Revolute pair three-dimensional gap multi-body dynamics simulation method

Abstract

The invention discloses a multi-body dynamics simulation method for a three-dimensional gap of a revolute pair. The method comprises the following steps: S1, calculating a six-degree-of-freedom acting force of the three-dimensional gap of the revolute pair between an inner rotor and an outer rotor; s2, copying a revolute pair three-dimensional gap simulation calculation module to a simulation modeling working area, connecting an inner rotor and an outer rotor to a rotating part corresponding to the multi-body dynamics model, and completing integration of a revolute pair gap multi-body dynamics simulation calculation model and a multi-body dynamics simulation model; and S3, calling out a revolute pair three-dimensional gap simulation calculation module parameter table by operating the revolute pair three-dimensional gap simulation calculation module, and inputting parameters into the revolute pair three-dimensional gap simulation calculation module parameter table to complete the construction of the revolute pair three-dimensional gap calculation model. According to the invention, a multi-body dynamics simulation model is integrated, and a mechanism gap simulation modeling technology for high-precision mechanism motion and motion control is realized.

Description

Technical Field

[0001] The invention relates to the technical field of multi-body dynamics of a revolute pair clearance, and in particular to a multi-body dynamics simulation method for a revolute pair three-dimensional clearance. Background Art

[0002] It is unrealistic to solve the problem of automobile collision by testing alone. It is urgent to combine computer simulation technology with automobile collision test. In this way, the test results can be analyzed by using the strong pertinence of simulation data, and the product improvement plan can be evaluated by using the advantages of short cycle and low cost.

[0003] In high-precision mechanism motion and motion control systems, motion clearance becomes a key factor affecting motion accuracy and control. Although with the popularization and continuous improvement of computer software and hardware technology, especially the emergence of large-scale supercomputers and cloud computing platforms, the accuracy and computational efficiency of automobile collision simulation virtual reality have been greatly improved, the existing multi-body dynamics simulation modeling tools lack multi-body dynamics simulation tools for clearance modeling, which cannot meet the needs of high-precision mechanism motion and motion control simulation. Summary of the invention

[0004] The present invention provides a multi-body dynamics simulation method for a three-dimensional clearance of a revolute pair. The present invention integrates a multi-body dynamics simulation model to solve the mechanism clearance simulation modeling technology for high-precision mechanism motion and motion control.

[0005] The technical solutions to the above problems are as follows:

[0006] The method for simulating the three-dimensional clearance multi-body dynamics of a revolute pair comprises the following steps:

[0007] S1, calculate the six-degree-of-freedom force of the three-dimensional gap between the inner rotor and the outer rotor, the six-degree-of-freedom force includes the force in the x direction of the rotation plane, the force in the y direction of the rotation plane, the force in the z direction of the rotation axis, the moment in the x direction of the rotation plane, the moment in the y direction of the rotation plane, and the moment in the z direction of the rotation axis;

[0008] S2, copy the three-dimensional clearance simulation calculation module of the rotating pair to the simulation modeling workspace, connect the inner rotor and the outer rotor to the rotating parts corresponding to the multi-body dynamics model, and complete the integration of the multi-body dynamics simulation calculation model of the rotating pair clearance and the multi-body dynamics simulation model;

[0009] S3, by operating the revolute pair three-dimensional clearance simulation calculation module, calling out the revolute pair three-dimensional clearance simulation calculation module parameter table, inputting parameters into the revolute pair three-dimensional clearance simulation calculation module parameter table, and completing the construction of the revolute pair three-dimensional clearance calculation model.

[0010] The technical effects of the present invention are:

[0011] The revolute pair three-dimensional clearance multi-body dynamics simulation calculation model designed in the present invention can realize the revolute pair three-dimensional clearance multi-body dynamics simulation modeling calculation in multi-body dynamics simulation and realize the revolute pair three-dimensional clearance multi-body dynamics simulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 Schematic diagram of the three-dimensional clearance of the revolute pair.

[0013] Figure 2 This is the parameter table of the three-dimensional clearance simulation calculation module of the rotating pair. DETAILED DESCRIPTION

[0014] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0015] like Figure 1 and Figure 2 The present invention provides a multi-body dynamics simulation method for a three-dimensional clearance of a revolving pair, wherein the three-dimensional clearance of the revolving pair includes an inner rotor 1, an outer rotor 2 and a six-degree-of-freedom force. The three-dimensional clearance simulation calculation module of the revolving pair composed of the inner rotor 1, the outer rotor 2 and the six-degree-of-freedom force includes an inner rotor connection point and an outer rotor connection point. The following steps are included:

[0016] S1, calculate the six-degree-of-freedom force of the three-dimensional gap of the rotating pair between the inner rotor 1 and the outer rotor 2, and the six-degree-of-freedom force includes the force in the x direction of the rotating plane, the force in the y direction of the rotating plane, the force in the z direction of the rotating axis, the moment in the x direction of the rotating plane, the moment in the y direction of the rotating plane, and the moment in the z direction of the rotating axis.

[0017] The calculation process of the x-direction force on the rotation plane is:

[0018]

[0019] In formula (1) to formula (3), F x is the force in the x direction on the rotation plane, u x is the x-direction displacement of the rotation plane, k r is the radial stiffness of the revolute pair, Δ x is the function of the clearance change in the x direction of the rotating plane, C is the damping coefficient of the rotating pair, v x is the x-direction velocity of the rotating plane, D x is the damping variation function of the rotation plane in the x direction, δ r It is the radial clearance of the rotating pair.

[0020] The calculation process of the y-direction force on the rotation plane is:

[0021]

[0022] In formula (4) to formula (6), F yis the force in the y direction of the rotation plane, u y is the y-direction displacement of the rotation plane, k r is the radial stiffness of the revolute pair, Δ y is the function of the clearance change in the y direction of the rotating plane, C is the damping coefficient of the rotating pair, v y is the y-direction velocity of the rotating plane, D y is the damping variation function of the rotation plane in the y direction, δ r It is the radial clearance of the rotating pair.

[0023] The calculation process of the force on the rotation axis in the z direction is:

[0024]

[0025] In formula (7) to formula (12), F z is the force in the z direction of the rotation axis, u z is the z-axis displacement of the rotation axis, k a is the axial stiffness of the revolving pair, Δz is the function of the end clearance variation of the rotary shaft, C is the damping coefficient of the revolving pair, v z is the speed of the rotary axis in z direction, D z is the damping variation function of the rotary axis in the z direction, δ a is the axial clearance of the rotating pair, μ z is the axial sliding friction coefficient of the rotating pair, μ is the friction coefficient of the rotating pair, μ m is the static friction variation function, μ n is the friction coefficient selection function.

[0026] The calculation process of the x-direction moment of the rotation plane is:

[0027] M x =θ x k xy Δ wx -Cv wx D wx (13)

[0028]

[0029] δ xy =min(δ mr , δ ma ) (19)

[0030] v wx =w x L b (20)

[0031] In formula (13) to formula (20), M x is the x-direction moment of the rotation plane, θ x is the x-axis rotation angle of the rotation plane, k xyis the torsional stiffness of the rotation plane, Δ wx is the function of the angular clearance change in the x direction of the rotating plane, C is the damping coefficient of the rotating pair, v wx is the linear velocity of the rotating pair contact surface when rotating around the rotating plane in the x direction, D wx is the x-axis rotation damping function of the rotation plane, δ xy is the rotational clearance of the rotational plane, k a is the axial stiffness of the rotation pair, k r is the radial stiffness of the revolute pair, R is the radius of the revolute pair, L b is the width of the revolute pair, δ mr is the rotational clearance in the width direction of the revolving pair, δ ma is the end face rotation clearance of the rotating pair, δ r is the radial clearance of the rotating pair, δ a is the axial clearance of the rotating pair, w x is the speed in the x direction of the rotating plane.

[0032] The calculation process of the y-direction moment of the rotation plane is:

[0033] M y =θ y k xy Δ wy -Cv wy D wy (twenty one)

[0034]

[0035] v wy =w y L b (twenty four)

[0036] In formula (21) to formula (24), M y is the y-direction moment of the rotation plane, θ y is the y-axis rotation angle of the rotation plane, k xy is the torsional stiffness of the rotation plane, Δ wy is the function of the y-axis angular clearance change of the rotating plane, C is the damping coefficient of the rotating pair, v wy is the linear velocity of the rotating pair contact surface rotating in the y direction around the rotating plane, D wy is the function of the damping change in the y direction of the rotation plane, δ xy is the rotational clearance of the rotational plane, w y is the y-axis speed of the rotating plane, L b is the width of the revolving pair.

[0037] The calculation process of the rotation axis z-direction moment is:

[0038] M z =θ z kz Δ wz -Cv wz D wz -μ mz v wz R (25)

[0039]

[0040] v wz =w z R (28)

[0041]

[0042] In formula (25) to formula (31), M z is the moment in the z direction of the rotation axis, θ z is the rotation angle in the z direction of the rotation axis, k z is the rotational stiffness of the rotary pair in the z direction of the rotary axis, Δ wz is the function of the angular clearance change in the z direction of the rotary axis, C is the damping coefficient of the rotary pair, v wz D is the linear velocity of the rotating pair contact surface rotating around the rotation axis in the z direction, wz is the function of the rotational damping change in the z direction of the rotary axis, δ z is the rotation clearance of the revolving pair in the z direction of the rotary axis, w z is the rotational speed in the z direction of the rotary axis, R is the radius of the rotating pair, μ mz is the sliding friction coefficient of the rotating pair contact surface, μ is the friction coefficient of the rotating pair, μ wm is the sliding static friction variation function of the rotating pair contact surface, μ wn It is the selection function of the sliding friction coefficient of the rotating pair contact surface.

[0043] S2, copy the three-dimensional clearance simulation calculation module of the rotating pair to the simulation modeling workspace, connect the inner rotor 1 and the outer rotor 2 to the rotating parts corresponding to the multi-body dynamics model, and complete the integration of the multi-body dynamics simulation calculation model of the rotating pair clearance and the multi-body dynamics simulation model.

[0044] S3, by operating the revolute pair three-dimensional clearance simulation calculation module, calling out the revolute pair three-dimensional clearance simulation calculation module parameter table, inputting parameters in the revolute pair three-dimensional clearance simulation calculation module parameter table, and completing the construction of the revolute pair three-dimensional clearance calculation model. The input parameters include the revolute pair radius R, the revolute pair width L b 、Radial clearance of the rotating pair δ r 、Axial clearance of rotating pair δ a 、The rotation clearance of the revolving pair in the z direction of the rotary axis δ z , radial stiffness of the revolute pair k r , axial stiffness of the rotary pair k a , Rotational stiffness k of the rotary pair in the z direction of the rotary axis z, friction coefficient of rotating pair μ, damping coefficient of rotating pair C.

[0045] Finally, it should be noted that the above-described implementation mode is only a preferred embodiment of the present invention to illustrate the technical solution of the present invention, and does not limit it, let alone limit the protection scope of the present invention; although the invention is described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents; and these modifications or replacements do not make the essence of the corresponding technical solution deviate from the protection scope of the claims.

Claims

1. A three-dimensional clearance multi-body dynamics simulation method for a revolute pair, characterized in that: The following steps are involved: S1, copying the three-dimensional clearance simulation calculation module of the rotating pair to the simulation modeling workspace, connecting the inner rotor (1) and the outer rotor (2) to the rotating parts corresponding to the multi-body dynamics model, and completing the integration of the multi-body dynamics simulation calculation model of the rotating pair clearance and the multi-body dynamics simulation model; S2, by operating the revolute pair three-dimensional clearance simulation calculation module, calling out the revolute pair three-dimensional clearance simulation calculation module parameter table, inputting parameters into the revolute pair three-dimensional clearance simulation calculation module parameter table, and completing the construction of the revolute pair three-dimensional clearance calculation model; S3, calculating the six-degree-of-freedom force of the three-dimensional gap between the inner rotor (1) and the outer rotor (2) according to the parameters, the six-degree-of-freedom force including the force in the x direction of the rotation plane, the force in the y direction of the rotation plane, the force in the z direction of the rotation axis, the x-direction moment of the rotation plane, the y-direction moment of the rotation plane, and the z-direction moment of the rotation axis.

2. The method for simulating the three-dimensional clearance multi-body dynamics of a revolute pair according to claim 1, characterized in that: The calculation process of the x-direction force on the rotation plane is: In formula (1) to formula (3), F x is the force in the x direction on the rotation plane, u x is the x-direction displacement of the rotation plane, k r is the radial stiffness of the revolute pair, Δ x is the function of the clearance change in the x direction of the rotating plane, C is the damping coefficient of the rotating pair, v x is the x-direction velocity of the rotating plane, D x is the damping variation function of the rotation plane in the x direction, δ r It is the radial clearance of the rotating pair.

3. The method for simulating the three-dimensional clearance multi-body dynamics of a revolute pair according to claim 1, characterized in that: The calculation process of the y-direction force on the rotation plane is: In formula (4) to formula (6), F y is the y-direction force on the rotation plane, u y is the y-direction displacement of the rotation plane, k r is the radial stiffness of the revolute pair, Δ y is the function of the clearance change in the y direction of the rotating plane, C is the damping coefficient of the rotating pair, v y is the y-direction velocity of the rotating plane, D y is the damping variation function of the rotation plane in the y direction, δ r It is the radial clearance of the rotating pair.

4. The method for simulating the three-dimensional clearance multi-body dynamics of a revolute pair according to claim 1, characterized in that: The calculation process of the force on the rotation axis in the z direction is: In formula (7) to formula (12), F z is the force in the z direction of the rotation axis, u z is the z-axis displacement of the rotation axis, k a is the axial stiffness of the rotation pair, Δ z is the function of the end clearance variation of the rotary shaft, C is the damping coefficient of the rotary pair, v z is the speed of the rotary axis in z direction, D z is the damping variation function of the rotary axis in the z direction, δ a is the axial clearance of the rotating pair, μ z is the axial sliding friction coefficient of the rotating pair, μ is the friction coefficient of the rotating pair, μ m is the static friction variation function, μ n is the friction coefficient selection function.

5. The method for simulating the three-dimensional clearance multi-body dynamics of a revolute pair according to claim 1, characterized in that: The calculation process of the x-direction moment of the rotation plane is: M x =θ x k xy D wx -CV wx D wx (13) d xy =min(δ mr ,d ma ) (19) v wx =w x L b (20) In formula (13) to formula (20), M x is the x-direction moment of the rotation plane, θ x is the x-axis rotation angle of the rotation plane, k xy is the torsional stiffness of the rotation plane, Δ wx is the function of the angular clearance change in the x direction of the rotating plane, C is the damping coefficient of the rotating pair, v wx is the linear velocity of the rotating pair contact surface when rotating around the rotating plane in the x direction, D wx is the x-axis rotation damping function of the rotation plane, δ xy is the rotational clearance of the rotational plane, k a is the axial stiffness of the rotation pair, k r is the radial stiffness of the revolute pair, R is the radius of the revolute pair, L b is the width of the revolute pair, δ mr is the rotational clearance in the width direction of the revolving pair, δ ma is the end face rotation clearance of the rotating pair, δ r is the radial clearance of the rotating pair, δ a is the axial clearance of the rotating pair, w x is the speed in the x direction of the rotating plane.

6. The method for simulating the three-dimensional clearance multi-body dynamics of a revolute pair according to claim 1, characterized in that: The calculation process of the y-direction moment of the rotation plane is: M y =θ y k xy D wy -CV wy D wy (21) v wy =w y L b (24) In formula (21) to formula (24), M y is the y-direction moment of the rotation plane, θ y is the y-axis rotation angle of the rotation plane, k xy is the torsional stiffness of the rotation plane, Δ wy is the function of the y-axis angular clearance change of the rotating plane, C is the damping coefficient of the rotating pair, v wy is the linear velocity of the rotating pair contact surface rotating in the y direction around the rotating plane, D wy is the function of the damping change in the y direction of the rotation plane, δ xy is the rotational clearance of the rotational plane, w y is the y-axis speed of the rotating plane, L b is the width of the revolving pair.

7. The method for simulating the three-dimensional clearance multi-body dynamics of a revolute pair according to claim 1, characterized in that: The calculation process of the rotation axis z-direction moment is: M z =θ z k z D wz -CV wz D wz -m mz v wz R (25) v wz =w z R (28) In formula (25) to formula (31), M z is the moment in the z direction of the rotation axis, θ z is the rotation angle in the z direction of the rotation axis, k z is the rotational stiffness of the rotary pair in the z direction of the rotary axis, Δ wz is the function of the angular clearance change in the z direction of the rotary axis, C is the damping coefficient of the rotary pair, v wz D is the linear velocity of the rotating pair contact surface rotating around the rotation axis in the z direction, wz is the rotation damping function of the rotation axis in the z direction, δ z is the rotation clearance of the revolving pair in the z direction of the rotary axis, w z is the rotational speed in the z direction of the rotary axis, R is the radius of the rotating pair, μ mz is the sliding friction coefficient of the rotating pair contact surface, μ is the friction coefficient of the rotating pair, μ wm is the sliding static friction variation function of the rotating pair contact surface, μ wn It is the selection function of the sliding friction coefficient of the rotating pair contact surface.

Images