Coupling modeling method and application of digital-twin-driven armored vehicle dual-motor transmission mechanism

Abstract

The application discloses a kind of digital twin driven armored vehicle double-motor transmission mechanism coupling modeling method and application, consider including nonlinear factors such as time-varying engagement stiffness of gear, transmission error and meshing impact, the motion relationship and force relationship between components are described by applying force element, the dynamic model of coupling transmission mechanism is established;According to the dynamic mathematical equation and vector control theory of permanent magnet synchronous motor, the dynamic mathematical model and vector control model of permanent magnet synchronous motor are established;According to the dynamic model of coupling transmission mechanism and the vector control model of permanent magnet synchronous motor, coupling is carried out through electromagnetic torque, load torque and feedback speed, an electromechanical coupling model is established, the sensitivity of different parameters to response signal difference is analyzed based on the residual value of simulation signal and measured signal, sensitive parameters are screened out, the sensitive parameters of model are optimized based on the forgetting least square algorithm, and the model parameters are corrected based on the optimization result, and the digital twin model is updated.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of gear transmission system modeling, and particularly relates to a digital twin driven armored vehicle double-motor transmission mechanism coupling modeling method and application. BACKGROUND

[0002] In recent years, as one of the basic components of major equipment systems, the focus of gear transmission systems has gradually shifted from traditional reducers to integrated electric drive systems. Due to the outstanding control performance of electric drive transmission systems and the advantages of planetary gear transmission systems such as large transmission ratio and strong load capacity, they are widely used in armored vehicles, high-speed trains, numerical control machine tools and other major mechanical equipment. As a typical electromechanical coupling system, the double-motor coupling transmission system is mainly composed of a permanent magnet synchronous motor and a coupling transmission system. With the continuous development of industrial demand, the electromechanical coupling degree is further improved, and the double-motor coupling transmission system often needs to operate under various complex working conditions of different speeds and loads. The electromagnetic torque and speed output by the motor will affect the dynamic response of the gear transmission system, and vice versa. The feedback speed and load of the gear transmission system will affect the control system of the motor, thus forming a coupling effect. It is difficult to accurately obtain the dynamic characteristics by analyzing the motor or the gear transmission system alone. The existing maintenance strategy for double-motor coupling transmission systems in vehicles is mainly regular maintenance and condition-based maintenance. Using existing state monitoring methods alone cannot capture early fault signs in time and cannot accurately assess the health status and remaining life of key components. Digital twin technology provides a new way for health management and intelligent operation and maintenance. A complete twin model can provide predictive maintenance for the transmission system, which can help the transmission system to maintain the best state and identify potential problems before they become serious problems.

[0003] At present, some achievements have been made in the modeling of the electromechanical coupling mechanism of the transmission system, but in general, there are still the following shortcomings:

[0004] Most of the current researches simplify the modeling of the gear transmission system when studying the electromechanical coupling effect, without considering various nonlinear factors of gear meshing, which cannot deeply study the dynamic response characteristics of the gear system. When studying the dynamic response of the gear transmission system, the motor is simplified, and only the torque and speed of the motor are established as the input system, ignoring the feedback effect of mechanical vibration of the transmission system, and not fully considering the coupling effect of the motor and the transmission system. The confidence of the existing electromechanical coupling model is not high, and the error between the simulation results of the model and the test results will gradually increase, and the electromechanical coupling model needs to be iteratively updated through twin data.

[0005] Therefore, there is an urgent need for a digital twin driven armored vehicle dual motor transmission mechanism coupling modeling method that can ensure the accuracy and computational efficiency of the simulation results to some extent. SUMMARY

[0006] The technical problem to be solved by the present application is to provide a digital twin driven armored vehicle dual motor transmission mechanism coupling modeling method to solve the problem of predictive maintenance in actual equipment operation, while the mechanism model has low confidence and low precision. The present application provides a digital twin driven armored vehicle dual motor transmission mechanism coupling modeling method, which establishes an electromechanical coupling mechanism model of the dual motor transmission mechanism, including a permanent magnet synchronous motor dynamic mathematical model, a vector control model and a dynamics model of the coupled transmission mechanism. Based on the signal residual error between the simulation results and the test results, the sensitive dynamic parameters are iteratively updated based on the forgetting least squares algorithm to obtain the digital twin driven dual motor transmission mechanism coupling mechanism model.

[0007] To achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows: a digital twin driven armored vehicle dual motor transmission mechanism coupling modeling method, comprising the following steps:

[0008] A permanent magnet synchronous motor vector control model and a dynamics model of a dual motor coupled transmission mechanism are established.

[0009] According to the established dynamics model of the coupled transmission mechanism and the permanent magnet synchronous motor vector control model, the electromechanical coupling model is established by coupling the electromagnetic torque, the load torque and the feedback speed. The electromechanical coupling model is solved by joint simulation to obtain the vibration signal and current signal simulation results under the action of electromechanical coupling. The permanent magnet synchronous motor stator current signal and the coupled mechanism vibration signal are collected by a dual motor coupled transmission test bench.

[0010] Based on the residual error analysis model of the simulation signal and the measured signal, the sensitivity of different parameters to the response signal difference is analyzed, the sensitive parameters are selected, the model sensitive parameters are optimized, and the model parameters are corrected based on the optimization results to complete the digital twin modeling.

[0011] Further, the dynamics model of the dual motor coupled transmission mechanism includes:

[0012] According to the structure of the dual motor coupled transmission mechanism, the force relationship and motion relationship between the components are analyzed, and a two-dimensional topological structure diagram of the dual motor coupled transmission mechanism is drawn. According to the principle of dynamics, considering the nonlinear factors including time-varying meshing stiffness, transmission error and meshing impact of the gear, the motion relationship and force relationship between the components are described by applying force elements, and the dynamics model of the coupled transmission mechanism is established.

[0013] The established double motor drive mechanism coupling mechanism model includes a permanent magnet synchronous motor dynamic mathematical model and a vector control model, a coupling drive mechanism dynamic model, and a double motor drive mechanism including left and right two groups of reduction planetary gears, two groups of connected coupling planetary gears, bearings, and double output shafts.

[0014] Further, the dynamic model of the coupling drive mechanism is established according to the principle of the relative coordinate system,

[0015] The geometric model of the reduction planetary gear and the coupling planetary gear adopts parameterized modeling, and corresponding force elements are added between the gear meshing, the FE225 force element is a force element for simulating gear pair meshing, and non-linear factors including time-varying meshing stiffness, time-varying meshing error, and tooth side gap are considered, the sun gears of the two sides of the reduction planetary gear rotate with the motor input shafts at both ends, the motor input shafts are connected with the box through bearings, and the bearings are simulated by using a general force element; the FE186 force element can apply spring damping in multiple directions of the shaft, and can apply axial and radial translation and axial tilt torsion between two points.

[0016] Further, the permanent magnet synchronous motor vector control model is established, including: according to the basic parameters of the permanent magnet synchronous motor, establishing the voltage equation, the flux linkage equation, the torque equation and the motion equation of the permanent magnet synchronous motor, and transforming the permanent magnet synchronous motor equation in the three-phase coordinate system into a d-q two-phase coordinate system model with the same magnetic motive force, i.e. the permanent magnet synchronous motor dynamic mathematical model;

[0017] Further, the permanent magnet synchronous motor dynamic mathematical model and the permanent magnet synchronous motor vector control model are established according to the principle of coordinate transformation from three-phase coordinate system to d-q two-phase coordinate system;

[0018] The permanent magnet synchronous motor mathematical model includes voltage equation, flux linkage equation, torque equation and motion equation, and the physical model of the permanent magnet synchronous motor is transformed into a mode similar to a direct current motor through Clark transformation and Park transformation,

[0019] Clark transformation matrix:

[0020]

[0021] Park transformation matrix:

[0022]

[0023] Further, the Clark-Park total transformation matrix is:

[0024]

[0025] The dynamic equivalent circuit after coordinate transformation is used for modeling of a permanent magnet synchronous motor control system, a vector control method is adopted, the d-axis component of the stator current and the q-axis component of the stator current are controlled, the d q-axis current given value is given through a speed controller, and the compared voltage control signal is obtained, the voltage control signal is input to a pulse width modulation signal generator through coordinate transformation, and is input to an inverter to generate a required signal for controlling the motor, so that the motor is controlled.

[0026] Further, the dynamic model of the coupling transmission mechanism, the dynamic mathematical model of the permanent magnet synchronous motor and the control model are coupled through electromagnetic torque and feedback speed, the electromechanical coupling model and the dynamic simulation model are solved according to the SODASRT 2 integral method, the model current signal and the vibration signal are obtained, and the double-motor coupling transmission test bench is used to collect the stator current signal of the permanent magnet synchronous motor and the vibration signal of the coupling mechanism.

[0027] Further, when the model sensitive parameters are optimized, the model parameters are updated based on the forgetting least square algorithm, and the double-motor transmission mechanism coupling mechanism model driven by the digital twin is obtained through continuous iterative updating.

[0028] Based on the concept of the method, the application provides a digital twin driven armored vehicle double-motor transmission mechanism coupling modeling system, which comprises a model construction module, a vector control model construction module, a simulation and measured data acquisition module and an optimization module, a dynamic model construction unit of the coupling transmission mechanism and a dynamic mathematical model construction unit of the permanent magnet synchronous motor.

[0029] The dynamic model construction unit of the coupling transmission mechanism is used to combine the two-dimensional topological structure diagram of the double-motor coupling transmission mechanism, consider the nonlinear factors in the gear transmission process according to the principle of dynamics, describe the motion relationship and force relationship between components by applying force elements, and establish the dynamic model of the coupling transmission mechanism.

[0030] The dynamic mathematical model construction unit of the permanent magnet synchronous motor is used to establish the voltage equation, the flux linkage equation, the torque equation and the motion equation of the permanent magnet synchronous motor according to the basic parameters of the permanent magnet synchronous motor, and perform coordinate transformation on the permanent magnet synchronous motor equations in the three-phase coordinate system to transform into a d-q two-phase coordinate system model with consistent generated magnetic motive force, i.e., the dynamic mathematical model of the permanent magnet synchronous motor.

[0031] The vector control model construction module is used to model the motor control system according to the rotor flux oriented vector control of the dynamic mathematical model of the permanent magnet synchronous motor, control the rotor flux through the control of the d-axis stator current component, and establish the vector control model of the permanent magnet synchronous motor.

[0032] The simulation and measured data acquisition module is used for coupling the electromagnetic torque, the load torque and the feedback speed according to the established dynamic model of the coupling transmission mechanism and the vector control model of the permanent magnet synchronous motor, establishing an electromechanical coupling model, and solving the electromechanical coupling model through joint simulation to obtain the simulation results of the vibration signal and the current signal under the electromechanical coupling effect respectively; the permanent magnet synchronous motor stator current signal and the coupling mechanism vibration signal are collected by using the double-motor coupling transmission test bench;

[0033] The optimization module analyzes the sensitivity of different parameters of the model to the difference value of the response signal based on the residual value of the simulation signal and the measured signal, screens out the sensitive parameters, optimizes the sensitive parameters of the model, and corrects the model parameters based on the optimization result to obtain the coupling model of the double-motor transmission mechanism.

[0034] The application also provides a double-motor transmission mechanism coupling model based on digital twin driving.

[0035] On the other hand, the double-motor transmission mechanism coupling model based on digital twin driving can be used to simulate the dynamic operation of the transmission system in the double-motor transmission mechanism.

[0036] Compared with the prior art, the application has at least the following beneficial effects:

[0037] The application perfects the current electromechanical coupling model which is simplified for gear engagement or motor driving, considers the nonlinear factors such as time-varying engagement stiffness, transmission error and meshing impact of the gear, establishes the dynamic model of the coupling transmission mechanism, establishes an accurate electromechanical coupling mechanism model through joint simulation, and obtains accurate dynamic characteristic response. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 is a flowchart of the method described in the application;

[0039] Figure 2 is a structural schematic diagram of a double-motor coupling transmission mechanism;

[0040] Figure 3 is a digital twin flowchart based on the forgetting least squares algorithm. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments of the present application. The drawings are not drawn according to scale, and some details are exaggerated for the purpose of clear expression, and some details can be omitted. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0042] The present application provides a kind of digital twin driven armored vehicle double motor transmission mechanism coupling modeling method, according to the structure of double motor coupling transmission mechanism, the force relationship and motion relationship between its components are analyzed, and the two-dimensional topological structure diagram of double motor coupling transmission mechanism is drawn;According to the principle of dynamics, consider the nonlinear factors including the time-varying engagement stiffness of gear, transmission error and meshing impact, the motion relationship and force relationship between components are described by applying force element, and the dynamics model of coupling transmission mechanism is established;According to the basic parameters of permanent magnet synchronous motor, the voltage equation, flux linkage equation, torque equation and motion equation of permanent magnet synchronous motor are established, and the permanent magnet synchronous motor equation in three-phase coordinate system is transformed into d-q two-phase coordinate system model with the same generated magnetic motive force;According to the dynamic mathematical model of permanent magnet synchronous motor, the motor control system is modeled according to the vector control of rotor flux orientation, the control of rotor flux is realized by controlling d-axis stator current component, the space vector pulse width modulation (SVPWM) vector control model is established, and the control of permanent magnet synchronous motor is completed;According to the established dynamics model of coupling transmission mechanism and permanent magnet synchronous motor vector control model, the electromechanical coupling model is established by coupling electromagnetic torque, load torque and feedback speed. The electromechanical coupling model is solved by joint simulation, and the vibration signal and current signal simulation results under electromechanical coupling are obtained. The permanent magnet synchronous motor stator current signal and coupling mechanism vibration signal are collected using double motor coupling transmission test bench;Based on the residual value analysis model of simulation signal and measured signal, the sensitive degree of different parameters on response signal difference is analyzed, and sensitive parameters are screened out, the sensitive parameters of model are optimized based on the forgetting least square algorithm, and the model parameters are corrected based on the optimization results, and the digital twin model updating is completed.

[0043] As Figure 1 The digital twin driven armored vehicle double motor transmission mechanism coupling modeling method provided by the present application comprises the following steps:

[0044] S1, according to the structure of double motor coupling transmission mechanism, the force relationship and motion relationship between its components are analyzed, and the two-dimensional topological structure diagram of double motor coupling transmission mechanism is drawn.

[0045] S2, based on the two-dimensional topological structure and the kinetic principle obtained in S1, a model of the dual-motor coupling transmission system is established by applying bearing force elements and gear force elements to describe the kinematic pairs between components.

[0046] S3, according to the basic parameters of the permanent magnet synchronous motor, the voltage equation, the flux linkage equation, the torque equation and the motion equation of the permanent magnet synchronous motor are established, and the permanent magnet synchronous motor equations in the three-phase coordinate system are transformed into the d-q two-phase coordinate system model with the same magnetic motive force; for the convenience of motor control, the coordinate equation needs to be simplified, and the physical model of the permanent magnet synchronous motor is transformed into a mode similar to a direct current motor by Clark transformation and Park transformation.

[0047] Clark transformation matrix:

[0048]

[0049] Park transformation matrix:

[0050]

[0051] Further, the Clark-Park total transformation matrix is:

[0052]

[0053] wherein, represents the d-axis of the two-phase rotating coordinate system relative to the two-phase stationary coordinate system the angle of rotation of the shaft, so as to obtain the voltage equation, the flux linkage equation, the torque equation and the motion equation in the two-phase rotating coordinate system.

[0054] S4, according to the dynamic mathematical model of the permanent magnet synchronous motor, the motor control system is modeled according to the vector control of the rotor flux linkage, the control of the rotor flux linkage is realized by controlling the d-axis stator current component, the space vector pulse width modulation (SVPWM) vector control model is established, and the control of the permanent magnet synchronous motor is completed.

[0055] When the two-phase rotating coordinate system is oriented according to the rotor flux linkage, it should be:

[0056]

[0057] The torque equation when the two-phase rotating coordinate system is oriented according to the rotor flux linkage can be obtained by substituting the voltage equation, the flux linkage equation and the torque equation in the two-phase rotating coordinate system:

[0058]

[0059] The rotor flux linkage in the formula can be expressed as:

[0060]

[0061] wherein, 、 represent the d, q axis flux linkage respectively, represents the pole pair number, represents the rotor resistance, represents the rotor inductance.

[0062] S5, according to the established dynamics model of the coupling transmission mechanism and the vector control model of the permanent magnet synchronous motor, the electromechanical coupling model is established by coupling the electromagnetic torque, the load torque and the feedback speed. The electromechanical coupling model is solved by joint simulation, and the simulation results of the vibration signal and the current signal under the electromechanical coupling action are obtained respectively. The stator current signal of the permanent magnet synchronous motor and the vibration signal of the coupling mechanism are collected by using the double-motor coupling transmission test bed, and the structural diagram of the double-motor coupling transmission mechanism is as shown in Figure 2 .

[0063] S6, the sensitivity of different parameters to the difference value of the response signal is analyzed based on the residual value of the simulation signal and the measured signal, and the sensitive parameters are screened out. The sensitive parameters of the model are optimized based on the forgetting least square algorithm, and the model parameters are corrected based on the optimization results, and the digital twin model updating is completed, and the method process is as shown in Figure 3 .

[0064]

[0065] wherein, represents the forgetting factor, the size of the new test data in the database, is the least square estimation value at k moment, is the covariance matrix, is the gain vector. After continuous iteration and updating, the digital twin driven double-motor transmission mechanism coupling mechanism model is obtained.

[0066] Embodiment 2, the application provides a kind of digital twin driven armored vehicle double-motor transmission mechanism coupling modeling system, including model construction module, vector control model construction module, simulation and measured data acquisition module and optimization module;

[0067] Model construction module is used to establish the vector control model of permanent magnet synchronous motor and the dynamics model of double-motor coupling transmission mechanism;

[0068] Vector control model construction module is used to model motor control system according to rotor flux orientation vector control according to permanent magnet synchronous motor dynamic mathematical model, the control of rotor flux linkage is realized by controlling d-axis stator current component, and the vector control model of permanent magnet synchronous motor is established;

[0069] The simulation and measured data acquisition module is configured to, according to the established dynamic model of the coupling transmission mechanism and the vector control model of the permanent magnet synchronous motor, couple the electromagnetic torque, the load torque and the feedback speed, establish an electromechanical coupling model, and solve the electromechanical coupling model through joint simulation to obtain the simulation results of the vibration signal and the current signal under the electromechanical coupling effect respectively; and the permanent magnet synchronous motor stator current signal and the coupling mechanism vibration signal are collected by using a double-motor coupling transmission test bench.

[0070] The optimization module is configured to analyze the sensitivity of different parameters of the model to the difference value of the response signal based on the residual value of the simulation signal and the measured signal, screen out sensitive parameters, optimize the sensitive parameters of the model, and correct the model parameters based on the optimization result to obtain the coupling model of the double-motor transmission mechanism.

[0071] The dynamic model construction unit of the coupling transmission mechanism and the dynamic mathematical model construction unit of the permanent magnet synchronous motor; the dynamic model construction unit of the coupling transmission mechanism is configured to, in combination with the two-dimensional topological structure diagram of the double-motor coupling transmission mechanism, establish the dynamic model of the coupling transmission mechanism by applying force elements to describe the movement relationship and force relationship between components according to the principle of dynamics and considering the nonlinear factors in the gear transmission process; the dynamic mathematical model construction unit of the permanent magnet synchronous motor is configured to, according to the basic parameters of the permanent magnet synchronous motor, establish the voltage equation, the flux linkage equation, the torque equation and the motion equation of the permanent magnet synchronous motor, and perform coordinate transformation on the permanent magnet synchronous motor equation in the three-phase coordinate system to transform into a d-q two-phase coordinate system model with consistent generated magnetic motive force, i.e., the dynamic mathematical model of the permanent magnet synchronous motor.

[0072] Based on the above embodiment, the application can be a double-motor transmission mechanism coupling model of a digital twin driven armored vehicle double-motor transmission mechanism coupling modeling method; at the same time, the double-motor transmission mechanism coupling model based on the digital twin is used to simulate the dynamic operation of the transmission system in the double-motor transmission mechanism.

[0073] In summary, the application provides a digital twin driven armored vehicle dual-motor transmission mechanism coupling modeling method, according to the structure of the dual-motor coupling transmission mechanism, the force relationship and the motion relationship between the components are analyzed, and the two-dimensional topological structure diagram of the dual-motor coupling transmission mechanism is drawn; considering the nonlinear factors such as time-varying meshing stiffness, transmission error and meshing impact of the gear, the motion relationship and the force relationship between the components are described by applying force elements, and the dynamic model of the coupling transmission mechanism is established; according to the basic parameters of the permanent magnet synchronous motor, the voltage equation, the flux linkage equation, the torque equation and the motion equation of the permanent magnet synchronous motor are established, and the permanent magnet synchronous motor equation in the three-phase coordinate system is transformed into the d-q two-phase coordinate system model with consistent magnetic motive force; according to the dynamic mathematical model of the permanent magnet synchronous motor, the motor control system is modeled according to the vector control of the rotor flux orientation, and the control of the permanent magnet synchronous motor is completed; according to the established dynamic model of the coupling transmission mechanism and the vector control model of the permanent magnet synchronous motor, the electromechanical coupling model is established by coupling the electromagnetic torque, the load torque and the feedback speed. The electromechanical coupling model is solved by joint simulation, and the vibration signal and the current signal simulation results under the action of electromechanical coupling are obtained respectively. The permanent magnet synchronous motor stator current signal and the coupling mechanism vibration signal are collected by using the dual-motor coupling transmission test bed; based on the residual value analysis of the simulation signal and the measured signal, the sensitivity of different parameters to the difference value of the response signal is analyzed, and the sensitive parameters are selected; the sensitive parameters of the model are optimized based on the forgetting least square algorithm, and the model parameters are corrected based on the optimization results, and the digital twin model updating is completed.

[0074] The above is only to illustrate the technical idea of the application, and cannot limit the protection scope of the application. Any modification made according to the technical idea of the application on the basis of the technical scheme falls within the protection scope of the claims of the application.

Claims

1. A digital twin driven modeling method for a coupled armored vehicle dual-motor transmission mechanism, characterized in that, The method comprises the following steps: a permanent magnet synchronous motor vector control model and a dynamic model of a double-motor coupling transmission mechanism are established; the dynamic model of the double-motor coupling transmission mechanism comprises: According to the structure of the double-motor coupling transmission mechanism, the force relationship and motion relationship between the components are analyzed, and a two-dimensional topological structure diagram of the double-motor coupling transmission mechanism is drawn; According to the principle of dynamics, considering the nonlinear factors including time-varying meshing stiffness, transmission error and meshing impact of the gear, the motion relationship and force relationship between the components are described by applying force elements, and the dynamic model of the coupling transmission mechanism is established; The established double-motor transmission mechanism coupling mechanism model includes a permanent magnet synchronous motor dynamic mathematical model and a vector control model, a coupling transmission mechanism dynamic model, and a double-motor transmission mechanism including two sets of left and right reduction planetary gears, two sets of connected coupling planetary gears, bearings and double output shafts. According to the established dynamic model of the coupling transmission mechanism and the permanent magnet synchronous motor vector control model, the electromechanical coupling model is established by coupling the electromagnetic torque, the load torque and the feedback speed, and the electromechanical coupling model is solved by joint simulation to obtain the simulation results of the vibration signal and the current signal under electromechanical coupling action; the permanent magnet synchronous motor stator current signal and the coupling mechanism vibration signal are collected by using a double-motor coupling transmission test bed. Based on the residual value analysis model of the simulation signal and the measured signal, the sensitivity of different parameters to the difference value of the response signal is analyzed, the sensitive parameters are screened out, the model sensitive parameters are optimized, and the model parameters are corrected based on the optimization results to complete the digital twin modeling.

2. The digital twin driven armored vehicle dual-motor transmission mechanism coupling modeling method of claim 1, wherein, The dynamic model of the coupling transmission mechanism is established according to the principle of relative coordinate system, Wherein, the geometric model of the reduction planetary gear and the coupling planetary gear adopts parameterized modeling, and corresponding force elements are added between the gear meshing, the FE225 force element is a simulation gear pair meshing force element, considering the nonlinear factors including time-varying meshing stiffness, time-varying meshing error and backlash, the sun gears of the two sides of the reduction planetary gear rotate with the input shaft of the motor, the input shaft of the motor is connected with the box through the bearing, and the bearing is simulated by using a general force element; the FE186 force element can apply spring damping in multiple directions of the shaft, and can apply axial and radial translation and axial inclination and torsion between two points.

3. The digitally-twin-driven armored vehicle dual-motor transmission mechanism coupling modeling method of claim 1, wherein, The permanent magnet synchronous motor vector control model comprises: according to the basic parameters of the permanent magnet synchronous motor, the voltage equation, the flux linkage equation, the torque equation and the motion equation of the permanent magnet synchronous motor are established, and the permanent magnet synchronous motor equation in the three-phase coordinate system is transformed into the d-q two-phase coordinate system model, i.e. the permanent magnet synchronous motor dynamic mathematical model.

4. The digital twin driven armored vehicle dual-motor transmission mechanism coupling modeling method of claim 3, wherein, The permanent magnet synchronous motor dynamic mathematical model and the permanent magnet synchronous motor vector control model are established according to the principle of coordinate transformation from three-phase coordinate system to d-q two-phase coordinate system; Wherein, the permanent magnet synchronous motor mathematical model includes voltage equation, flux linkage equation, torque equation and motion equation, which are transformed into the mode of direct current motor through Clark transformation and Park transformation in turn, Clark transformation matrix: Park transformation matrix: The Clark-Park total transformation matrix is further obtained as: The dynamic equivalent circuit after coordinate transformation is used for modeling of the permanent magnet synchronous motor control system, a vector control method is adopted, the d-axis component of the stator current and the q-axis component of the stator current are controlled, the d q-axis current given value is given through a speed controller, and the compared voltage control signal is obtained, the voltage control signal is input to a pulse width modulation signal generator through coordinate transformation, and is input to an inverter to generate a signal required for controlling the motor, so that the motor is controlled.

5. The digitally-twin-driven armored vehicle dual-motor transmission mechanism coupling modeling method of claim 1, wherein, The dynamic model of the coupling transmission mechanism, the dynamic mathematical model of the permanent magnet synchronous motor and the control model are coupled through electromagnetic torque and feedback speed, the electromechanical coupling model is solved, and the dynamic simulation model is solved according to the SODASRT 2 integral method, to obtain model current signals and vibration signals, and the double-motor coupling transmission test bench is used to collect permanent magnet synchronous motor stator current signals and coupling mechanism vibration signals.

6. The digitally-twin-driven armored vehicle dual-motor transmission mechanism coupling modeling method of claim 1, wherein, When the sensitive parameters of the model are optimized, the model parameters are updated based on the forgetting least square algorithm, and the double-motor transmission mechanism coupling mechanism model driven by digital twinning is obtained through continuous iterative updating.

7. A digital twin driven armored vehicle dual-motor transmission mechanism coupling modeling system, characterized in that, The model construction module, the vector control model construction module, the simulation and measured data acquisition module and the optimization module are included; the dynamic model construction unit of the coupling transmission mechanism and the dynamic mathematical model construction unit of the permanent magnet synchronous motor; The dynamic model construction unit of the coupling transmission mechanism is used to combine the two-dimensional topological structure diagram of the double-motor coupling transmission mechanism, consider the nonlinear factors in the gear transmission process according to the principle of dynamics, describe the motion relationship and force relationship between components by applying force elements, and establish the dynamic model of the coupling transmission mechanism; The dynamic mathematical model construction unit of the permanent magnet synchronous motor is used to establish the voltage equation, the flux linkage equation, the torque equation and the motion equation of the permanent magnet synchronous motor according to the basic parameters of the permanent magnet synchronous motor, and to perform coordinate transformation on the permanent magnet synchronous motor equations in the three-phase coordinate system to transform into a d-q two-phase coordinate system model with consistent generated magnetic motive force, i.e. the dynamic mathematical model of the permanent magnet synchronous motor; The vector control model construction module is used to model the motor control system according to the rotor flux oriented vector control of the dynamic mathematical model of the permanent magnet synchronous motor, to control the rotor flux by controlling the d-axis stator current component, and to establish the permanent magnet synchronous motor vector control model; The simulation and measured data acquisition module is used to couple the electromagnetic torque, the load torque and the feedback speed according to the established dynamic model of the coupling transmission mechanism and the vector control model of the permanent magnet synchronous motor, to establish an electromechanical coupling model, and to solve the electromechanical coupling model through joint simulation to obtain vibration signals and current signals simulation results under electromechanical coupling action; the double-motor coupling transmission test bench is used to collect permanent magnet synchronous motor stator current signals and coupling mechanism vibration signals; The optimization module analyzes the sensitivity of different parameters of the model to the difference value of the response signal based on the residual value of the simulation signal and the measured signal, screens out the sensitive parameters, optimizes the sensitive parameters of the model, and corrects the model parameters based on the optimization results to obtain the double-motor transmission mechanism coupling model.

8. A dual-motor transmission mechanism coupling model based on digital twin driving, characterized in that, The armored vehicle dual-motor transmission mechanism coupling modeling method driven by the digital twin of any one of claims 1-5 is obtained.

9. The dual motor transmission mechanism coupling model based on digital twin drive according to claim 8, wherein, The dual-motor transmission mechanism coupling model is used to simulate the dynamic operation of the transmission system in the dual-motor transmission mechanism.

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