Modeling simulation method and system for drill jumbo boom, electronic equipment and storage medium

Abstract

The invention discloses a modeling simulation method and system for a drill jumbo boom, electronic equipment and a storage medium, and the method comprises the steps: firstly carrying out a DIC test on the drill jumbo boom to obtain a DIC test result, then constructing a simulation model of the drill jumbo boom, carrying out finite element simulation to obtain a finite element simulation result, and finally, carrying out the modeling simulation of the drill jumbo boom. And finally, calibrating a finite element simulation result based on a DIC test result so as to obtain a calibrated boom simulation model. According to the method, high-precision deformation data and strain data of the drill jumbo boom can be obtained through DIC measurement, accurate test data can be provided, the finite element simulation result is calibrated through the high-precision DIC measurement data, output of a simulation model is made to be highly matched with the test data, and the simulation accuracy is improved. And the simulation precision and reliability of the arm support simulation model are obviously improved.

Description

Technical Field

[0001] The present invention relates to the technical field of boom modeling and simulation, and in particular to a method and system for modeling and simulating a boom of a rock drilling trolley, electronic equipment, and a computer-readable storage medium. Background Art

[0002] At present, when simulating a boom, the commonly used modeling and simulation method is to first collect the actual parameters of the boom, and then establish a boom model based on the principle of dynamics. Since the boom modeling and simulation process lacks the calibration of test data, the accuracy of the boom simulation model cannot be guaranteed, and the accuracy and reliability of the boom model simulation results depend on the accuracy of the collected parameters. If the collected actual parameter data of the boom is incomplete or inaccurate, it will affect the accuracy and reliability of the boom model simulation results. For example, patent application CN118273402A discloses a control method for an engineering machinery boom, which obtains a plurality of joint angles in real time and then uses dynamic modeling to obtain a dynamic model of the boom. Since its modeling and simulation process lacks the calibration of test data, the accuracy of the boom simulation model cannot be guaranteed.

[0003] In addition, for the modeling of the boom shaft, solid mesh is generally used for modeling and simulation, so that the details and changes of the shaft can be described during the simulation process. In particular, when the surface of the shaft is heat treated or coated, more refined mesh division is required to accurately simulate the mechanical properties of these areas. Although solid modeling can provide detailed details, it is time-consuming and labor-intensive. Therefore, in order to reduce the computational complexity and improve the simulation efficiency, simplified models such as beam or rigid are generally used to achieve boom shaft modeling. However, although simplified modeling improves efficiency, it cannot accurately reflect the actual working state of the boom shaft, because the boom shaft is not only restricted by its own rigidity during operation, but also needs to consider factors such as friction. For example, when it comes to the interaction between the shaft and the hole, such as friction, clearance and stiffness, the simplified modeling method often cannot accurately capture these effects, which may lead to deviations in the simulation results of the boom shaft, and the accuracy of the modeling and simulation of the boom shaft is directly related to the accuracy of the overall boom model. Summary of the invention

[0004] The present invention provides a rock drilling rig boom modeling and simulation method and system, electronic equipment, and computer-readable storage medium, which utilize high-precision DIC measurement data to calibrate finite element simulation results, so that the output of the simulation model is highly consistent with the test data, thereby significantly improving the simulation accuracy and reliability of the boom simulation model.

[0005] According to one aspect of the present invention, a method for modeling and simulating a boom of a rock drilling rig is provided, comprising the following contents:

[0006] Conduct DIC test on the drilling rig boom and obtain DIC test results;

[0007] Construct a simulation model of the drilling rig boom and perform finite element simulation to obtain finite element simulation results;

[0008] The finite element simulation results were calibrated based on the DIC test results to obtain the boom simulation model.

[0009] Furthermore, when the finite element simulation result is calibrated based on the DIC test result, the error between the finite element simulation result and the DIC test result is evaluated based on the following formula:

[0010] E 总误差 =a1×μ+a2×σ+a3×U 误差

[0011]

[0012] Among them, E 总误差 represents the overall error between the finite element simulation results and the DIC test results, μ represents the mean local error percentage, σ represents the standard deviation of the local error percentage, and U 误差 represents the error percentage of the maximum deformation at the end of the boom, a1, a2 and a3 represent weight coefficients, E 局部误差 represents the local error percentage, n represents the number of comparison points, E 局部误差,i Indicates the local error percentage of the ith comparison point, E 仿真 and E DIC represent the local strains obtained by finite element simulation and DIC measurement, respectively, U 仿真，max and U DIC，max Respectively represent the maximum deformation of the boom end obtained by finite element simulation and DIC measurement.

[0013] Furthermore, if the overall error between the finite element simulation results and the DIC test results is less than a preset threshold, it is determined that the accuracy of the finite element simulation results meets the requirements; if the overall error between the finite element simulation results and the DIC test results is not less than the preset threshold, the parameters of the simulation model need to be optimized and adjusted until the overall error is less than the preset threshold to obtain the boom simulation model.

[0014] Furthermore, after the boom simulation model is calibrated, the following contents are also included:

[0015] The boom axis is modeled using hinge units to form an optimized boom simulation model. The performances of the original boom simulation model and the optimized boom simulation model are compared under various working conditions. The hinge parameters are optimized and adjusted according to the performance comparison results to obtain the final optimized boom simulation model.

[0016] Furthermore, the process of comparing the performance of the original boom simulation model and the optimized boom simulation model under various working conditions and optimizing the hinge parameters according to the performance comparison results includes the following:

[0017] The original boom simulation model is used as a calibration reference to obtain the boom deformation of the original boom simulation model under various preset working conditions;

[0018] Taking hinge parameters as design factors and the arm deformation under various preset working conditions as responses, the optimized Latin square test design method is used to sample multiple groups of sample points for the optimized arm simulation model, and multiple groups of sample calculation results are obtained.

[0019] An approximate model is constructed based on the calculation results of multiple groups of samples, and the arm deformation under various preset working conditions of the approximate model is obtained;

[0020] The objective function is set based on the deformation of the original boom simulation model and the approximate model under various preset working conditions, and the optimization scheme of hinge parameters is obtained by solving the objective function.

[0021] The optimization scheme of hinge parameters is substituted into the optimized boom simulation model to verify the performance difference between it and the original boom simulation model. If the performance difference meets the preset requirements, the final optimized boom simulation model is obtained.

[0022] Furthermore, the objective function is:

[0023]

[0024] Among them, U real It represents the arm deformation of the original arm simulation model under various preset working conditions, U approximation It represents the arm deformation of the approximate model under various preset working conditions.

[0025] Furthermore, after obtaining the final optimized boom simulation model, the following contents are also included:

[0026] Integrate the hinge unit and its parameters into the script plugin.

[0027] In addition, the present invention also provides a boom modeling and simulation system for a rock drilling rig, comprising:

[0028] DIC test module, used to perform DIC test on the drilling rig boom and obtain DIC test results;

[0029] The finite element simulation module is used to construct a simulation model of the drilling rig boom and perform finite element simulation to obtain finite element simulation results;

[0030] The model calibration module is used to calibrate the finite element simulation results based on the DIC test results to obtain the boom simulation model.

[0031] In addition, the present invention also provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the processor executes the steps of the above method by calling the computer program stored in the memory.

[0032] In addition, the present invention also provides a computer-readable storage medium for storing a computer program for modeling and simulating a drilling rig boom, wherein the computer program executes the steps of the method described above when running on a computer.

[0033] The present invention has the following beneficial effects:

[0034] The boom modeling and simulation method of the rock drilling trolley of the present invention first performs a DIC test on the rock drilling trolley boom to obtain the DIC test results, then constructs a simulation model of the rock drilling trolley boom and performs finite element simulation to obtain finite element simulation results, and finally calibrates the finite element simulation results based on the DIC test results, thereby obtaining a calibrated boom simulation model. The present invention can obtain high-precision deformation data and strain data of the rock drilling trolley boom through DIC measurement, can provide accurate test data, and then calibrates the finite element simulation results using high-precision DIC measurement data, so that the output of the simulation model is highly consistent with the test data, which significantly improves the simulation accuracy and reliability of the boom simulation model.

[0035] In addition, the boom modeling and simulation system of the rock drilling rig of the present invention also has the above advantages.

[0036] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0038] Figure 1 It is a flow chart of a boom modeling and simulation method of a rock drilling trolley according to a preferred embodiment of the present application;

[0039] Figure 2 It is another flow chart of the boom modeling and simulation method of the rock drilling trolley in the preferred embodiment of the present application;

[0040] Figure 3 yes Figure 2 Schematic diagram of the sub-process of step S4;

[0041] Figure 4 It is another flow chart of the boom modeling and simulation method of the rock drilling trolley in the preferred embodiment of the present application;

[0042] Figure 5 It is a schematic diagram of the module structure of the boom modeling and simulation system of the rock drilling rig according to another embodiment of the present application. DETAILED DESCRIPTION

[0043] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0044] Reference Figure 1 The preferred embodiment of the present application provides a boom modeling and simulation method for a rock drilling rig, comprising the following contents:

[0045] Step S1: performing a DIC test on the drilling rig boom to obtain a DIC test result;

[0046] Step S2: constructing a simulation model of the drilling rig boom and performing finite element simulation to obtain finite element simulation results;

[0047] Step S3: Calibrate the finite element simulation results based on the DIC test results to obtain a boom simulation model.

[0048] It can be understood that the boom modeling and simulation method of the drilling trolley in this embodiment first performs a DIC test on the drilling trolley boom to obtain the DIC test results, then constructs a simulation model of the drilling trolley boom and performs finite element simulation to obtain finite element simulation results, and finally calibrates the finite element simulation results based on the DIC test results to obtain a calibrated boom simulation model. The present invention can obtain high-precision deformation data and strain data of the drilling trolley boom through DIC measurement, can provide accurate test data, and then use high-precision DIC measurement data to calibrate the finite element simulation results, so that the output of the simulation model is highly consistent with the test data, which significantly improves the simulation accuracy and reliability of the boom simulation model.

[0049] It can be understood that in the step S1, a DIC (Digital Image Correlation) measurement system is used to perform DIC tests on the rock drilling trolley boom under various working conditions to obtain DIC measurement data, wherein the DIC measurement data includes the deformation data and strain data of the boom. In addition, the DIC measurement system belongs to the prior art, and the specific system structure and measurement principle are not repeated here. For example, the DIC measurement process includes the following: first, a high-resolution camera and an image acquisition system are used to collect image data of the rock drilling trolley boom in real time during the movement process, and then the collected image is pre-processed using image processing software, including denoising, enhancement, etc., to improve the image quality, and then, the feature points of the boom in the image are extracted by DIC technology, and its displacement and deformation information are calculated. Finally, the extracted feature point data is analyzed and processed to obtain the motion state and deformation law of the boom. For example, taking a mining two-arm rock drilling trolley as an example, the working conditions of three different thrusts (199KN, 186KN, 159KN) are applied to the No. 1 oil cylinder, and the DIC measurement data under each working condition are obtained.

[0050] It can be understood that in the step S2, a simulation model of the rock drilling trolley boom is constructed in abaqus software or hyperworks software, and the simulation model includes a base, a boom, a cylinder, a slider, a reduction motor, a propulsion mechanism, a boom shaft and other structures, wherein the sheet metal with a thickness of less than or equal to 10 mm is modeled by a shell unit (S4R), and the rest is modeled by a solid unit (C3D8R), the slider and the boom, the boom shaft and the boom all use a sliding friction coefficient of 0.15, the weld modeling adopts a common node modeling technology, and the cylinder modeling uses a rod unit (T3D2) for modeling, and then the quality is adjusted to ensure that the center of mass of the model is consistent with the actual. Then, finite element simulation is performed under three thrust conditions to obtain finite element simulation results.

[0051] It can be understood that in step S3, the finite element simulation results obtained in step S2 are calibrated based on the DIC measurement data obtained in step S1, and the parameters of the simulation model are optimized and adjusted according to the calibration results until the error between the finite element simulation results and the DIC test results meet the preset requirements, and then a calibrated boom simulation model can be obtained. Specifically, first, according to the actual quality of the on-site speckle during the DIC measurement, a suitable area is selected for DIC calculation, and then the finite element simulation model is imported into the DIC software for format conversion, and then the coordinate system, grid and calculation parameters are unified, and the finite element simulation results and the DIC test results are compared in the whole field, and the parameters of the simulation model (including boundary conditions, grid size, material parameters, connection methods and other factors) are corrected according to the comparison results to adjust the finite element accuracy, so that the error between the finite element simulation results and the DIC test results meets the preset requirements. Wherein, when the finite element simulation results are calibrated based on the DIC test results, the error between the finite element simulation results and the DIC test results is evaluated based on the following formula:

[0052] E 总误差 =a1×μ+a2×σ+a3×U 误差

[0053]

[0054] Among them, E 总误差 represents the overall error between the finite element simulation results and the DIC test results, μ represents the mean local error percentage, σ represents the standard deviation of the local error percentage, and U 误差 It indicates the error percentage of the maximum deformation of the boom end. a1, a2 and a3 are weight coefficients, which can be set according to actual needs. 局部误差 represents the local error percentage, n represents the number of comparison points, E 局部误差,i Indicates the local error percentage of the ith comparison point, E 仿真 and E DIC They represent the local strains obtained by finite element simulation and DIC measurement respectively. The local strain can be the maximum principal strain or the X-direction strain. 仿真，max and U DIC，max Respectively represent the maximum deformation of the boom end obtained by finite element simulation and DIC measurement.

[0055] It can be understood that if the total error E between the finite element simulation results and the DIC test results 总误差 If the error is less than a preset threshold, for example, 10%, the accuracy of the finite element simulation results meets the requirements. If the overall error between the finite element simulation results and the DIC test results is not less than the preset threshold, the parameters of the simulation model need to be optimized and adjusted until the overall error is less than the preset threshold to obtain a calibrated boom simulation model.

[0056] It can be understood that the present invention takes the error percentage of the maximum deformation at the end of the boom as the local accuracy index, the mean of the local error percentage as the overall accuracy index, and the standard deviation of the local error percentage as the accuracy deviation index, and adopts a weighted summation method from the three dimensions of local, overall and accuracy deviation to comprehensively evaluate the overall error between the finite element simulation results and the DIC test results, which can more accurately realize the calibration of the simulation model and significantly improve the calibration precision and accuracy of the simulation model.

[0057] Alternatively, if Figure 2 As shown, the boom modeling and simulation method of the rock drilling rig further includes the following contents after the boom simulation model is calibrated:

[0058] Step S4: The boom axis is modeled using hinge units to form an optimized boom simulation model, the performance of the original boom simulation model and the optimized boom simulation model are compared under various working conditions, and the hinge parameters are optimized and adjusted according to the performance comparison results to obtain the final optimized boom simulation model.

[0059] It can be understood that step S3 has obtained a calibrated high-precision boom simulation model, but considering the high computational complexity and low simulation efficiency of the boom axis modeling using solid units, if the boom axis modeling is performed using simplified models such as beam or rigid, the actual working state of the boom axis cannot be accurately reflected. Therefore, the present invention also uses hinge units to model the boom axis to form an optimized boom simulation model, and by comparing the performance of the original boom simulation model and the optimized boom simulation model under various working conditions, and optimizing and adjusting the hinge parameters according to the performance comparison results, the parameter optimization results of the hinge unit are determined, thereby obtaining the final optimized boom simulation model, which can reduce the computational complexity, improve the simulation efficiency, and accurately reflect the actual working state of the boom axis. Compared with the beam unit and the rigid unit, the hinge unit can not only achieve the same effect of model simplification, but also accurately reflect the actual working state of the boom axis.

[0060] Among them, Figure 3 As shown, the process of comparing the performance of the original boom simulation model and the optimized boom simulation model under various working conditions and optimizing the hinge parameters according to the performance comparison results includes the following contents:

[0061] Step S41: using the original boom simulation model as a calibration reference, obtaining the boom deformation of the original boom simulation model under various preset working conditions;

[0062] Step S42: Taking hinge parameters as design factors and boom deformation under various preset working conditions as responses, an optimized Latin square test design method is used to sample multiple groups of sample points for the optimized boom simulation model to obtain multiple groups of sample calculation results;

[0063] Step S43: constructing an approximate model based on the calculation results of multiple groups of samples, and obtaining the arm deformation of the approximate model under multiple preset working conditions;

[0064] Step S44: setting an objective function based on the deformation of the original boom simulation model and the approximate model under various preset working conditions, and solving the objective function to obtain an optimization solution for hinge parameters;

[0065] Step S45: Substitute the optimization solution of hinge parameters into the optimized boom simulation model to verify the performance difference between the optimized boom simulation model and the original boom simulation model. If the performance difference meets the preset requirements, the final optimized boom simulation model is obtained.

[0066] For example, the original boom simulation model calibrated in step S3 is used as a calibration reference for the optimized boom simulation model to obtain the boom deformation of the original boom simulation model under 10 different preset working conditions, which is recorded as U real Among them, the hinge parameters include elasticity parameters and friction parameters, which can be expressed as: F (friction) = f, E (Elasticity) = μGI p / L, f is the friction coefficient, E is the torsional modulus, μ is the correction factor, GI p represents the torsional stiffness of the shaft, and L represents the shaft length. Then, hinge parameters (f, u) are used as design factors, and the arm deformation under 10 preset working conditions (U virtual As a response, the optimized Latin square experimental design method is used to sample 50 groups of sample points for the optimized boom simulation model, and 50 groups of sample calculation results are obtained. Among them, the optimized Latin square experimental design method belongs to the prior art, and the specific sampling calculation process is not repeated here. Then, based on the 50 groups of sample calculation results obtained by the experimental design, a neural network high-precision approximate model, that is, a mathematical proxy model, is established to obtain the boom deformation of the approximate model under 10 different preset working conditions, and the deformation is expressed as U approximation It is indicated that the establishment of the approximate model belongs to the prior art and will not be described here. The mathematical proxy model can be used to obtain f and u. Then, the arm deformation U of the original arm simulation model under 10 preset working conditions is real And the arm deformation U of the approximate model approximation The maximum relative change of the objective function can be expressed as: Among them, U real It represents the arm deformation of the original arm simulation model under various preset working conditions, Uapproximation It represents the deformation of the boom under various preset working conditions of the approximate model. With F less than 10% as the design target, the multi-island genetic algorithm is used to optimize the hinge parameters (f, u) to obtain the optimization scheme of the hinge parameters (f, u). Among them, the multi-island genetic algorithm belongs to the existing optimization algorithm, and the specific principle is not repeated here. Finally, the optimization scheme of the hinge parameters (f, u) obtained by optimization is substituted into the optimized boom simulation model for verification. If Max|U is less than 10% under 10 preset working conditions, the optimization scheme of the hinge parameters (f, u) is obtained. real -U virtual | / U real <10%, then the optimization scheme of hinge parameters (f, u) is verified to be successful, and the final optimized boom simulation model can be obtained. real -U virtual | / U real If the value is greater than or equal to 10%, the above process needs to be repeated and the approximate model modeling parameters and / or optimization parameters need to be optimized and adjusted.

[0067] It can be understood that the present invention adopts hinge units to model the boom axis in the calibrated boom simulation model, and uses the calibrated high-precision boom simulation model as a calibration reference to optimize the parameters of the hinge units, thereby constructing an optimized boom simulation model after the boom axis is simplified. The optimized boom simulation model can reduce the calculation complexity and improve the simulation efficiency while ensuring the accuracy of the simulation model.

[0068] In addition, if Figure 4 As shown, the boom modeling and simulation method of the drilling rig further includes the following contents after obtaining the final optimized boom simulation model:

[0069] Step S5: Integrate the hinge unit and its parameters into the script plug-in.

[0070] It can be understood that after determining the optimization scheme of hinge parameters (f, u), the hinge unit and parameters f, u are integrated into the script plug-in to facilitate the automatic generation of the boom axis model, which can further reduce the modeling and calculation time of the drilling rig and improve the simulation efficiency by at least 50% cumulatively.

[0071] In addition, if Figure 5 As shown, another embodiment of the present invention further provides a boom modeling and simulation system for a rock drilling rig, comprising:

[0072] DIC test module, used to perform DIC test on the drilling rig boom and obtain DIC test results;

[0073] The finite element simulation module is used to construct a simulation model of the drilling rig boom and perform finite element simulation to obtain finite element simulation results;

[0074] The model calibration module is used to calibrate the finite element simulation results based on the DIC test results to obtain the boom simulation model.

[0075] It can be understood that the boom modeling and simulation system of the drilling trolley of the present embodiment first performs a DIC test on the boom of the drilling trolley to obtain the DIC test results, then constructs a simulation model of the boom of the drilling trolley and performs finite element simulation to obtain finite element simulation results, and finally calibrates the finite element simulation results based on the DIC test results to obtain a calibrated boom simulation model. The present invention can obtain high-precision deformation data and strain data of the boom of the drilling trolley through DIC measurement, can provide accurate test data, and then use high-precision DIC measurement data to calibrate the finite element simulation results, so that the output of the simulation model is highly consistent with the test data, which significantly improves the simulation accuracy and reliability of the boom simulation model.

[0076] In addition, the boom modeling and simulation system of the rock drilling rig also includes:

[0077] The hinge modeling module is used to model the boom axis using hinge units to form an optimized boom simulation model. The performance of the original boom simulation model and the optimized boom simulation model are compared under various working conditions, and the hinge parameters are optimized and adjusted according to the performance comparison results to obtain the final optimized boom simulation model.

[0078] In addition, the boom modeling and simulation system of the rock drilling rig also includes:

[0079] Plugin generation module for integrating hinge units and their parameters into script plugins.

[0080] It can be understood that the various modules of the system embodiment correspond to the various steps of the above method embodiment, so the specific working principles of each module are not repeated here, and the corresponding references can be made to the various steps of the above method embodiment.

[0081] In addition, another embodiment of the present invention further provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the processor executes the steps of the above method by calling the computer program stored in the memory.

[0082] In addition, another embodiment of the present invention further provides a computer-readable storage medium for storing a computer program for modeling and simulating a drilling rig boom, wherein the computer program executes the steps of the method described above when running on a computer.

[0083] The general form of computer readable storage media includes: floppy disk, flexible disk, hard disk, magnetic tape, any other magnetic medium, CD-ROM, any other optical medium, punch cards, paper tape, any other physical medium with a pattern of holes, random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), flash erasable programmable read-only memory (FLASH-EPROM), any other memory chip or cartridge, or any other medium that can be read by a computer. The instructions can further be transmitted or received by a transmission medium. The term transmission medium can include any tangible or intangible medium that can be used to store, encode or carry instructions for execution by a machine, and includes digital or analog communication signals or other intangible media that facilitate the communication of the above instructions. Transmission media include coaxial cables, copper wires and optical fibers, which include the wires of a bus used to transmit a computer data signal.

[0084] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiments of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0085] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0086] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0087] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0088] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0089] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0090] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for modeling and simulating a boom of a rock drilling rig, characterized in that: Includes the following: Conduct DIC test on the drilling rig boom and obtain DIC test results; Construct a simulation model of the drilling rig boom and perform finite element simulation to obtain finite element simulation results; The finite element simulation results were calibrated based on the DIC test results to obtain the boom simulation model.

2. The boom modeling and simulation method of a rock drilling rig according to claim 1, characterized in that: When the finite element simulation results are calibrated based on the DIC test results, the error between the finite element simulation results and the DIC test results is evaluated based on the following formula: AND 总误差 =a1×μ+a2×σ+a3×U 误差 Among them, E 总误差 represents the overall error between the finite element simulation results and the DIC test results, μ represents the mean local error percentage, σ represents the standard deviation of the local error percentage, and U 误差 represents the error percentage of the maximum deformation at the end of the boom, a1, a2 and a3 represent weight coefficients, E 局部误差 represents the local error percentage, n represents the number of comparison points, E 局部误差,i Indicates the local error percentage of the ith comparison point, E 仿真 and E DIC represent the local strains obtained by finite element simulation and DIC measurement, respectively, U 仿真，max and U DIC，max Respectively represent the maximum deformation of the boom end obtained by finite element simulation and DIC measurement.

3. The boom modeling and simulation method of a rock drilling rig according to claim 2, characterized in that: If the overall error between the finite element simulation results and the DIC test results is less than the preset threshold, it is judged that the accuracy of the finite element simulation results meets the requirements. If the overall error between the finite element simulation results and the DIC test results is not less than the preset threshold, the parameters of the simulation model need to be optimized and adjusted until the overall error is less than the preset threshold to obtain the boom simulation model.

4. The boom modeling and simulation method of a rock drilling rig according to claim 1, characterized in that: After the boom simulation model is calibrated, the following contents are also included: The boom axis is modeled using hinge units to form an optimized boom simulation model. The performances of the original boom simulation model and the optimized boom simulation model are compared under various working conditions. The hinge parameters are optimized and adjusted according to the performance comparison results to obtain the final optimized boom simulation model.

5. The boom modeling and simulation method of a rock drilling rig according to claim 4, characterized in that: The process of comparing the performance of the original boom simulation model and the optimized boom simulation model under various working conditions and optimizing the hinge parameters according to the performance comparison results includes the following: The original boom simulation model is used as a calibration reference to obtain the boom deformation of the original boom simulation model under various preset working conditions; Taking hinge parameters as design factors and the arm deformation under various preset working conditions as responses, the optimized Latin square test design method is used to sample multiple groups of sample points for the optimized arm simulation model, and multiple groups of sample calculation results are obtained. An approximate model is constructed based on the calculation results of multiple groups of samples, and the arm deformation under various preset working conditions of the approximate model is obtained; The objective function is set based on the deformation of the original boom simulation model and the approximate model under various preset working conditions, and the optimization scheme of hinge parameters is obtained by solving the objective function. The optimization scheme of hinge parameters is substituted into the optimized boom simulation model to verify the performance difference between it and the original boom simulation model. If the performance difference meets the preset requirements, the final optimized boom simulation model is obtained.

6. The boom modeling and simulation method of a rock drilling rig according to claim 5, characterized in that: The objective function is: Among them, U real It represents the arm deformation of the original arm simulation model under various preset working conditions, U approximation It represents the arm deformation of the approximate model under various preset working conditions.

7. The boom modeling and simulation method of a rock drilling rig according to claim 5, characterized in that: After obtaining the final optimized boom simulation model, the following contents are also included: Integrate the hinge unit and its parameters into the script plugin.

8. A boom modeling and simulation system for a rock drilling rig, characterized in that: include: DIC test module, used to perform DIC test on the drilling rig boom and obtain DIC test results; The finite element simulation module is used to construct a simulation model of the drilling rig boom and perform finite element simulation to obtain finite element simulation results; The model calibration module is used to calibrate the finite element simulation results based on the DIC test results to obtain the boom simulation model.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a computer program, and the processor executes the steps of the method according to any one of claims 1 to 7 by calling the computer program stored in the memory.

10. A computer-readable storage medium for storing a computer program for modeling and simulating a drilling rig boom, characterized in that: When the computer program is run on a computer, the steps of the method according to any one of claims 1 to 7 are executed.

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