Electro-hydraulic-particle joint simulation method for concrete pumping unit

Abstract

The invention relates to the field of concrete pumping numerical simulation, in particular to a concrete pumping unit electromechanical liquid-particle joint simulation method which mainly comprises the steps that a three-dimensional model of a pumping unit is established, and the pumping unit comprises a hopper, an S pipe, a left tilt cylinder, a right tilt cylinder, a left tilt cylinder piston, a right tilt cylinder piston and stirring blades; setting a motion form and attribute parameters of the three-dimensional model; generating a concrete particle model; setting attributes and discrete element simulation parameters of the three-dimensional model and the concrete particle model; establishing a hydraulic control system model for the swing of the S pipe of the pumping unit; parameters of the hydraulic control system are set and imported into a control interface file II; and establishing a joint simulation model and carrying out numerical simulation. By establishing the electro-hydraulic-particle joint simulation method for the concrete pumping unit, numerical simulation is carried out on the multidisciplinary cross field of the concrete pumping process, and the method has very important significance in data acquisition, load spectrum formulation and optimization of system parameters.

Description

Technical Field

[0001] The present invention relates to the field of concrete pumping numerical simulation, and in particular to a method for joint simulation of electromechanical, hydraulic and particle systems of a concrete pumping unit. Background Art

[0002] With the vigorous development of infrastructure in my country, concrete machinery has been widely used in various construction projects and civil engineering fields including residential and high-rise buildings, dams, transportation railways, highways, bridges, airports, etc. Among them, concrete pump trucks are one of the most widely used engineering machinery. The process of concrete pump trucks pumping concrete is controlled by multiple disciplines and systems, and it is difficult to collect data that conforms to the actual situation during the movement.

[0003] Currently, numerical simulations of concrete pumping primarily rely on a single analytical approach, ignoring the interdisciplinary interactions between multiple disciplines. Concrete pumping involves multiple disciplines, including fluids, mechanics, and hydraulics. Therefore, a joint electro-hydraulic-particle simulation method for concrete pumping is proposed, which is crucial for data collection, load spectrum development, and optimization of various system parameters. Summary of the Invention

[0004] The purpose of the present invention is to provide a method for joint simulation of electromechanical, hydraulic and particle of concrete pumping unit.

[0005] To achieve the above-mentioned purpose, the technical solution of the present invention provides a joint simulation method of an electro-hydraulic and particle system of a concrete pumping machine, which establishes a three-dimensional model of a pumping unit, wherein the pumping unit includes a hopper, an S-tube, left and right swing cylinders, left and right swing cylinder pistons, and mixing blades; sets the motion form and attribute parameters of the three-dimensional model; generates a concrete particle model; sets the attributes and discrete element simulation parameters of the three-dimensional model and the concrete particle model; establishes a hydraulic control system model of the S-tube swing of the pumping unit; sets the parameters of the hydraulic control system and imports the control interface file II; establishes a joint simulation model, and conducts numerical simulation.

[0006] In addition, the technical solution provided by the present invention may also have the following additional technical features:

[0007] In the above technical solution, the establishment of a three-dimensional model of the pumping unit specifically includes: using 3D drawing software to draw the required hopper, S-tube, left and right swing cylinders, left and right swing cylinder pistons and the mechanical structure of the stirring blade into a three-dimensional model, saving the three-dimensional model file as a format that can be imported by the multi-body dynamics software, and importing it into the multi-body dynamics software.

[0008] In the above technical solution, the setting of the motion form and attribute parameters of the three-dimensional model specifically includes: defining the moving parts and constraint relationships in the multi-body dynamics software, the moving parts including the left swing cylinder, the right swing cylinder, the left swing cylinder piston, the right swing cylinder piston, and the stirring blade; the constraint relationship includes the left swing cylinder piston and the left swing cylinder being connected by a moving pair, the right swing cylinder piston and the right swing cylinder being connected by a moving pair, the hopper is set to be fixed to the ground, the S tube is respectively connected to the left and right swing cylinder pistons and the hopper by a rotating pair, and the stirring blade is connected to the hopper by a rotating pair; setting the attribute parameters of the three-dimensional model, including but not limited to the first density, the first input force, the first output displacement, and the first output speed of the left swing cylinder piston of the moving part, the second input force, the second output displacement, and the second output speed of the right swing cylinder piston, and exporting the three-dimensional model in the multi-body dynamics software as an interface file I, and exporting the input force, output displacement and output speed of the left swing cylinder piston and the right swing cylinder piston as a control interface file II.

[0009] In the above technical solution, the generation of the concrete particle model specifically includes: importing the interface file I exported from the three-dimensional model in the multi-body dynamics software into the discrete element software, and using the gravity stacking method to generate a first number of the concrete particle models at a first time and in a first area.

[0010] In the above technical solution, the properties and discrete element simulation parameters of the three-dimensional model and the concrete particle model are set, specifically including: setting the first density, the first Poisson's ratio and the first shear modulus of the three-dimensional model; setting the first density, the first Poisson's ratio, the first shear modulus and the first radius of the coarse aggregate of the concrete particle model, and the second density, the second Poisson's ratio, the second shear modulus and the second radius of the mortar; setting the restitution coefficient, the static friction coefficient and the rolling friction coefficient between the concrete particle model and the concrete particle model, including: the first restitution coefficient, the first static friction coefficient and the first rolling friction coefficient between the coarse aggregate and the coarse aggregate, the second restitution coefficient, the second static friction coefficient and the second rolling friction coefficient between the coarse aggregate and the mortar, and the third restitution coefficient, the third static friction coefficient and the third rolling friction coefficient between the mortar and the mortar. friction coefficient and third rolling friction coefficient; setting the restitution coefficient, static friction coefficient and rolling friction coefficient between the concrete particle model and the three-dimensional model, including: the first restitution coefficient, the first static friction coefficient and the first rolling friction coefficient between the coarse aggregate and the three-dimensional model, the second restitution coefficient, the second static friction coefficient and the second rolling friction coefficient between the mortar and the three-dimensional model; setting the first cohesion contact model parameters between the concrete particle model and the concrete particle model, including: the surface energy parameters of coarse aggregate and coarse aggregate, coarse aggregate and mortar, and mortar and mortar; setting the second cohesion contact model parameters between the concrete particle model and the three-dimensional model, including: the surface energy parameters of coarse aggregate and the three-dimensional model, and the mortar and the three-dimensional model; setting the acceleration of gravity; setting the calculation simulation time step.

[0011] In the above technical solution, establishing a hydraulic control system model for the pumping unit S-tube swing specifically includes: establishing a swing hydraulic control system in the hydraulic software according to the hydraulic principle of the concrete pumping unit, and setting it as the default simulation calculation method.

[0012] In the above technical solution, the parameters of the hydraulic control system are set and the control interface file II is imported, which specifically includes: setting the motor speed, constant pressure pump flow, solenoid valve rated current, left swing cylinder piston rod diameter, right swing cylinder piston rod diameter, left swing cylinder diameter, right swing cylinder diameter, left swing cylinder piston rod stroke, and right swing cylinder piston rod stroke of the hydraulic control system; importing the control interface file II exported by the multi-body dynamics software into the hydraulic control system software.

[0013] In the above technical solution, the establishment of a joint simulation model and the conduct of numerical simulation include: importing the interface file I exported from the three-dimensional model in the multi-body dynamics software into the discrete element software, importing the control interface file II exported from the multi-body dynamics software into the hydraulic control system software, combining the discrete element software and the multi-body dynamics software, combining the hydraulic control system software and the multi-body dynamics software, connecting the discrete element software and the hydraulic control system software with the multi-body dynamics software as a bridge, exchanging data with each other, starting the joint simulation, and conducting numerical simulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0015] Figure 1 This is a schematic diagram of the overall steps of a method for joint simulation of electromechanical, hydraulic, and particle systems in a concrete pumping unit according to one embodiment of the present invention;

[0016] Figure 2 This is a flow chart of a method for joint simulation of electromechanical, hydraulic and particle systems of a concrete pumping unit according to an embodiment of the present invention;

[0017] Figure 3 This is a second flow chart of a method for joint simulation of electromechanical, hydraulic, and particle systems in a concrete pumping unit according to an embodiment of the present invention;

[0018] Figure 4 This is a third flow chart of a method for joint simulation of electromechanical, hydraulic, and particle systems in a concrete pumping unit according to an embodiment of the present invention;

[0019] Figure 5 A schematic diagram of the device configuration in RecurDyn according to an embodiment of the present invention;

[0020] Figure 6 A schematic diagram of a hydraulic system in AMEsim according to an embodiment of the present invention;

[0021] Figure 7 The displacement diagram of the left swing cylinder piston rod is derived from AMEsim in one embodiment of the present invention;

[0022] Figure 8 The displacement diagram of the left swing cylinder piston rod is derived in RecurDyn according to one embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other.

[0024] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0025] The following describes a method for joint simulation of electromechanical, hydraulic, and particle systems of a concrete pumping unit according to the present invention with reference to the accompanying drawings.

[0026] The simulation object of this embodiment is a concrete pump truck. The particles are set as concrete particle models, the discrete element software is EDEM, the three-dimensional model is set by the multi-body dynamics software RecurDyn, and the hydraulic control system is set by the software AMEsim. It can be applied to the scene when the concrete pump truck is pumping concrete.

[0027] like Figure 1 As shown, the overall steps of establishing a joint simulation method for electromechanical, hydraulic and particle of a concrete pumping unit specifically include: establishing a three-dimensional model of the pumping unit, the pumping unit including a hopper, an S-tube, left and right swing cylinders, left and right swing cylinder pistons and mixing blades; setting the motion form and attribute parameters of the three-dimensional model; generating a concrete particle model; setting the attributes and discrete element simulation parameters of the three-dimensional model and the concrete particle model; establishing a hydraulic control system model for the swing of the S-tube of the pumping unit; setting the parameters of the hydraulic control system and importing the control interface file II; establishing a joint simulation model and conducting numerical simulation.

[0028] STEP 1: If Figure 2 As shown in the process, a three-dimensional model of the mechanical structure is established: the hopper model of the concrete pumping equipment is imported into the RecurDyn software; the moving parts and constraint relationships are defined: the moving parts of this embodiment are the left and right swing cylinder pistons, and a force is defined for the left and right swing cylinder pistons to move along the swing cylinder. The constraint relationship includes setting the hopper to be fixed to the ground, the ends of the left and right swing cylinders and the hopper to be connected with a rotating pair, the head ends of the left and right swing cylinder pistons to the swing cylinder to be connected with a moving pair, and the S tube to the hopper to be connected with a rotating pair; setting model properties and parameters: a contact model is defined between the swing cylinder and the swing cylinder piston, and the material property of the three-dimensional model is set to steel, as shown in the attached figure Figure 5 As shown; export interface file I and control interface file II: define the hopper, S-tube, left swing cylinder, right swing cylinder, left swing cylinder piston, right swing cylinder piston and stirring blade as wall, and export them as interface file I in .wall format, open the interface with the EDEM end; define an interface end, which includes two inputs and four outputs. The input is the force of the left and right pistons, and the output is the displacement and velocity of the left and right pistons, and export this interface end as control interface file II in .fmu; open the interface connecting EDEM and AMEsim, save the file and exit the software.

[0029] STEP2: If Figure 3 As shown in the process, start the EDEM software, import the interface file I in the .wall format output in STEP 1, and set the properties and discrete element simulation parameters of the three-dimensional model and the concrete particle model according to the actual working conditions, specifically including: setting the first density, first Poisson's ratio, and first shear modulus of the three-dimensional model; setting the first density, first Poisson's ratio, first shear modulus, and first radius of the coarse aggregate in the concrete particle model; and setting the second density, second Poisson's ratio, second shear modulus, and second radius of the mortar as shown in Table 1;

[0030] Table 1

[0031] parameter Numerical Shear modulus of coarse aggregate (Pa) <![CDATA[8×10 9 ]]> Poisson's ratio of coarse aggregate 0.35 <![CDATA[Density of coarse aggregate (kg / m 3 )]]> 2560 Radius of coarse aggregate (mm) 10 Shear modulus of mortar (Pa) <![CDATA[8×10 9 ]]> Poisson's ratio of mortar 0.25 <![CDATA[Density of mortar (kg / m 3 )]]> 2560 Mortar radius (mm) 5 Shear modulus of the 3D model (Pa) <![CDATA[8×10 9 ]]> Poisson's ratio of 3D models 0.3 <![CDATA[Density of the 3D model (kg / m 3 )]]> 7850

[0032] Setting the coefficient of restitution, static friction coefficient, and rolling friction coefficient between the concrete particle models, specifically including: a first coefficient of restitution, a first static friction coefficient, and a first rolling friction coefficient between coarse aggregate and coarse aggregate, a second coefficient of restitution, a second static friction coefficient, and a second rolling friction coefficient between coarse aggregate and mortar, and a third coefficient of restitution, a third static friction coefficient, and a third rolling friction coefficient between mortar and mortar;

[0033] Setting the coefficient of restitution, static friction coefficient, and rolling friction coefficient between the concrete particle model and the three-dimensional model, specifically including: a first coefficient of restitution, a first static friction coefficient, and a first rolling friction coefficient between the coarse aggregate and the three-dimensional model, and a second coefficient of restitution, a second static friction coefficient, and a second rolling friction coefficient between the mortar and the three-dimensional model;

[0034] Setting first cohesion contact model parameters between the concrete particle models, specifically including: surface energy parameters between coarse aggregate and coarse aggregate, between coarse aggregate and mortar, and between mortar and mortar;

[0035] Setting the second cohesion contact model parameters between the concrete particle model and the three-dimensional model, specifically including: surface energy parameters of the coarse aggregate and the three-dimensional model, and surface energy parameters of the mortar and the three-dimensional model;

[0036] As shown in Table 2;

[0037] Set the gravitational acceleration, set the simulation time step, open the interface with RecurDyn, save the file, and keep the page open without exiting the software.

[0038] Table 2

[0039]

[0040]

[0041] STEP3: If Figure 4 As shown in the process, open the AMEsim software, establish a hydraulic control system according to the hydraulic principle, import the .fmu control interface file II output in STEP1, and create a graphical interface. The graphical interface includes two outputs and four inputs. The output is the force of the left and right swing cylinder pistons, and the input is the displacement and speed of the left and right swing cylinder pistons. The force of the left and right swing cylinder pistons is output to the RecurDyn software as input. After continuous iterative calculation, the displacement and speed of the left and right swing cylinder pistons are obtained and input into AMEsim through the interface; set the sub-model. In this embodiment, the sub-model is used as the default model, and the parameters of the hydraulic control system are set, specifically including: setting the motor speed, constant pressure pump flow, solenoid valve rated current, piston rod diameter, piston rod cylinder diameter, piston rod stroke, etc. of the hydraulic control system. The parameters are shown in Table 3; initialize the model, set the time step to 0.001s and the total simulation time to 8s, save the file, and start the joint simulation for numerical simulation.

[0042] Table 3

[0043] parameter Numerical Motor speed (r / min) 3000 Constant pressure pump displacement (ml / r) 28 Piston rod diameter (mm) 90 Piston rod diameter (mm) 70 Piston rod stroke (mm) 1900 Initial displacement of left piston rod (mm) 0 Initial displacement of right piston rod (mm) 1900 System maximum pressure (bar) 180 Accumulator initial pressure (bar) 100 Accumulator capacity (L) 10 Accumulator outlet diameter (mm) 20 Relief valve set pressure (bar) 180 Solenoid valve rated current (mA) 40 <![CDATA[Hydraulic oil density (kg / m 3 )]]> 850 Oil bulk modulus (bar) 17000

[0044] After the simulation is completed, the simulation experimental data can be obtained in various software, such as Figure 7 、 Figure 8 As shown, Figure 7 To export the left swing cylinder piston displacement diagram in AMEsim, Figure 8 This is the piston displacement diagram of the left swing cylinder in RecurDyn. The positive and negative outputs represent the setting direction. Figure 7 and Figure 8 The values ​​are consistent and the directions are opposite, which means that the simulation is feasible.

[0045] This embodiment uses RecurDyn-AMEsim-EDEM to jointly simulate the internal swing system of the pump truck hopper. Unlike the discrete element or finite element method used in single-discipline software in the existing technology, the joint simulation of this embodiment integrates factors from multiple disciplines, takes into account more comprehensive factors, and the simulation results are more reliable and closer to the actual situation.

Claims

1. A joint simulation method of electromechanical-hydraulic-particle of concrete pumping unit, characterized in that: include: S1, establishing a three-dimensional model of a pumping unit, wherein the pumping unit includes a hopper, an S-tube, left and right swing cylinders, left and right swing cylinder pistons, and a stirring blade; S2, setting the motion form and attribute parameters of the three-dimensional model; S3, generate concrete particle model; S4, setting the properties of the three-dimensional model and the concrete particle model and discrete element simulation parameters; S5, establishing a hydraulic control system model for the S-tube swing of the pumping unit; S6, setting the parameters of the hydraulic control system and importing the control interface file II; S7, establish a joint simulation model and conduct numerical simulation.

2. A method for joint simulation of electromechanical-hydraulic-particles of a concrete pumping unit according to claim 1, characterized in that: The three-dimensional model of the pumping unit is established, specifically comprising: Use 3D drawing software to draw the required mechanical structure of the hopper, S-tube, left and right swing cylinders, left and right swing cylinder pistons and stirring blades into a three-dimensional model, save the three-dimensional model file as a format that can be imported by the multi-body dynamics software, and import it into the multi-body dynamics software.

3. The method for joint simulation of electric-hydraulic-particle concrete pumping machine according to claim 1 is characterized in that: The step of setting the motion form and attribute parameters of the three-dimensional model specifically includes: The moving parts and constraint relationships are defined in the multi-body dynamics software. The moving parts include a left swing cylinder, a right swing cylinder, a left swing cylinder piston, a right swing cylinder piston, and a stirring blade. The constraint relationships include a moving pair connection between the left swing cylinder piston and the left swing cylinder, a moving pair connection between the right swing cylinder piston and the right swing cylinder, a hopper is set to be fixedly connected to the ground, an S-tube is respectively connected to the left and right swing cylinder pistons and the hopper by a rotating pair, and the stirring blade is connected to the hopper by a rotating pair. The attribute parameters of the three-dimensional model are set, including but not limited to the first density, the first input force, the first output displacement, and the first output speed of the left swing cylinder piston of the moving part, the second input force, the second output displacement, and the second output speed of the right swing cylinder piston, and the three-dimensional model in the multi-body dynamics software is exported as an interface file I, and the input force, output displacement, and output speed of the left swing cylinder piston and the right swing cylinder piston are exported as a control interface file II.

4. A method for joint simulation of electromechanical-hydraulic-particles of a concrete pumping unit according to claim 1, characterized in that: The generating of the concrete particle model specifically comprises: The interface file I exported from the three-dimensional model in the multi-body dynamics software is imported into the discrete element software, and the first number of concrete particle models are generated within the first time and the first region by using the gravity stacking method.

5. The method for joint simulation of electromechanical-hydraulic-particle of concrete pumping unit according to claim 1, characterized in that: The setting of the properties of the three-dimensional model and the concrete particle model and the discrete element simulation parameters specifically includes: Setting a first density, a first Poisson's ratio, and a first shear modulus of the three-dimensional model; Setting a first density, a first Poisson's ratio, a first shear modulus and a first radius of the coarse aggregate of the concrete particle model, and a second density, a second Poisson's ratio, a second shear modulus and a second radius of the mortar; Setting the restitution coefficient, static friction coefficient and rolling friction coefficient between the concrete particle models, including: a first restitution coefficient, a first static friction coefficient and a first rolling friction coefficient between coarse aggregates, a second restitution coefficient, a second static friction coefficient and a second rolling friction coefficient between coarse aggregates and mortar, and a third restitution coefficient, a third static friction coefficient and a third rolling friction coefficient between mortars; Setting the restitution coefficient, static friction coefficient and rolling friction coefficient between the concrete particle model and the three-dimensional model, including: a first restitution coefficient, a first static friction coefficient and a first rolling friction coefficient between the coarse aggregate and the three-dimensional model, and a second restitution coefficient, a second static friction coefficient and a second rolling friction coefficient between the mortar and the three-dimensional model; Setting first cohesion contact model parameters between the concrete particle models and the concrete particle models, including: surface energy parameters between coarse aggregate and coarse aggregate, between coarse aggregate and mortar, and between mortar and mortar; Setting the second cohesion contact model parameters between the concrete particle model and the three-dimensional model, including: surface energy parameters of coarse aggregate and the three-dimensional model, and mortar and the three-dimensional model; Set gravity acceleration; Set the calculation simulation time step.

6. A method for joint simulation of electromechanical-hydraulic-particles of a concrete pumping unit according to claim 1, characterized in that: The establishment of a hydraulic control system model for the pumping unit S-tube swing specifically includes: According to the hydraulic principle of the concrete pumping unit, a swing hydraulic control system is established in the hydraulic software and set as the default simulation calculation method.

7. A method for joint simulation of electromechanical-hydraulic-particles of a concrete pumping unit according to claim 1, characterized in that: The step of setting the parameters of the hydraulic control system and importing the control interface file II specifically includes: Set the motor speed, constant pressure pump flow, solenoid valve rated current, left swing cylinder piston rod diameter, right swing cylinder piston rod diameter, left swing cylinder bore, right swing cylinder bore, left swing cylinder piston rod stroke, and right swing cylinder piston rod stroke of the hydraulic control system; Import the control interface file II exported by the multi-body dynamics software into the hydraulic control system software.

8. A method for joint simulation of electric-hydraulic-particles of a concrete pump according to claim 1, claim 4 and claim 7, characterized in that: The establishing of the joint simulation model and the carrying out of the numerical simulation include: The interface file I exported from the three-dimensional model in the multi-body dynamics software is imported into the discrete element software, and the control interface file II exported from the multi-body dynamics software is imported into the hydraulic control system software. The discrete element software and the multi-body dynamics software are combined, and the hydraulic control system software and the multi-body dynamics software are combined. The discrete element software and the hydraulic control system software are connected with the multi-body dynamics software as a bridge, and data are exchanged with each other, joint simulation is started, and numerical simulation is carried out.

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