parts that contribute to the prior art, can be embodied in the form of computer programs, i.e., software products. These computer program software products can be stored in a storage medium and include several instructions to cause a device containing a data processing unit (which may be a personal computer, server, microcontroller, MCU, or network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments of the present invention.

[0085] This invention provides a land-based virtual-real symbiotic experimental system with a swinging accompanying cable. Many methods and approaches exist for implementing this technical solution; the above description is merely a preferred embodiment. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications should also be considered within the scope of protection of this invention. All components not explicitly stated in this embodiment can be implemented using existing technologies.

Claims

1. A land-based virtual-real symbiotic experimental system with a swinging accompanying cable, characterized in that, include: A land-based cable test bench equipped with drive and loading modules; A mapping module that establishes a mechanical model based on the actual parameters of the accompanying cable collected by the drive and loading module; The driving and loading module includes driving devices arranged on the land-based cable test platform. The mapping module defines the boundary conditions of the mapping module in a fixed manner with the land-based cable test platform, and uses the boundary conditions as constraints on the dynamic model within the mapping module. The driving and loading module obtains the actual parameters of the accompanying cable and establishes a digital twin model, which is connected to the digital twin model through the MQTT protocol.

2. The land-based virtual-real symbiotic experimental system with oscillating accompanying cable as described in claim 1, characterized in that, The land-based cable test bench uses a modular frame constructed from metal profiles, and its fixed end is designed as a rotatable joint.

3. The land-based virtual-real symbiotic experimental system with oscillating accompanying cable according to claim 1, characterized in that, The drive device acquires the real parameters of the accompanying cable through photoelectric detection modules deployed at least at the fixed end and middle of the accompanying cable, at least one nine-axis sensor deployed at the end of the cable, a mechanical vibration table deployed on the land-based cable test bench, and at least one axial flow fan array, tensile testing machine, and three-dimensional scanner deployed on the land-based cable test bench.

4. The land-based virtual-real symbiotic experimental system with oscillating accompanying cable according to claim 1, characterized in that, The material parameters of the actual parameters of the accompanying cable were obtained based on a tensile testing machine, and the geometric dimensions of the actual parameters of the accompanying cable were obtained based on a three-dimensional scanning machine. The actual parameters of the accompanying cable also include acceleration obtained from a nine-axis sensor. and displacement The concentrated force obtained from the mechanical vibration table Distributed force obtained based on axial flow fan array ; Material parameters include elastic modulus ,density Geometric dimensions include the moment of inertia of the cross section. Cross-sectional area A; After obtaining the actual parameters of the accompanying cable, the mapping module defines the boundary conditions of the mapping module according to the fixing method of the land-based cable test bench. The fixing method includes hinge constraints and rigid clamping. The mapping module also establishes a mechanical model based on the actual parameters of the acquired accompanying cable.

5. The land-based virtual-real symbiotic experimental system with oscillating accompanying cable according to claim 4, characterized in that, The mechanical model includes a motion model that displays the swing of the traveling cable. This motion model constrains external loads with the beam's bending stiffness and inertial force terms. The external loads are distributed forces. With concentration The sum is expressed as follows: ; Where E is the elastic modulus. Let the moment of inertia of the cross section be... Let A be the density and A be the cross-sectional area. Let be the lateral displacement of the position along the cable length direction and over time t. For distributed force, For concentration, Indicates the bending stiffness of the beam. It represents inertial force.

6. The land-based virtual-real symbiotic experimental system with oscillating accompanying cable according to claim 5, characterized in that, The boundary conditions defined by the mapping module include: when the motion model is set to hinged at the fixed end of the traveling cable, the displacement and bending moment of the traveling cable are zero, i.e. and When the motion model is set to fixed at the fixed end of the traveling cable, the displacement and rotation angle of the traveling cable are zero, i.e. and ; The mechanical model also includes distributed force constraints for the friction term introduced in the motion model, including: ; in, For density, Let be the coefficient of friction of the accompanying cable. This is the drag coefficient. The velocity at position x is obtained by the nine-axis sensor. This is the difference between the cable descent speed and the movement speed of the nine-axis sensor.

7. The land-based virtual-real symbiotic experimental system with oscillating accompanying cable according to claim 6, characterized in that, In the mapping module, the digital twin model uses STL format point cloud data acquired by a 3D scanner to fit and output a parameterized surface model. This surface model is then placed within a scene classification system. The digital twin model modifies the average wind speed, turbulence intensity, and turbulence-scale pre-distributed force of the axial flow fan array. In the context of changing disturbance scenarios, the digital twin model modulates the sinusoidal vibration, random vibration, and pre-set concentrated force of the impact load on the mechanical vibration table. The digital twin model can be configured to handle various disturbance scenarios, including changing material parameters to pre-set disturbance scenarios related to changes in the physical fault, and changing size parameters to pre-set disturbance scenarios related to environmental disturbances.

8. The land-based virtual-real symbiotic experimental system with oscillating accompanying cable according to claim 6, characterized in that, In the mapping module, the digital twin model uses a 3D scanner to acquire the coordinates of the scanned point cloud. Based on the conversion of CAD model into CAD model reference point coordinates By digitizing the boundary conditions, that is and / or Obtain the rotation matrix R and translation vector t, and optimize using a point cloud fitting algorithm. Fit the output parameterized surface model, and place the surface model in a multiphysics coupled scene.

9. A land-based virtual-real symbiotic experimental system with a swinging accompanying cable as described in claim 8, characterized in that, The multiphysics coupling scenario includes a motion model, a motion model with distributed force constraints incorporating friction terms, and boundary conditions, specifically: the distributed force... After decomposition, the distributed force terms, including wind resistance and friction, are embedded. Boundary constraints for displacement, rotation angle, and bending moment are set according to the type of fixed end, and the displacement of the motion model is also set. As an input parameter to the friction term, the distributed force output by the friction term... Feedback is sent to the load term on the right side of the motion model, and the distributed force is pre-set in the digital twin model. Concentration Any value of the actual parameters of the accompanying cable can be used to synchronize physical experimental data in real time via the MQTT protocol to adjust the simulation output.

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