Electromechanical-hydraulic joint simulation method, system, equipment and medium

Abstract

The invention discloses a mechanical-electrical-hydraulic joint simulation method, system and device and a medium, and belongs to the technical field of ship control, the method comprises the following steps: obtaining input parameters, and obtaining target expected data through analog calculation according to the input parameters; performing simulation operation in an electromechanical hydraulic joint simulation model by taking the input parameters as input to obtain first simulation data; on the basis of the deviation between the first simulation data and the target expected data, hydraulic side parameters are adjusted, simulation operation is conducted in the mechanical-electrical-hydraulic joint simulation model again, and iteration updating is conducted on the first simulation data; and obtaining second simulation data under the condition that the deviation between the first simulation data and the target expected data is within the first threshold range and meets the security constraint. Simulation operation is carried out in an electromechanical hydraulic joint simulation model, a mechanical structure, a hydraulic loop and a control strategy form a whole for simulation operation in a simulation stage, iteration is continuously carried out according to a simulation operation result, and therefore the deviation between target expected data and target expected data is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ship control, in particular to a method, system and device for mechanical-hydraulic-electrical joint simulation and a medium. BACKGROUND

[0002] When a ship sails on the sea, it will sway in six degrees of freedom due to the influence of wind, waves, current and other factors, among which roll is the most likely to occur and has a significant impact on navigation safety, equipment reliability and passenger comfort. As a commonly used roll damping device, the roll damping fin generates hydrodynamic lift to offset the wave disturbance moment by adjusting the angle and extension of the fin. However, the overall performance of the roll damping fin is jointly influenced by sea conditions, ship attitude and speed, and the dynamic characteristics of the driving and control system, showing strong coupling, time-varying and uncertainty characteristics.

[0003] In related technologies, the mechanical structure, hydraulic circuit and control strategy of the roll damping fin are modeled and debugged separately during the simulation stage, and the mechanical structure, control strategy and hydraulic circuit (mechanical-hydraulic-electrical) are mutually separated without forming a unified whole for simulation. The overall performance of the roll damping fin is tested by a real ship, and even if problems are found, there is little room for optimization, and the deviation from the target expected data is large. SUMMARY

[0004] The embodiments of the present application provide a method, system, device and medium for mechanical-hydraulic-electrical joint simulation, aiming to solve the problem that the roll damping fin does not form a whole for simulation during the simulation stage, resulting in a large deviation from the target expected data.

[0005] In a first aspect, the embodiments of the present application provide a method for mechanical-hydraulic-electrical joint simulation, comprising the following steps: Obtaining input parameters and calculating target expected data based on the input parameters through simulation; Simulating and running in a mechanical-hydraulic-electrical joint simulation model with the input parameters as input to obtain first simulation data; Adjusting hydraulic side parameters based on the deviation between the first simulation data and the target expected data, and re-simulating and running in the mechanical-hydraulic-electrical joint simulation model to iteratively update the first simulation data; In the case where the deviation between the first simulation data and the target expected data is within a first threshold range and meets a safety constraint, second simulation data is obtained.

[0006] In some embodiments, the hydraulic side parameters include at least one of valve parameters, pump parameters, pipeline parameters and friction parameters; Adjusting the hydraulic side parameters based on the deviation between the first simulation data and the target expected data, comprising: In a case where a deviation between the first simulation data and the target expected data is out of a first threshold range or does not meet a safety constraint, at least one of a valve parameter, a pump parameter, a pipeline parameter and a friction parameter is adjusted to make the first simulation data close to the target expected data.

[0007] In some embodiments, the method further comprises: Based on a deviation between the second simulation data and the target expected data and a reason for the deviation, adjusting the hydraulic side parameter or the control side parameter, and re-simulating a running in the electro-hydraulic co-simulation model to iteratively update the second simulation data; In a case where the deviation between the second simulation data and the target expected data is within a second threshold range and meets the safety constraint, third simulation data is obtained.

[0008] In some embodiments, the control side parameter comprises at least one of a PID control parameter and an auxiliary control parameter; Based on the deviation between the second simulation data and the target expected data, adjusting the control side parameter according to the deviation, comprising: In a case where the reason for the deviation is physical saturation or parameter over-limit, the second simulation data is rolled back to the first simulation data, the hydraulic side parameter is re-adjusted, and the first simulation data is iteratively updated; In a case where the reason for the deviation is a control parameter matching problem, the PID control parameter or the auxiliary control parameter is adjusted according to the deviation to make the second simulation data close to the target expected data.

[0009] In some embodiments, the input parameter comprises a ship overall parameter, a sea state and working condition parameter and a system structure and control parameter; The target expected data is obtained through analog calculation according to the input parameter, comprising: The roll model is obtained according to the input parameter; The stabilizing moment of the fin stabilizer is calculated according to the roll model; The fin stabilizer motion curve is simulated and generated in a signal simulation system according to the input parameter, the roll model and the stabilizing moment of the fin stabilizer, and the target expected data is obtained.

[0010] In some embodiments, the roll model is obtained according to the input parameter, comprising: The roll natural angular frequency is calculated according to the ship overall parameter; The roll model is constructed based on the roll natural angular frequency.

[0011] In some embodiments, the stabilizing moment of the fin stabilizer is calculated according to the roll model, comprising: A condition meeting a ship stop rolling is determined based on the roll model; The lift of the fin stabilizer is calculated according to the condition; The lift of the fin stabilizer is converted into the stabilizing moment of the fin stabilizer.

[0012] In some embodiments, the target expected data is generated by simulating the fin motion curve in the signal simulation system according to the input parameters, the roll model and the stabilizing moment of the fin, including: The target expected data is generated by simulating the roll process of the ship body in the current sea state in the signal simulation system according to the sea state and working condition parameters and the system structure and control parameters, and generating the fin motion curve in the roll process of the ship body in the current sea state.

[0013] In some embodiments, before the first simulation data is obtained by simulating the operation in the mechatronic-hydraulic simulation model, the method further includes: The mechanical subsystem model, the hydraulic subsystem model and the control subsystem model are coupled based on time synchronization and signal definition to construct the mechatronic-hydraulic simulation model.

[0014] In some embodiments, the method further includes: simulating the operation in the mechatronic-hydraulic simulation model under extreme sea state conditions to obtain fourth simulation data.

[0015] In a second aspect, the embodiments of the present application further provide a mechatronic-hydraulic simulation system, including: The parameter acquisition module is configured to acquire input parameters and obtain target expected data by simulation calculation according to the input parameters; The first simulation operation module is configured to simulate the operation in the mechatronic-hydraulic simulation model with the input parameters as input to obtain first simulation data; The second simulation operation module is configured to adjust the hydraulic side parameters based on the deviation between the first simulation data and the target expected data, re-simulate the operation in the mechatronic-hydraulic simulation model to iteratively update the first simulation data, and obtain second simulation data when the deviation between the first simulation data and the target expected data is within a first threshold range and the safety constraint is met.

[0016] In a third aspect, the embodiments of the present application further provide an electronic device including a memory and a processor, and the memory stores a computer program which is executed by the processor to implement the method in the first aspect.

[0017] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium storing a computer program, and the computer program is loaded by a processor to perform the steps in the method in the first aspect.

[0018] The present application simulates the operation in the mechatronic-hydraulic simulation model, unifies the mechanical structure, the hydraulic circuit and the control strategy of the fin to form a whole for simulation operation in the simulation stage, and iteratively updates according to the simulation operation result to reduce the deviation from the target expected data. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort based on these drawings.

[0020] Figure 1 is a flow diagram of a kind of electro-hydraulic combined simulation method provided in the embodiments of the present application; Figure 2 is another flow diagram of a kind of electro-hydraulic combined simulation method provided in the embodiments of the present application; Figure 3 is a flow diagram of step S202 of a kind of electro-hydraulic combined simulation method provided in the embodiments of the present application; Figure 4 is a structural diagram of a kind of electro-hydraulic combined simulation system provided in the embodiments of the present application; Figure 5 is a structural diagram of a kind of electronic equipment provided in the embodiments of the present application.

[0021] Significant of reference signs: 101, parameter acquisition module;102, model construction module;103, first simulation running module;104, second simulation running module;105, third simulation running module;106, fourth simulation running module;200, electronic equipment;201, memory;202, processor;203, communication component;204, bus. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present application.

[0023] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0024] "A and / or B" includes the following three combinations: A only, B only, and a combination of A and B.

[0025] The use of "applies to" or "configured to" in this application implies open and inclusive language, which does not exclude the applicability to or configuration to devices performing additional tasks or steps. Additionally, the use of "based on" implies openness and inclusivity, because processes, steps, calculations, or other actions "based on" one or more of the stated conditions or values ​​may in practice be based on additional conditions or values ​​beyond those stated.

[0026] In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this application. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be made without using these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0027] Firstly, this embodiment provides a combined electromechanical-hydraulic simulation method, such as... Figure 1 As shown, it includes the following steps: S101. Obtain the input parameters and calculate the target expected data based on the input parameters through simulation.

[0028] The input parameter is data for supporting simulation and target calculation, and the target expected data is data in an ideal state calculated according to the input parameter, for example, a target attack angle or displacement trajectory of the fin stabilizer. By explicitly taking the target expected data as an optimization target, an optimization direction is provided for the subsequent iterative updating step.

[0029] S102, simulating and running in the mechatronic-hydraulic combined simulation model with the input parameter as input to obtain first simulation data.

[0030] The mechatronic-hydraulic combined simulation model is a simulation model coupled by a mechanical subsystem model, a hydraulic subsystem model and a control subsystem model, realizes time synchronization and signal interaction of the mechanical subsystem model, the hydraulic subsystem model and the control subsystem model through a combined simulation interface, and restores the actual operation logic of the fin stabilizer hydraulic control unit. By inputting the input parameter into the mechatronic-hydraulic combined simulation model, first simulation data is obtained.

[0031] S103, adjusting the hydraulic side parameter based on the deviation between the first simulation data and the target expected data, and re-simulating and running in the mechatronic-hydraulic combined simulation model to iteratively update the first simulation data.

[0032] The deviation between the first simulation data and the target expected data is used to represent the closeness of the first simulation data and the target expected data, and the hydraulic side parameter is a physical parameter of the hydraulic subsystem model. By adjusting the hydraulic side parameter to re-simulate and iteratively update the hydraulic side parameter, the first simulation data and the target expected data are constantly close to each other.

[0033] S104, obtaining second simulation data when the deviation between the first simulation data and the target expected data is within a first threshold range and meets a safety constraint.

[0034] The deviation between the first simulation data and the target expected data within the first threshold range determines that the first simulation data and the target expected data are close enough to meet the optimization requirements. The safety constraint is a boundary condition for ensuring the safety of system operation, and ensures the safety of operation. Through the double check of the first threshold and the safety constraint, the problem of performance meeting but safety hidden danger of the optimized parameter is avoided, and the reliability of engineering application is improved.

[0035] The embodiment also provides another mechatronic-hydraulic combined simulation method, as shown in Figure 2 The method comprises the following steps: S201, obtaining an input parameter.

[0036] The input parameter includes ship overall parameters, sea state and working condition parameters, and system structure and control parameters.

[0037] wherein the ship overall parameters are parameters of the ship itself, such as the displacement, the initial metacentric height, the roll damping moment coefficient, the ship inertia moment itself and the additional inertia moment.

[0038] The displacement is the total mass of the ship displacing water in the water, and the unit is kg The displacement is the total mass of the ship displacing water in the water, and the unit is m The initial metacentric height is the vertical distance from the initial metacentric center to the center of gravity of the ship, and the unit is The initial metacentric height is the vertical distance from the initial metacentric center to the center of gravity of the ship, and the unit is The roll damping moment coefficient is the proportion coefficient of the moment impeding the roll motion of the ship to the roll angular velocity, and the unit is The roll damping moment coefficient is the proportion coefficient of the moment impeding the roll motion of the ship to the roll angular velocity, and the unit is

[0039] The sea state and working condition parameters are parameters related to the environment and operation of the ship, such as the effective wave inclination angle, the target sea state set, the speed and heading combination.

[0040] The effective wave inclination angle is a key parameter representing the disturbance intensity of the wave to the ship, and the unit is rad, reflecting the angle of the wave in the roll direction. The target sea state set includes different significant wave height and peak period combination scenarios, such as calm sea state, moderate sea state, extreme storm sea state, etc. The speed and heading combination is the different combination of the speed and heading of the ship, covering the common navigation state and the limit working condition of the ship.

[0041] The system structure and control parameters are the parameterized structure of the system components and the control parameters of the system components, such as the rated characteristic curve and nominal parameter of the system components, the control initial gain and the limiting parameter.

[0042] The rated characteristic curve of the system components is the design standard performance curve of the hydraulic components such as pump, valve, actuator cylinder, pipeline, etc., such as the displacement-efficiency curve of the pump, the pressure difference-flow curve of the valve, etc., which is derived from the component nominal data, production factory data or test bench calibration data.

[0043] The nominal parameter of the system components is the rated design parameter of the system components, such as the flow coefficient of the valve, the displacement of the pump, the effective area of the actuator cylinder.

[0044] The control initial gain is the initial control parameter of the PID (Proportional-Integral-Derivative Control) control system, such as the initial proportional (P), integral (I), and derivative (D) gain, and the feedforward gain.

[0045] The control limiting parameter is the maximum value limit set for the angle and angular rate of the anti-rolling fin, to avoid overloading of the mechanical structure.

[0046] S202, obtaining target expected data through simulation calculation according to input parameters.

[0047] As shown in Figure 3 , step S202 includes steps S2021-S2023.

[0048] S2021, obtaining a rolling model according to input parameters.

[0049] According to the ship displacement, the initial metacentric height, the ship rolling damping torque coefficient, the ship's own inertia torque, the additional inertia torque, and the effective wave inclination, the ship's rolling natural angular frequency is obtained.

[0050] The linear rolling mathematical model of the ship is: ; wherein, is the ship displacement, with a unit of kg, and a value range of (10 5 -10 7 ); is the initial metacentric height, with a unit of ; is the ship's own rolling inertia torque, with a unit of , and a value range of (10 8 -10 11 ); is the additional inertia torque (caused by the additional mass of water), with a unit of , and a value range of (0.05 -0.3 ); is the ship rolling angle, with a unit of ; is the rolling angular velocity, with a unit of , and a typical angle of ±5°; is the rolling angular acceleration, with a unit of ; is the ship rolling damping torque coefficient, with a unit of , and a value range of (0.02 – 0.2); is the effective wave inclination, with a unit of , and a value range of (0.01 – 0.5); is the effective wave inclination rate, with a unit of ; is the effective wave inclination acceleration, with a unit of .

[0051] The test proves that the first order and second order quantities on the right side of the equation are small quantities and can be ignored. Therefore, the equation can be changed to: ; The equation can be changed to: ; In the equation, , ; wherein, is the inherent angular frequency of the ship roll, and the unit is , and the value range is (0.2-1.0); is the dimensionless damping attenuation coefficient, and the unit is.

[0052] S2022, calculating the stabilizing moment of the roll stabilization fin according to the roll model.

[0053] According to the roll model, , the wave disturbance moment is represented. If the designed roll stabilization fin control system generates a stabilizing moment , which can offset the wave disturbance moment, the purpose of the roll stabilization fin to reduce the roll of the ship can be achieved, and the ship tends to be stable.

[0054] The following equation represents the basic principle of the roll reduction of the roll stabilization fin of the ship: ; The condition for the ship to stop rolling is .

[0055] The fin of the roll stabilization fin is extended outward from the two chords of the ship body and is assembled at a certain depth below the waterline to eliminate the roll movement caused by wave disturbance. Assuming that the rotating fin angle is , the lift generated by the fin can be obtained as: ; wherein, is the projection area of the fin, and the unit is ; is the lift coefficient of the fin, and the unit is dimensionless; is the density of seawater, and the unit is ; is the ship speed, and the unit is .

[0056] Since the roll stabilization fins are symmetrically distributed on both sides of the ship body, the lift generated by the roll stabilization fins on both sides is equal in size and opposite in direction. The moment generated by the left and right roll stabilization fins can be represented as: ; is the vertical line of the fin axis and the longitudinal axis passing through the center of the roll stabilization fin and the center of gravity of the ship the angle between the fin and the water flow direction; is the length of the lift force arm.

[0057] the fin angle is driven by the fin control system, so the lift force generated by the fin is also controllable: the fin stabilizing moment generated by the designed fin control system counteracts the influence of the wave disturbance moment on the ship, so as to reduce the ship's rolling amplitude as soon as possible.

[0058] S2023, according to the input parameters, the rolling model and the fin stabilizing moment, the fin motion curve is simulated in the signal simulation system to obtain the target expected data.

[0059] According to the sea state and working condition parameters and the system structure and control parameters, the ship body rolling process is simulated in the signal simulation system to generate the fin motion curve in the current sea state, and the target expected data is obtained. The target expected data is the theoretical data that the fin can offset the rolling motion in the current sea state.

[0060] S203, based on time synchronization and signal definition, the mechanical subsystem model, the hydraulic subsystem model and the control subsystem model are coupled to build a mechatronic simulation model.

[0061] In one embodiment, the mechanical subsystem model adopts Adams to establish a structure model, the hydraulic subsystem model adopts AMESim to establish a hydraulic model, and the control subsystem model adopts MATLAB / Simulink to establish a mathematical model according to the mathematical transfer function of the control system.

[0062] For the mechanical subsystem model, the structure analysis of the typical marine hydraulic test bench mechanism is carried out, that is, the number of strut members, connection pairs, connecting rods and connection types, and the degrees of freedom of the mechanism are analyzed. Then the degrees of freedom of the mechanical subsystem model are calculated and analyzed. Then the mechanism dynamics analysis of the typical marine hydraulic test bench is carried out. The actual numerical value is substituted into the mechanical subsystem model for calculation, and the results of the mechanism kinematics analysis in the mechanical subsystem model are compared to verify the correctness of the mechanical subsystem model.

[0063] The mechanical subsystem model is analyzed from the aspects of position, velocity and mechanism dynamics.

[0064] Position analysis is to give the piston motion velocity in the mechanical subsystem model, so that the rocker arm and the finger can reach the maximum deflection angle in the simulation time, and then measure it, so as to obtain the maximum deflection angle of the finger and the rocker arm in the mechanical subsystem model. The correctness of the mechanical subsystem model can be evaluated by comparing the theoretical calculation value. In order to make the rocker arm reach the maximum deflection angle in the set simulation time T, the piston needs to complete the effective stroke S in the time, so the piston velocity should satisfy In the simulation, additional virtual consumption caused by friction, clearance, damping, etc. needs to be overcome, so the piston velocity should satisfy .

[0065] Velocity analysis gives the main driver piston an initial velocity through motion analysis on the typical hydraulic test bench for ships, so as to obtain the corresponding velocity curve of each driven part.

[0066] Mechanical dynamics analysis gives the main driver of the typical hydraulic test bench for ships an initial force, and obtains the torque, acceleration and force of each driven part under the action of the force.

[0067] The hydraulic subsystem model includes working medium, power element, control element, execution element and auxiliary element.

[0068] The working medium is the liquid circulating in the hydraulic circuit, which is used to transfer energy.

[0069] The power element is the power source of the hydraulic system, which can be a hydraulic pump, used to convert the mechanical energy of the prime mover into hydraulic energy to provide power for the system.

[0070] The control element is a valve, such as a directional control valve, a pressure control valve and a flow control valve, which is used to control the flow direction, pressure and flow of the working medium to ensure that the execution element and the working mechanism work as required.

[0071] The execution element is an element that converts hydraulic energy into mechanical energy, which can be a hydraulic cylinder or a hydraulic motor. The execution element in this embodiment is a hydraulic cylinder. The execution element is connected with other components through the hydraulic circuit, and the motion of the execution element is transmitted to the components, so as to drive the relative motion between the components.

[0072] The auxiliary element is an element used for auxiliary connection or storage, such as an oil tank, a pipe and a joint.

[0073] Hydraulic elements are provided in AMESim, which are used to create a hydraulic subsystem model that provides power for the mechanical subsystem model, and realize the combination of hydraulic module and mechanical module.

[0074] The parameters of each hydraulic element of the marine typical hydraulic test bench are set, after the parameter setting is completed, the hydraulic subsystem model and the mechanical subsystem model of the marine typical hydraulic test bench are connected through the action between the hydraulic cylinder and the piston, the action of the mechanical system is controlled through the up and down movement of the piston in the hydraulic cylinder, so as to realize the control of the rudder surface deflection angle, and further realize the combination of the hydraulic system and the mechanical system of the marine typical hydraulic test bench.

[0075] The control subsystem model includes an electro-hydraulic servo valve, a hydraulic cylinder, a position sensor and a rudder controller.

[0076] The electrical signal of the control subsystem model controls the flow into and out of the two chambers of the hydraulic cylinder through the valve core opening of the electro-hydraulic servo valve of the hydraulic system, thereby controlling the displacement of the piston in the hydraulic cylinder, and the displacement of the piston controls the deflection of the rudder surface through the actuator of the hydraulic rudder, i.e. the mechanical subsystem model; the hydraulic subsystem model provides sufficient hydraulic energy to the rudder, sets the required protection and control devices, realizes the signal conversion between the control subsystem model and the mechanical subsystem model, converts the control signal of the control subsystem model into the displacement of the piston in the hydraulic cylinder, thereby driving the crank connecting rod mechanism of the marine typical hydraulic test bench to rotate, achieving the purpose of controlling the deflection angle of the rudder surface.

[0077] The construction steps of the mechatronic-hydraulic combined simulation model include: A three-dimensional model of the mechanical system of the marine typical hydraulic test bench is established through an auxiliary design tool such as CAD software, so as to obtain a mechanical subsystem model containing the geometric shape, assembly relationship, raw materials used, component position and transfer function relationship of the marine typical hydraulic test bench.

[0078] The mechanical subsystem model is imported into ADAMS, and after adding necessary constraints, the ADAMS model of the mechanical system of the marine typical hydraulic test bench is obtained, and the mechanism dynamics analysis of the mechanical system of the marine typical hydraulic test bench is performed to verify the correctness of the ADAMS model of the mechanical system of the marine typical hydraulic test bench.

[0079] In the case that the ADAMS model of the mechanical system is correct, the hydraulic system model of the marine typical hydraulic test bench is constructed on the ADAMS model of the mechanical system of the marine typical hydraulic test bench by using the ADAMS / Hydraulics plug-in, the mechatronic-hydraulic combined simulation is performed after the combination of the mechanical system and the hydraulic system, and the results are analyzed.

[0080] The ADAMS model of the hydraulic system of a typical marine hydraulic test bench is imported into MATLAB as a sub-function using the ADAMS / Controls control for Simulink to call. In the simulation model of the control system of the typical marine hydraulic test bench in Simulink, the sub-function, as the hydraulic system ADAMS model, accepts the valve opening degree proportional to the electrical signal from the control system as input and outputs the deflection angle of the rudder surface of the typical marine hydraulic test bench. The output deflection angle of the rudder surface of the typical marine hydraulic test bench is then fed back to the rudder controller in the form of a current signal by a potentiometer for comparison and amplification with the control signal, thus forming the control subsystem model of the typical marine hydraulic test bench.

[0081] After completing the electromechanical-hydraulic joint simulation model of a typical marine hydraulic test bench, the electromechanical-hydraulic joint simulation of the typical marine hydraulic test bench can be carried out, and the parameters can be adjusted according to the results.

[0082] S204. Using the input parameters as input, run the simulation in the electromechanical-hydraulic joint simulation model to obtain the first simulation data.

[0083] The simulation was conducted in the electromechanical-hydraulic joint simulation model using the input parameters as initial parameters. Data from the pump, valve, actuator, and pipeline were collected to obtain the first simulation data.

[0084] In one embodiment, the first simulation data is constructed in the form of actual characteristic curves, such as the actual characteristic curve of pump differential pressure-flow rate, actual characteristic curve of valve opening degree-flow rate, actual characteristic curve of cylinder displacement-pressure response, or actual characteristic curve of pipeline leakage-differential pressure.

[0085] S205. Based on the deviation between the first simulation data and the target expected data, adjust the hydraulic side parameters and re-run the simulation in the electromechanical-hydraulic joint simulation model to iteratively update the first simulation data.

[0086] Hydraulic side parameters include at least one of valve parameters, pump parameters, pipeline parameters, and friction parameters.

[0087] Valve parameters include valve flow coefficient, valve opening gradient, and valve dead zone. The valve flow coefficient and valve opening gradient are used to determine the flow rate per unit opening degree, and the valve dead zone is used to avoid command lag.

[0088] Pump parameters include pump displacement, pump leakage model, and pump efficiency. Pump displacement and pump efficiency are used to determine the output flow rate, and pump leakage model is used to determine pressure stability.

[0089] Piping parameters include the effective area of ​​the pipeline or cylinder, the cavity volume, the equivalent bulk modulus of the oil, and the leakage coefficient. The effective area of ​​the pipeline or cylinder is used to determine the thrust, the cavity volume is used to determine the corresponding velocity, the equivalent bulk modulus of the oil is used to define the pressure response, and the leakage coefficient is used to determine the pressure stability.

[0090] Friction parameters, including Coulomb parameters of friction and clearance, viscous parameters, Stribeck parameters, and back clearance and compliance, are used to determine frictional force.

[0091] By comparing the first simulation data with the target expected data, if the deviation between the first simulation data and the target expected data is outside the first threshold range or does not meet the safety constraints, at least one of the valve parameters, pump parameters, pipeline parameters and friction parameters is adjusted to make the first simulation data closer to the target expected data.

[0092] During the adjustment of hydraulic parameters, a layered iterative strategy is adopted. Each simulation iteration adjusts only 1-2 parameters of the same component, rather than adjusting all parameters simultaneously, to avoid parameter confusion. Parameters with the greatest impact are adjusted first. For example, in cases of insufficient power transmission, the valve flow coefficient has a greater impact on power transmission than pipeline parameters, so the valve flow coefficient is adjusted first.

[0093] The hydraulic parameters of the hydraulic subsystem directly determine the system's power output capability, dynamic response speed, and safety boundary. They are the underlying guarantee for the control subsystem to perform its regulatory function. If the hydraulic parameters are not up to standard, such as insufficient thrust or lag in response, simply optimizing the control parameters will not be able to break through the physical performance limit. Instead, it may cause new problems such as command saturation and pressure oscillation, or even misjudge the root cause of coupling deviation. Therefore, it is necessary to first determine and optimize the hydraulic parameters.

[0094] S206. Under the condition that the deviation between the first simulation data and the target expected data is within the first threshold range and the safety constraints are met, the second simulation data is obtained.

[0095] The first threshold range is the deviation verification value between the first simulation data and the target expected data. The first threshold range includes the limits of gain difference, slope difference, and inflection point position difference.

[0096] Safety constraints are the limits for the safe operation of a hydraulic subsystem. Safety constraints include peak pressure, maximum stroke percentage, and upper limit of pump speed.

[0097] During the iteration of the first simulation data, the second simulation data is obtained when the deviation between the first simulation data and the target expected data is within a first threshold range and the safety constraints are met.

[0098] S207. Based on the deviation between the second simulation data and the target expected data and the reasons for the deviation, adjust the hydraulic side parameters or control side parameters, and re-run the simulation in the electromechanical-hydraulic joint simulation model to iteratively update the second simulation data.

[0099] The control-side parameters include at least one of PID control parameters and auxiliary control parameters.

[0100] PID control parameters include proportional gain, integral gain, derivative gain, and feedforward gain. Proportional gain is used to amplify the deviation and speed up the response, integral gain is used to eliminate steady-state deviation, derivative gain is used to suppress overshoot, and feedforward gain is used to compensate for disturbances in advance.

[0101] The auxiliary control parameters include angle limiting, angular rate limiting, anti-integral saturation strategy, filtering time constant and phase correction. Angle limiting and angular rate limiting are used to limit the maximum angle and avoid mechanical overload. The anti-integral saturation strategy is used to prevent the accumulation of integral terms from causing command overshoot. The filtering time constant is used to filter out hydraulic pulsation interference. Phase correction is used to compensate for hydraulic response lag.

[0102] The discrepancies between the second simulation data and the target expected data can be caused by physical saturation or parameter over-limit issues, as well as control parameter mismatch problems.

[0103] If the deviation is caused by physical saturation or parameter exceeding limits, the second simulation data is reverted to the first simulation data, the hydraulic side parameters are readjusted according to the deviation, and the first simulation data is iteratively updated.

[0104] The problem of physical saturation or parameter over-limit is that the deviation between the second simulation data and the target expected data is due to the physical limits of the hydraulic side. At this time, the control side parameters cannot be adjusted by command. For example, the valve opening is already 100%, and the flow rate cannot be increased by increasing the control side parameters. Therefore, it is necessary to revert the second simulation data to the first simulation data, re-execute step S205, and adjust the hydraulic side parameters.

[0105] If the deviation is caused by a control parameter mismatch problem, adjust one of the PID control parameters and auxiliary control parameters according to the deviation to make the second simulation data closer to the target expected data.

[0106] The control parameter matching problem involves adjusting the control parameters to reduce the deviation between the second simulation data and the target expected data. For example, a large steady-state deviation can be eliminated by reducing the integral parameter, or the inability to quickly recover after the fin angle overshoot can be limited by reducing the angular rate limit to restrict the motion speed and enhance stability.

[0107] S208. If the deviation between the second simulation data and the target expected data is within the second threshold range and the safety constraints are met, the third simulation data is obtained.

[0108] During the second simulation data iteration process, the third simulation data is obtained when the deviation between the first simulation data and the target expected data is within the second threshold range and the safety constraints are met.

[0109] The third simulation data is close enough to the target expected data to achieve the effect of reducing roll under the current sea state.

[0110] S209. Simulation was performed in the electromechanical-hydraulic joint simulation model under extreme sea conditions to obtain the fourth simulation data.

[0111] The fourth simulation data was obtained by simulating the operation of the electromechanical-hydraulic joint simulation model under extreme sea conditions. This data was used to evaluate the matching characteristics between the control subsystem model, the hydraulic subsystem model, and the mechanical subsystem model, identify weak links in advance, and provide a basis for subsequent engineering implementation.

[0112] Secondly, embodiments of this application also provide an electromechanical-hydraulic joint simulation system, such as... Figure 4 As shown, it includes a parameter acquisition module 101, a model construction module 102, a first simulation operation module 103, a second simulation operation module 104, a third simulation operation module 105, and a fourth simulation operation module 106.

[0113] The parameter acquisition module 101 is used to acquire input parameters and obtain target expected data through simulation calculation based on the input parameters. The input parameters are the data supporting the simulation and target calculation, while the target expected data are the data calculated based on the input parameters under ideal conditions, such as the target angle of attack or displacement trajectory of the anti-roll fin. By clearly defining the target expected data as the optimization objective, optimization direction is provided for subsequent iterative update steps.

[0114] The model building module 102 is used to couple the mechanical subsystem model, hydraulic subsystem model, and control subsystem model based on time synchronization and signal definition to construct a mechatronics co-simulation model. The mechatronics co-simulation model is a simulation model that couples the mechanical subsystem model, hydraulic subsystem model, and control subsystem model. Through the co-simulation interface, it achieves time synchronization and signal interaction among the mechanical subsystem model, hydraulic subsystem model, and control subsystem model, reproducing the actual operating logic of the anti-roll fin hydraulic control unit.

[0115] The first simulation operation module 103 is used to perform simulation operation in the electromechanical-hydraulic joint simulation model to obtain the first simulation data. It performs simulation operation in the electromechanical-hydraulic joint simulation model with initial parameters, collecting data from the pump, valve, actuator, and pipeline to obtain the first simulation data.

[0116] The second simulation module 104 is used to adjust the hydraulic side parameters based on the deviation between the first simulation data and the target expected data, and then re-run the simulation in the electromechanical-hydraulic joint simulation model to iteratively update the first simulation data. Second simulation data is obtained when the deviation between the first simulation data and the target expected data is within a first threshold range and meets safety constraints. The deviation between the first simulation data and the target expected data characterizes the degree of fit between them. The hydraulic side parameters are the physical parameters of the hydraulic subsystem model. By adjusting the hydraulic side parameters and re-simulating, the hydraulic side parameters are continuously adjusted and iteratively updated to make the first simulation data increasingly closer to the target expected data. The deviation between the first simulation data and the target expected data is determined to be sufficiently close within the first threshold range to meet the optimization requirements. Safety constraints are boundary conditions to ensure the safe operation of the system. Through the dual verification of the first threshold and safety constraints, the problem of optimized parameters meeting performance standards but with potential safety hazards is avoided, improving the reliability of engineering applications.

[0117] The third simulation execution module 105 is used to adjust the control-side parameters based on the reasons for the deviation between the second simulation data and the target expected data, and to re-run the simulation in the electromechanical-hydraulic joint simulation model to iteratively update the second simulation data. When the deviation between the second simulation data and the target expected data is within a second threshold range and meets safety constraints, third simulation data is obtained. During the iteration of the second simulation data, the third simulation data is obtained when the deviation between the first simulation data and the target expected data is within a second threshold range and meets safety constraints.

[0118] The fourth simulation operation module 106 is used to simulate and run the electromechanical-hydraulic joint simulation model under extreme sea conditions to obtain fourth simulation data. By simulating and running the electromechanical-hydraulic joint simulation model under extreme sea conditions to obtain the fourth simulation data, the matching characteristics between the control subsystem model, the hydraulic subsystem model, and the mechanical subsystem model can be evaluated, weak links can be identified in advance, and a basis can be provided for subsequent engineering implementation.

[0119] Thirdly, such as Figure 5 As shown, an electronic device 200 is provided, including: a memory 201 and a processor 202; The memory 201 stores computer-executed instructions; The processor 202 executes the computer execution instructions stored in the memory 201, causing the processor 202 to perform the above-described method.

[0120] In one embodiment, the electronic device 200 includes at least one processor 202 and a memory 201. Optionally, the electronic device 200 further includes a communication component 203. The processor 202, memory 201, and communication component 203 are connected via a bus 204.

[0121] In a specific implementation, at least one processor 202 executes computer execution instructions stored in memory 201, causing at least one processor 202 to perform the above-described method.

[0122] The specific implementation process of processor 202 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0123] In the above embodiments, it should be understood that the processor 202 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly manifested as execution by the hardware processor 202, or execution by a combination of hardware and software modules in the processor 202.

[0124] Memory 201 may include high-speed memory 201 (random access memory, RAM), and may also include non-volatile memory 201. Volatile memory (NVM), such as at least one disk storage 201.

[0125] Bus 204 can be an industry standard architecture (ISA) bus, a peripheral component (PCI) bus, or an extended industry standard architecture (EISA) bus, etc. Bus 204 can be divided into address bus, data bus, control bus, etc. For ease of illustration, the bus 204 in the accompanying drawings of this application is not limited to only one bus 204 or one type of bus 204.

[0126] Fourthly, this application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by the processor 202, implement the above-described method.

[0127] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0128] An exemplary readable storage medium is coupled to a processor, enabling the processor 202 to read information from and write information to the readable storage medium. Alternatively, the readable storage medium can be an integral part of the processor 202. The processor 202 and the readable storage medium can reside in application-specific integrated circuits (ASICs). Alternatively, the processor 202 and the readable storage medium can exist as discrete components in the device.

[0129] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0130] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0131] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0132] If the functionality is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device 200 (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes: a USB flash drive, a portable hard drive, and a read-only memory 201 (ROM). Various media that can store program code, such as only memory, random access memory (RAM), magnetic disks, or optical disks.

[0133] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0134] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0135] The foregoing has provided a detailed description of the electromechanical-hydraulic co-simulation method, system, equipment, and medium provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for electromechanical-hydraulic co-simulation, characterized in that, Includes the following steps: Obtain the input parameters, and calculate the target expected data based on the input parameters through simulation. The input parameters are used as input to run the simulation in the electromechanical-hydraulic joint simulation model to obtain the first simulation data; Based on the deviation between the first simulation data and the target expected data, the hydraulic side parameters are adjusted, and the simulation is run again in the electromechanical-hydraulic joint simulation model to iteratively update the first simulation data. The second simulation data is obtained when the deviation between the first simulation data and the target expected data is within a first threshold range and the safety constraints are met.

2. The method according to claim 1, characterized in that, The hydraulic side parameters include at least one of valve parameters, pump parameters, pipeline parameters, and friction parameters; Based on the deviation between the first simulation data and the target expected data, the hydraulic side parameters are adjusted, including: If the deviation between the first simulation data and the target expected data is outside the first threshold range, or if the safety constraint is not met, at least one of the valve parameters, the pump parameters, the pipeline parameters, and the friction parameters shall be adjusted to make the first simulation data closer to the target expected data.

3. The method according to claim 1, characterized in that, The method further includes: Based on the deviation between the second simulation data and the target expected data and the reasons for the deviation, the hydraulic side parameters or control side parameters are adjusted, and the simulation is run again in the electromechanical-hydraulic joint simulation model to iteratively update the second simulation data. The third simulation data is obtained when the deviation between the second simulation data and the target expected data is within a second threshold range and the safety constraints are met.

4. The method according to claim 3, characterized in that, The control-side parameters include at least one of PID control parameters and auxiliary control parameters; Based on the deviation between the second simulation data and the target expected data, and the reasons for the deviation, the control-side parameters are adjusted, including: If the deviation is caused by physical saturation or parameter exceeding limits, the second simulation data is reverted to the first simulation data, the hydraulic side parameters are readjusted according to the deviation, and the first simulation data is iteratively updated. If the deviation is caused by a control parameter mismatch problem, the PID control parameters or the auxiliary control parameters are adjusted according to the deviation to make the second simulation data closer to the target expected data.

5. The method according to claim 1, characterized in that, The input parameters include overall ship parameters, sea state and operating condition parameters, and system structure and control parameters; The target desired data is obtained through simulation calculation based on the input parameters, including: The roll model is obtained based on the input parameters; Calculate the stabilizing torque of the anti-roll fin based on the aforementioned roll model; Based on the input parameters, the roll model, and the stabilizing torque of the anti-roll fin, the motion curve of the anti-roll fin is simulated and generated in the signal simulation system to obtain the target desired data.

6. The method according to claim 5, characterized in that, The roll model is obtained based on the input parameters, including: The natural angular frequency of rolling is calculated based on the overall parameters of the ship. The roll model is constructed based on the inherent angular frequency of the roll.

7. The method according to claim 5, characterized in that, The anti-roll fin stabilizing moment is calculated based on the aforementioned roll model, including: Based on the aforementioned roll model, the conditions for stopping the ship's roll are determined; Calculate the lift of the anti-roll fin based on the conditions described; The lift of the anti-roll fin is converted into the stabilizing torque of the anti-roll fin.

8. The method according to claim 5, characterized in that, Based on the input parameters, the roll model, and the stabilizing torque of the anti-roll fin, the motion curve of the anti-roll fin is simulated and generated in the signal simulation system to obtain the target expected data, including: Based on the sea state and operating condition parameters and the system structure and control parameters, the ship roll process is simulated in the signal simulation system to generate the anti-roll fin motion curve during the ship roll process under the current sea state, and the target expected data is obtained.

9. The method according to claim 1, characterized in that, Before obtaining the first simulation data by running the simulation in the electromechanical-hydraulic joint simulation model, the method further includes: Based on time synchronization and signal definition, the mechanical subsystem model, hydraulic subsystem model, and control subsystem model are coupled to construct the electromechanical-hydraulic joint simulation model.

10. The method according to claim 1, characterized in that, The method further includes: performing simulation operation in the electromechanical-hydraulic joint simulation model under extreme sea conditions to obtain fourth simulation data.

11. A combined electromechanical-hydraulic simulation system, characterized in that, include: The parameter acquisition module is used to acquire input parameters and obtain the target expected data through simulation calculation based on the input parameters; The first simulation running module is used to run the simulation in the electromechanical-hydraulic joint simulation model with the input parameters as input, and obtain the first simulation data. The second simulation running module is used to adjust the hydraulic side parameters based on the deviation between the first simulation data and the target expected data, and to re-run the simulation in the electromechanical-hydraulic joint simulation model to iteratively update the first simulation data; and to obtain the second simulation data when the deviation between the first simulation data and the target expected data is within a first threshold range and the safety constraints are met.

12. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that, when executed by the processor, implements the method as described in any one of claims 1-10.

13. A computer-readable storage medium, characterized in that, It stores a computer program, which is loaded by a processor to perform the steps of the method as described in any one of claims 1-10.

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