BIM-based complex steel structure assembly simulation method and system

Abstract

This application discloses a BIM-based simulation method and system for complex steel structure assembly, relating to the field of building construction technology. The method includes: acquiring force response data and displacement response data; calculating a stiffness-coupling coefficient matrix based on the force response data and displacement response data; mapping the stiffness-coupling coefficient matrix as a forced displacement condition to a BIM finite element model to construct a simulation condition containing coupled deformation characteristics; performing traversal calculations in the discrete assembly direction space based on the simulation condition to obtain the sum of structural strains in multiple assembly directions; orthogonally decomposing the relative displacement field of the bolt holes on the interface flange face to calculate the first displacement ratio; combining the sum of structural strains with the first displacement ratio to generate a spatial assembly cost dataset; and extracting the minimum cost assembly trajectory from the spatial assembly cost dataset using a discrete search algorithm. This application improves the success rate of high-strength bolt piercing and avoids member buckling or weld cracking.

Description

Technical Field

[0001] This application relates to the field of building construction technology, specifically to a BIM-based method and system for simulating the assembly of complex steel structures. Background Technology

[0002] In the construction of large-scale steel structure projects (such as long-span bridges, stadiums, and irregularly shaped high-rise buildings), the closure assembly is the most risky stage. Due to the large size of the structural system and its temporary support state, it is often affected by multiple factors such as uneven settlement of the far-end supports, component manufacturing tolerances, and changes in ambient temperature, resulting in complex spatial deviations on both sides of the closure joint. At this time, the structure exhibits a highly uneven stiffness distribution and is a statically indeterminate system with a significant transaxial coupling effect, meaning that applying a thrust in one direction will induce associated displacements in other directions (thrust-torsional coupling).

[0003] Existing assembly construction methods primarily rely on total stations to measure geometric deviations and then plan alignment paths in BIM software based on the principle of minimizing purely geometric distances. However, this "geometry-first" approach has the following significant drawbacks: 1. It fails to consider the actual asymmetric stiffness constraints of the structure. Forcibly pushing along the geometric path can easily trigger the structure's high-stiffness principal axes, leading to the accumulation of forced internal forces and causing member buckling or weld cracking. 2. It only focuses on the macroscopic alignment of components. In cases of stiffness asymmetry, macroscopic alignment may be accompanied by severe tangential slippage of the flange face, causing bolt hole misalignment and preventing bolt insertion, resulting in engineering accidents requiring repeated adjustments or even forced hole enlargement.

[0004] Therefore, there is an urgent need for a complex steel structure assembly simulation method that can simultaneously take into account the macroscopic stress safety of the structure and the microscopic interface topology compatibility, and integrate the physical measured boundary into digital planning. Summary of the Invention

[0005] To address the technical problem in related technologies that cannot simultaneously ensure the macroscopic structural stress safety and the microscopic interface topology compatibility, this application provides a BIM-based method and system for simulating the assembly of complex steel structures.

[0006] The specific technical solution adopted is as follows:

[0007] Obtain the force response data and displacement response data of the closure joint components when multi-directional test thrust is applied;

[0008] Based on force response data and displacement response data, the elastic stiffness of the principal axis in the direction of applied force and the transaxial displacement coupling coefficient in the direction of non-applied force are calculated, and the corresponding stiffness-coupling coefficient matrix is ​​generated.

[0009] The stiffness-coupling coefficient matrix is ​​mapped to the BIM finite element model as a forced displacement condition to construct a simulation case containing coupled deformation characteristics. Based on the simulation case, traversal calculations are performed in the discrete assembly direction space to obtain the sum of structural strains in multiple assembly directions.

[0010] The relative displacement field of the bolt holes on the interface flange is orthogonally decomposed, and the first displacement ratio is calculated. The first displacement ratio is used to characterize the risk of interface misalignment during assembly.

[0011] The total structural strain is combined with the first displacement ratio to generate a spatial assembly cost dataset;

[0012] By using a discrete search algorithm, the minimum cost assembly trajectory from the current position to the preset alignment position is extracted from the spatial assembly cost dataset. The minimum cost assembly trajectory is then parsed to obtain the actuator collaborative scaling command.

[0013] In one possible implementation of this application, based on force response data and displacement response data, the elastic stiffness of the principal axis in the direction of applied force and the transaxial displacement coupling coefficient in the direction outside the applied force are calculated, including:

[0014] The displacement data of the stationary section is calculated and processed using the linear regression method to obtain the environmental thermal drift rate vector.

[0015] The displacement response data is corrected based on the environmental thermal drift rate vector to obtain the corrected displacement vector.

[0016] For any applied force direction, the elastic stiffness of the principal axis is calculated based on the ratio between the force increment in the current applied force direction and the displacement increment in the displacement response data.

[0017] Extract the associated displacement increment in the non-forced direction, and calculate the transaxial displacement coupling coefficient based on the ratio between the associated displacement increment and the corrected displacement vector.

[0018] In one possible implementation of this application, the stiffness-coupling coefficient matrix is ​​mapped as a forced displacement condition to the BIM finite element model to construct a simulation condition containing coupled deformation characteristics, including:

[0019] In the BIM finite element model, based on the preset local coordinate system at the end of the component, multiple linearly independent simulation conditions based on measured coupling are established for the closure joint component.

[0020] Based on the stiffness-coupling coefficient matrix, virtual displacement excitation vectors are applied to the main control nodes of the closure component under various simulation conditions to construct simulation conditions containing coupled deformation characteristics. The virtual displacement excitation vectors include the transaxial displacement coupling coefficient and the unit displacement.

[0021] In one possible implementation of this application, based on simulation conditions, traversal calculations are performed in the discrete assembly direction space to obtain the sum of structural strains in multiple assembly directions, including:

[0022] For any simulation condition, the current simulation condition is solved by finite element method, and the Cauchy stress tensor and engineering strain tensor of each finite element are obtained.

[0023] The discrete assembly direction space under each simulation condition is traversed and calculated to obtain a set of discrete directions, which includes multiple assembly direction vectors.

[0024] Based on the assembly direction vector, Cauchy stress tensor, and engineering strain tensor, the total structural strain under each assembly direction is calculated. The total structural strain is used to characterize the elastic potential energy accumulated by the structure as a whole when assembled in any direction.

[0025] In one possible embodiment of this application, the sum of structural strains in each assembly direction is calculated based on the assembly direction vector, Cauchy stress tensor, and engineering strain tensor, including:

[0026] The combined stress tensor of each finite element is calculated based on the sum of the products between each assembly direction vector and the Cauchy stress tensor.

[0027] The combined strain tensor of each finite element is calculated based on the sum of the products between each assembly direction vector and the engineering strain tensor.

[0028] Based on the sum of the dot products of the synthetic stress tensor and the synthetic strain tensor in the preset region of interest, the total structural strain in each assembly direction is calculated.

[0029] In one possible embodiment of this application, the relative displacement field of the bolt holes on the interface flange face is orthogonally decomposed to calculate the first displacement ratio, including:

[0030] Determine the first displacement vector of the center point of each bolt hole on the flange surface of the closure joint relative to the main control node of the closure joint;

[0031] For each assembly direction, the composite relative displacement vector of each bolt hole center point is calculated based on the displacement vector and the assembly direction vector.

[0032] The synthesized relative displacement vector is orthogonally decomposed to obtain the flange face normal closure and flange face tangential displacement. The flange face tangential displacement is used to characterize the sensitivity of bolt hole shear displacement.

[0033] The first displacement ratio is calculated based on the ratio between the tangential displacement of the flange face and the normal closure of the flange face.

[0034] In one possible implementation of this application, the total structural strain is combined with a first displacement ratio to generate a spatial assembly cost dataset, including:

[0035] For any assembly direction, the overall assembly resistance cost in the current assembly direction is calculated based on the ratio of the total structural strain to the first displacement.

[0036] Based on the comprehensive assembly resistance cost in each assembly direction, a spatial assembly cost dataset is generated.

[0037] In one possible implementation of this application, a discrete search algorithm is used to extract the minimum cost assembly trajectory from the current position to a preset alignment position from the spatial assembly cost dataset, including:

[0038] Determine the trend direction from the current position to the preset alignment position;

[0039] Query the trend direction and the corresponding assembly comprehensive resistance cost in the neighborhood direction from the spatial assembly cost dataset;

[0040] The direction vector that minimizes the overall assembly resistance cost is selected as the next movement vector. Based on the selected movement vectors, the minimum cost assembly trajectory is constructed.

[0041] In one possible implementation of this application, after parsing the minimum cost assembly trajectory to obtain the actuator cooperative scaling instruction, the method further includes:

[0042] Calculate the real-time thrust safety limit based on the elastic stiffness of the main axis and the current cumulative total displacement of the closure joint components;

[0043] If the feedback pressure of the monitored actuator exceeds the real-time thrust safety limit, the circuit breaker protection mechanism will be triggered.

[0044] To achieve the above objectives, a BIM-based complex steel structure assembly simulation system is also provided. The system includes a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it implements the steps of any of the methods described above.

[0045] This application has, but is not limited to, the following technical effects:

[0046] By acquiring the force and displacement response data of the closure joint components under multi-directional test thrust, and constructing a stiffness-coupling coefficient matrix using these data, the stiffness-coupling coefficient matrix reflects the actual coupling modes of the structure. This matrix is ​​then used as a forced displacement condition mapped to the BIM finite element model to construct a simulation case containing coupled deformation characteristics. Based on this simulation case, the total structural strain in multiple assembly directions and the first displacement ratio characterizing the risk of interface misalignment during assembly are calculated. The total structural strain and the first displacement ratio are then combined to generate a spatial assembly cost dataset. A discrete search algorithm is used to extract the minimum cost assembly trajectory from the current position to the preset alignment position from the spatial assembly cost dataset. The minimum cost assembly trajectory is then analyzed to obtain the actuator collaborative scaling command. In this application, by applying the measured stiffness and coupling coefficient matrix as forced displacement constraints to the BIM model, the technical problem of the theoretical simulation boundary conditions being idealized and unable to predict the forced internal force accumulation in the on-site structure is solved. Furthermore, by evaluating the assembly path through the first displacement ratio and the sum of structural strains, the engineering problem of macroscopic components being in place but microscopic interfaces being unable to be bolted due to misalignment is solved. This ensures that the interfaces maintain a high degree of bolt hole coaxiality during the closing process and improves the success rate of high-strength bolts being pierced on the first attempt. Attached Figure Description

[0047] Figure 1 This is a flowchart illustrating the first embodiment of the BIM-based simulation method for assembling complex steel structures according to this application.

[0048] Figure 2 This is a schematic diagram of the overall implementation process of the BIM-based complex steel structure assembly simulation method in this application;

[0049] Figure 3 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiments of this application. Detailed Implementation

[0050] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0051] This application provides a BIM-based simulation method for complex steel structure assembly. In the first embodiment of this BIM-based simulation method for complex steel structure assembly, referring to... Figure 1 The methods include:

[0052] Step S10: Obtain the force response data and displacement response data of the closure joint component when multi-directional test thrust is applied.

[0053] As an example, since the global coordinate system at the construction site cannot directly describe the relative posture of the components on both sides of the closure joint, and the structure drifts as a whole with changes in ambient temperature, it is necessary to establish a local measurement benchmark that moves with the rigid body of the component but does not change with the elastic deformation of the component, as the only spatial reference system for the entire life cycle data flow.

[0054] Specifically, the geometric center of the cross-section of the component to be connected at the closure joint is selected as the origin. Establish a local coordinate system at the end of the component. (A reference system fixed at the center of the component section, a unique spatial datum throughout the entire lifecycle), set The shaft points in the docking direction along the central axis of the component. The axis is vertically upward in the opposite direction of gravity, and is determined by the right-hand rule. Axial direction. Once this coordinate system is established, the displacement mapping of BIM model nodes and path planning vectors in subsequent steps are all projected onto this coordinate system for description. Under this reference, the test hydraulic actuators and displacement monitoring sensors arranged at the closure joint are initialized and calibrated. The action points of each actuator and the monitoring points of the sensors relative to the origin are measured using a total station or laser tracker. The spatial position is determined by using a rigid body transformation matrix to collect all the original force signals. With displacement signal Unified conversion to In the coordinate system, ensure that the force and displacement components in subsequent calculations are orthogonal and consistent.

[0055] As an example, to activate and capture the potential asymmetric constraints and thrust-torsional coupling effects of a structure, passively monitoring the natural deformation of the structure alone cannot obtain the differences in stiffness in each direction. Therefore, a test hydraulic actuator is used to apply independent active excitation within the elastic range of the structure to obtain the response characteristics of the structure to loads in specific directions.

[0056] In practice, the theoretical yield bearing capacity of the closure node under the current working conditions is obtained by consulting the BIM design model. Set the test thrust within the elastic range. The amplitude is of to To ensure that the testing process does not cause cumulative plastic damage to the structure, the hydraulic actuators used for testing are controlled sequentially at... A trapezoidal force pulse sequence is applied in three orthogonal directions. For each direction of excitation, the trapezoidal pulse includes a linear loading segment, a load-holding and stabilizing segment, and a linear unloading segment. Throughout the entire excitation process, the pulse frequency is not less than [missing information]. The sampling frequency synchronously collects real-time force data / force response data and displacement response data in all directions; through this time-division independent excitation method, the mechanical response of the structure in different dimensions can be physically separated.

[0057] As an example, the BIM-based simulation method for assembling complex steel structures can also be applied to a BIM-based simulation system for assembling complex steel structures. A schematic diagram of the overall implementation process of this system is shown below. Figure 2 As shown, the specific modules and their functions are as follows:

[0058] 1. Physical boundary feature extraction module;

[0059] Functional attributes: The system's sensing front end is responsible for converting invisible on-site physical constraints into digital descriptions.

[0060] Internal processing:

[0061] Benchmark establishment: Define a universal local coordinate system for the end of the component throughout its entire lifecycle. ).

[0062] Active excitation: The hydraulic actuator used for testing is controlled to apply a pulse load within the elastic range.

[0063] Feature decoupling: removing environmental thermal drift and calculating the elastic stiffness of the principal axes ( ) and the coupling coefficient of transaxial displacement ( ), The stiffness value representing the direction of the applied force i is used to predict thrust and set a threshold. express Directional movement caused The proportion of direction-related displacement.

[0064] Output: Measured stiffness and coupling coefficient matrix ( This is the stiffness-coupling coefficient matrix. Transferred to the evaluation module The data is transmitted to the control module.

[0065] 2. Anisotropic assembly impedance field generation module;

[0066] Functional attributes: The computational core of the system (the area where the invention points are concentrated) is responsible for constructing a virtual potential energy field that includes both mechanical and geometric constraints.

[0067] Internal processing: Boundary mapping: mapping the boundary values ​​in the input matrix. Forced displacement boundary conditions are converted into BIM model conditions, and simulation working conditions based on measured coupling are constructed. ).

[0068] Macroscopic assessment: Calculate the total strain energy density of the entire structure in the discrete assembly direction ( ), which is the total structural strain, is used to characterize the elastic potential energy accumulated by the structure as a whole when assembled along a certain direction.

[0069] Microscopic assessment: Orthogonal decomposition of flange face bolt hole center point ( Displacement field, calculate the ratio of shear to closed displacement ( ), also known as the first displacement ratio, is a dimensionless indicator used to quantify the risk of interface topology mismatch.

[0070] Data fusion: The two indicators mentioned above are nonlinearly fused to calculate the overall assembly resistance cost. ).

[0071] Output: Spatial Assembly Cost Dataset ( ).

[0072] 3. Minimum-cost collaborative control module;

[0073] Functional attributes: The system's execution terminal, responsible for translating digital decisions into physical actions and implementing security monitoring.

[0074] Internal processing: Path planning: Spatial assembly of cost datasets Search for the minimum cost assembly trajectory ( ).

[0075] Instruction parsing: Based on the geometric Jacobian relationship, generate the actuator piston extension / retraction sequence ( ).

[0076] Fuse protection: using the input from module 1 Set real-time thrust safety limit ( This achieves a physical closed loop.

[0077] Output: Hydraulic pump station control signal.

[0078] As an example, the workflow of each module in the system is as follows:

[0079] Initialization and baseline unification: When the system starts, it first locks... The coordinate system serves as the sole reference for all subsequent steps, including physical force / displacement data, virtual node coordinates, and planned path vectors.

[0080] Physical-to-digital feature injection: The extracted stiffness-coupling coefficient matrix serves as a bridge connecting the physical and digital worlds. Among them, This determines whether the simulated deformation mode is realistic; This determines whether the threshold for circuit breaker protection is accurate.

[0081] Digital pre-simulation with dual constraints: The system processes macroscopic structural responses and microscopic interface responses in parallel. Data streams converge here, reducing the complex tensor field (stress, displacement) to a single scalar field. ), and store it in the spatial assembly cost dataset.

[0082] Digital-to-Physical Strategy Regression: Reading The system performs path optimization and directly uses the main axis elastic stiffness for safety verification. If the pressure reported from the site exceeds the predicted value based on the main axis elastic stiffness, the system immediately identifies it as abnormal physical interference and initiates a meltdown, forming a complete safety closed loop.

[0083] Step S20: Based on the force response data and displacement response data, calculate the elastic stiffness of the principal axis in the direction of force application and the transaxial displacement coupling coefficient in the direction of non-force application, and generate the corresponding stiffness-coupling coefficient matrix.

[0084] As an example, this step is used to obtain the true mechanical boundary characteristics of the steel structure to be spliced ​​at the closure joint. The stiffness-coupling coefficient matrix contains the principal stiffness and coupling terms, representing the true physical boundary. Due to the influence of multiple factors such as temporary support settlement, manufacturing tolerances, and ambient temperature during the construction phase of large-span steel structures, their joints exhibit significant nonlinear stiffness distribution and multidimensional coupling effects. To transform these invisible physical constraints into identifiable boundary conditions for subsequent digital simulation, it is necessary to construct a stiffness-coupling coefficient matrix describing the structure's resistance to deformation and the interdirectional relationships through active mechanical excitation and response monitoring. .

[0085] Step S20, which involves simulating the assembly of complex steel structures based on BIM, includes:

[0086] The displacement data of the stationary section is calculated and processed using the linear regression method to obtain the environmental thermal drift rate vector.

[0087] The displacement response data is corrected based on the environmental thermal drift rate vector to obtain the corrected displacement vector.

[0088] As an example, due to the slow changes in ambient temperature, long-period thermal drift displacements can be superimposed, and the asymmetry of the structure can cause cascading displacements in other directions when force is applied in one direction. In order to extract the pure mechanical stiffness properties, it is necessary to perform detrending processing and multi-dimensional decoupling calculations on the original time series data.

[0089] First, the displacement data of the stationary section before and after the trapezoidal pulse loading and unloading are extracted, and the environmental thermal drift rate vector is calculated using the linear regression method. According to the formula The displacement data of the loaded segment is corrected to remove the influence of ambient temperature, resulting in a corrected displacement vector that contains only the mechanical response. This represents the raw displacement response data collected, where t is the elapsed time relative to the start time of the current trapezoidal pulse loading.

[0090] For any applied force direction, the elastic stiffness of the principal axis is calculated based on the ratio between the force increment in the current applied force direction and the displacement increment in the displacement response data.

[0091] As an example, stiffness and coupling parameters are calculated based on the corrected data, and subscripts are defined. The subscript indicates the direction in which incentives are actively applied. The direction of the passively measured response, where .

[0092] For each direction of force application Extract the force increment in that direction With correction displacement increment Calculate the elastic stiffness of the principal axis in this direction. :

[0093]

[0094] Among them, an effective displacement threshold δmin is set (e.g., 0.1 mm), and when the measured displacement increment | When | < δmin, the direction is determined to be a rigid constraint. Stiffness / coupling coefficient calculation is not performed, and it is directly marked as infinity or a preset high stiffness value in the matrix.

[0095] Extract the associated displacement increment in the non-forced direction, and calculate the transaxial displacement coupling coefficient based on the ratio between the associated displacement increment and the corrected displacement vector.

[0096] As an example, at the same time, extract the non-force direction of this excitation. ( The resulting displacement increment Calculate the transaxial displacement coupling coefficient :

[0097] Among them, the transaxial displacement coupling coefficient Characterizes when the structure is in When a unit displacement occurs in the direction, due to the imbalance of boundary constraints... The resulting displacement in the direction reflects the inherent coupling modes of the structure.

[0098] As an example, after calculating the principal axis elastic stiffness and the transaxial displacement coupling coefficient, the process iterates through... After completing the tests in three directions, the elastic stiffness of the three principal axes will be calculated. Placed diagonally, the six transaxial displacement coupling coefficients Placed at the corresponding off-diagonal positions, the stiffness-coupling coefficient matrix is ​​generated. :

[0099]

[0100] The matrix And the principal axis elastic stiffness included therein These parameters will be stored and passed to subsequent steps, serving as the basis for defining the boundary conditions of the finite element model and as the benchmark parameters for calculating the thrust safety threshold.

[0101] Step S30: Map the stiffness-coupling coefficient matrix as a forced displacement condition to the BIM finite element model to construct a simulation case containing coupled deformation characteristics; based on the simulation case, perform traversal calculations in the discrete assembly direction space to obtain the sum of structural strains in multiple assembly directions.

[0102] As an example, the purpose of step S30 is to address the technical problem that traditional geometric path planning cannot detect the accumulation of structural forced internal forces and the risk of microscopic misalignment at interfaces. Existing technologies often only aim to minimize the Euclidean distance at the docking points, ignoring the "push-torsion" coupling effect in statically indeterminate structures. That is, assembling along certain geometrically shortest paths may induce extremely large internal structural resistance or cause shear displacement on the flange surface that is difficult to eliminate, making it impossible to pierce bolts. This application constructs a unified evaluation field that includes macroscopic mechanical costs and microscopic topological mismatch risks by inversely mapping the acquired physical boundary features to the BIM model, thereby pre-simulating and quantifying the feasibility of any assembly direction in digital space.

[0103] As an example, a simulation case containing coupled deformation features can be a case in BIM where a forced constraint containing coupled displacement is applied. The total structural strain is used to represent the elastic potential energy accumulated by the entire structure when assembled in a certain direction, which can also be called the total strain energy density of the entire structure.

[0104] The step S30, which maps the stiffness-coupling coefficient matrix as a forced displacement condition to the BIM finite element model to construct a simulation condition containing coupled deformation characteristics, includes:

[0105] In the BIM finite element model, based on the preset local coordinate system at the end of the component, multiple linearly independent simulation conditions based on measured coupling are established for the closure joint component.

[0106] Based on the stiffness-coupling coefficient matrix, virtual displacement excitation vectors are applied to the main control nodes of the closure component under various simulation conditions to construct simulation conditions containing coupled deformation characteristics. The virtual displacement excitation vectors include the transaxial displacement coupling coefficient and the unit displacement.

[0107] As an example, in order to reproduce the actual asymmetric constraints and coupled responses on site in the BIM model, the stiffness-coupling coefficient matrix must be... It is applied as a forced displacement boundary condition to the BIM theoretical model.

[0108] Specifically, in BIM finite element analysis software, the closure joint control node is taken as the operation object, based on the local coordinate system at the end of the component. Three linearly independent simulation conditions based on measured coupling are established, denoted as follows: subscript This represents the reference excitation direction. For each operating condition... A virtual displacement excitation vector is applied at the master control node. Specifically, the method for applying virtual displacement excitation can be: establishing grounding spring elements at the boundary nodes of the BIM model, and applying the measured elastic stiffness of the principal axis. Coupling coefficient with transaxial displacement Convert the stiffness matrix properties to those of a spring element.

[0109] This vector contains not only unit displacement in direction (Possible values) In order to conform to the linear elastic assumption, it must also include the transaxial displacement coupling coefficient based on the output. The calculated displacement in the orthogonal direction. Virtual displacement excitation vector. The calculation formula is:

[0110]

[0111] In the formula, and These are the unit basis vectors in the local coordinate system.

[0112] The step S30, which involves performing traversal calculations in the discrete assembly direction space based on simulation conditions to obtain the sum of structural strains in multiple assembly directions, includes:

[0113] For any given simulation condition, a finite element method is used to solve the current simulation condition, obtaining the Cauchy stress tensor and engineering strain tensor for each finite element.

[0114] As an example, static finite element analysis was performed on the three simulation conditions mentioned above, and a set of reference data was extracted and stored:

[0115] Every finite element element across the entire structural range Cauchy stress tensor With engineering strain tensor .

[0116] The discrete assembly direction space under each simulation condition is traversed and calculated to obtain a discrete direction set, which includes multiple assembly direction vectors.

[0117] As an example, to evaluate the macroscopic stress cost of the structure caused by arbitrary assembly directions, this step performs traversal calculations in a discretized three-dimensional direction space, defining a discrete set of directions covering a unit sphere with full angles. ,in, For the first A normalized assembly direction vector .

[0118] Based on the assembly direction vector, Cauchy stress tensor, and engineering strain tensor, the total structural strain under each assembly direction is calculated. The total structural strain is used to characterize the elastic potential energy accumulated by the structure as a whole when assembled in any direction.

[0119] As an example, based on the principle of linear elastic superposition, when the structure is along any direction When a unit displacement occurs, its internal element Synthetic stress tensor With the synthetic strain tensor The total structural strain in each assembly direction can be calculated by linear combination of the reference working conditions, and then by combining the stress tensor and the strain tensor.

[0120] The steps for calculating the sum of structural strains in each assembly direction based on the assembly direction vector, Cauchy stress tensor, and engineering strain tensor include:

[0121] The combined stress tensor of each finite element is calculated based on the sum of the products between each assembly direction vector and the Cauchy stress tensor.

[0122] As an example, in Synthetic stress tensor in the direction The calculation method can be:

[0123]

[0124] Where X, Y, and Z represent the three directions in the coordinate system. This represents the Cauchy stress tensor.

[0125] The combined strain tensor of each finite element is calculated based on the sum of the products between the assembly direction vectors and the engineering strain tensor.

[0126] As an example, in Synthetic strain tensor in the direction The calculation method can be:

[0127]

[0128] Based on the sum of the dot products of the synthetic stress tensor and the synthetic strain tensor in the preset region of interest, the total structural strain in each assembly direction is calculated.

[0129] As an example, calculate the assembly direction. Total strain energy density of the entire structure As an indicator for measuring the cost of macroscopic mechanics:

[0130]

[0131] In the formula, This refers to the set of elements in a finite element model that represent key or pre-defined areas of interest (such as welds or nodal regions). Represents the unit volume. The trace of the tensor is represented by the double dot product of the stress tensor and the strain tensor. The preset element weighting coefficients are used, and for high stress-sensitive regions, the coefficients are set to... (For example, 1.2~2.0), the remaining areas (ordinary bar elements) are taken as... .

[0132] Step S40: Perform orthogonal decomposition on the relative displacement field of the bolt holes on the interface flange face, and calculate the first displacement ratio. The first displacement ratio is used to characterize the risk of interface misalignment during assembly.

[0133] As an example, in order to identify risky paths that, although the structural stress is small, may lead to misalignment of flange bolt holes, the interface micro-motion must be orthogonally decomposed to calculate the first displacement ratio. The first displacement ratio is used to characterize the risk of interface misalignment during assembly.

[0134] Step S40 includes:

[0135] Determine the first displacement vector of the center point of each bolt hole on the flange surface of the closure joint relative to the main control node of the closure joint;

[0136] As an example, static finite element analysis was performed on the three simulation conditions mentioned above to obtain the center point of each bolt hole on the closure flange surface. The first displacement vector relative to the master node ,in, For the index of the bolt holes, , This represents the total number of bolt holes.

[0137] For each assembly direction, the composite relative displacement vector of each bolt hole center point is calculated based on the displacement vector and the assembly direction vector.

[0138] As an example, for each assembly direction Calculate the first using the superposition principle The composite relative displacement vector of the center points of the bolt holes :

[0139]

[0140] Where X, Y, and Z represent the three directions in the coordinate system. Denotes the first displacement vector. Indicates the direction of assembly The displacement vector in the k-th direction during assembly.

[0141] The synthesized relative displacement vector is orthogonally decomposed to obtain the flange face normal closure and flange face tangential displacement. The flange face tangential displacement is used to characterize the sensitivity of bolt hole shear displacement.

[0142] Obtain the unit normal vector of the design flange face in the BIM model. ,Will Decomposed into flange face normal closure perpendicular to the flange face And the tangential displacement of the flange face parallel to the flange face :

[0143]

[0144]

[0145] in, The flange normal closure represents the displacement component of the bolt hole along the direction parallel to the flange face (representing the closure process), and the flange tangential misalignment represents the displacement component of the bolt hole along the direction normal to the flange face (representing the risk of misalignment).

[0146] The first displacement ratio is calculated based on the ratio between the tangential displacement of the flange face and the normal closure of the flange face.

[0147] As an example, assembly direction The first displacement ratio below The calculation method can be:

[0148]

[0149] In the formula, the numerator is expressed as a sum of squares to amplify the sensitivity to large shear slippage; the denominator represents the effective closed stroke; and M represents the number of bolt holes. To prevent extremely small positive numbers with a denominator of zero (values) The physical meaning of this indicator is clear: if a certain assembly direction causes the bolt hole to slip mainly in the tangential direction and fail to close, This will significantly increase the computational load. During the calculation process, only the component's proximity to the interface (i.e., ...) will be considered. The assembly direction of ); if (Away from) then directly assign Maximum value.

[0150] Step S50: Combine the total structural strain with the first displacement ratio to generate a spatial assembly cost dataset.

[0151] As an example, the space assembly cost dataset represents a static lookup table containing the comprehensive resistance cost values ​​of assembly in all directions. The space assembly cost dataset is obtained by integrating the comprehensive resistance costs of assembly in each assembly direction.

[0152] Step S50 includes:

[0153] For any assembly direction, the overall assembly resistance cost in the current assembly direction is calculated based on the ratio of the total structural strain to the first displacement.

[0154] As an example, to provide a unified decision-making basis for subsequent path planning, macroscopic mechanical indicators and microscopic geometric indicators are nonlinearly fused. For each discrete direction... Calculate the corresponding overall assembly resistance cost. :

[0155]

[0156] In the formula, This is a geometric compatibility weighting factor, and its value is determined based on the fit tolerance between the bolt hole diameter and the bolt rod diameter (the smaller the tolerance, the better). The larger the value, the more likely it is to take a value in the range of 100%. to The purpose of using an exponential function is to build a "soft barrier," that is, to mitigate the risk of interface misalignment. When a certain threshold is exceeded, the overall assembly resistance cost increases. It grows exponentially, thus forcing planned paths to avoid that direction, where... These are the normalized weighting coefficients. It is the basic strain constant (to prevent it from becoming zero).

[0157] Based on the comprehensive assembly resistance cost in each assembly direction, a spatial assembly cost dataset is generated.

[0158] As an example, traversing the set of discrete directions All directions in the calculation will yield the results. With the corresponding direction vector Establish mapping relationships and generate a spatial assembly cost dataset. This dataset It is stored in the form of a static lookup table, which serves as the basis for the potential energy field of path search.

[0159] Step S60: Using a discrete search algorithm, extract the minimum cost assembly trajectory from the current position to the preset alignment position from the spatial assembly cost dataset, and perform parsing processing on the minimum cost assembly trajectory to obtain the actuator collaborative scaling instruction.

[0160] As an example, the core of this step lies in transforming the generated virtual assessment data into an executable physical control strategy on-site. The BIM-based simulation method here is embodied as "data pre-simulation guiding physical execution," which aims to solve the structural safety hazards and interface alignment difficulties in traditional blind assembly. By performing path optimization in the spatial assembly cost dataset that has already marked high-stress areas and misalignment risk areas, this step is essentially finding a "safe path" with the lowest energy dissipation and the best topological compatibility in a complex mechanical and geometric constraint field, thereby avoiding the trial-and-error costs of on-site operation.

[0161] As an example, the minimum cost assembly trajectory from the current position to the preset alignment position is first extracted from the spatial assembly cost dataset. Then, the minimum cost assembly trajectory is parsed and processed to convert different force directions and force magnitudes into actuator coordinated extension and retraction commands. The actuator extension and retraction commands are used to represent the extension and retraction commands of any hydraulic jack over time.

[0162] Step S60 includes:

[0163] Determine the trend direction from the current position to the preset alignment position.

[0164] As an example, the current measured deviation position of the closure section is first used as the starting point of the path, measured with a total station. Extract the design alignment position from the BIM model as the path endpoint. Both of these positions are projected onto a universal local coordinate system at the end of the component throughout its entire lifecycle. The following description describes the iterative planning using a discrete neighborhood greedy search algorithm. In each iteration, the distance from the current position to the destination is calculated. If the cost of all directions within the current neighborhood exceeds a preset threshold, then backtrack to the previous node and mark the current path as infeasible.

[0165] Query the trend direction and the corresponding assembly comprehensive resistance cost in the neighborhood direction from the spatial assembly cost dataset.

[0166] The direction vector that minimizes the overall assembly resistance cost is selected as the next movement vector. Based on the selected movement vectors, the minimum cost assembly trajectory is constructed.

[0167] As an example, in In the dataset, query the assembly total resistance cost corresponding to the trend direction and its neighborhood directions. Algorithm priority selection The direction with the minimum value is used as the next movement vector. This process is repeated to generate a minimum-cost assembly trajectory consisting of a series of discrete spatial points. .

[0168] When the trajectory exhibits a non-linear curvature in space, it indicates that the system is following... Guided by this principle, the structure can actively avoid high-stiffness principal axis directions that would cause a surge in structural stress, or avoid topological mismatch areas that would cause severe shear displacement of the flange surface, thereby achieving dual protection for both the structural body and the interface.

[0169] Specifically, the method for parsing the minimum-cost assembly trajectory to obtain the actuator collaborative scaling instructions can be as follows:

[0170] Obtain the installation node coordinates and action axis vectors of each actuator in the BIM model, and perform spatial displacement increment analysis for each trajectory sequence. (in, (For the time step index), using spatial geometric projection relationships, calculate its projection components on the action axes of each actuator. For the first... Actuator, its actuator piston extension / retraction sequence The calculation is as follows:

[0171] In the formula, For the first The unit direction vector of the actuator is used to arrange the calculated extension and retraction amounts in time step sequence, generate actuator coordinated extension and retraction commands, and send them to the hydraulic pump station controller to drive the field equipment to coordinate actions.

[0172] After step S60, the following is also included:

[0173] Calculate the real-time thrust safety limit based on the elastic stiffness of the main axis and the current cumulative total displacement of the closure joint components;

[0174] If the feedback pressure of the monitored actuator exceeds the real-time thrust safety limit, the circuit breaker protection mechanism will be triggered.

[0175] As an example, during the assembly process, the elastic stiffness of the main axis measured in step S20 is used. The theoretical thrust required for the current displacement step is predicted in real time based on Hooke's Law. A safety factor is introduced. (Value) to (Based on sensor-measured noise levels), a real-time thrust safety limit is set for this action step. ,in, Based on the cumulative total displacement, the calculation method can be:

[0176] =

[0177] Among them, L current L represents the current total elongation. initial This is the initial contact position.

[0178] Real-time monitoring of feedback pressure of each actuator ,like Exceed This indicates that an unexpected physical interference (such as foreign object jamming or obstructed sliding) has occurred on-site. In this case, the control system immediately executes a circuit breaker emergency stop to prevent overload from causing permanent structural damage. This mechanism ensures a complete closed loop of data throughout the entire lifecycle, from physical measurement to digital twin and back to physical control.

[0179] This application provides a BIM-based simulation method for assembling complex steel structures. It acquires force and displacement response data of the closure joint components under multi-directional test thrust. A stiffness-coupling coefficient matrix is ​​constructed using this data to reflect the actual coupling modes of the structure. This matrix is ​​then mapped to the BIM finite element model as a forced displacement condition, constructing a simulation case containing coupled deformation characteristics. Based on this simulation case, the total structural strain in multiple assembly directions and the first displacement ratio characterizing the risk of interface misalignment during assembly are calculated. The total structural strain and the first displacement ratio are then combined to generate a spatial assembly cost dataset. A discrete search algorithm is used to extract the minimum cost assembly trajectory from the current position to a preset alignment position from the spatial assembly cost dataset. The minimum cost assembly trajectory is then analyzed to obtain the actuator collaborative scaling command. In this application, by applying the measured stiffness and coupling coefficient matrix as forced displacement constraints to the BIM model, the technical problem of the theoretical simulation boundary conditions being idealized and unable to predict the forced internal force accumulation in the on-site structure is solved. Furthermore, by evaluating the assembly path through the first displacement ratio and the sum of structural strains, the engineering problem of macroscopic components being in place but microscopic interfaces being unable to be bolted due to misalignment is solved. This ensures that the interfaces maintain a high degree of bolt hole coaxiality during the closing process and improves the success rate of high-strength bolts being pierced on the first attempt.

[0180] Reference Figure 3 , Figure 3 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiments of this application.

[0181] like Figure 3 As shown, the BIM-based complex steel structure assembly simulation device may include: a processor 1001, a memory 1003, and a communication bus 1002. The communication bus 1002 is used to realize the connection and communication between the processor 1001 and the memory 1003.

[0182] Optionally, the BIM-based complex steel structure assembly simulation equipment may also include a user interface, network interface, camera, RF (Radio Frequency) circuitry, sensors, WiFi module, etc. The user interface may include a display screen and input submodules such as a keyboard; optional user interfaces may also include standard wired and wireless interfaces. The network interface may include standard wired and wireless interfaces (such as a Wi-Fi interface).

[0183] Those skilled in the art will understand that Figure 3The BIM-based complex steel structure assembly simulation equipment structure shown in the figure does not constitute a limitation on the BIM-based complex steel structure assembly simulation equipment, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0184] like Figure 3 As shown, the memory 1003, serving as a storage medium, may include an operating system, a network communication module, and a BIM-based complex steel structure assembly simulation program. The operating system is a program that manages and controls the hardware and software resources of the BIM-based complex steel structure assembly simulation equipment, supporting the operation of the BIM-based complex steel structure assembly simulation program and other software and / or programs. The network communication module is used to enable communication between the various components within the memory 1003, as well as communication with other hardware and software in the BIM-based complex steel structure assembly simulation system.

[0185] exist Figure 3 In the BIM-based complex steel structure assembly simulation device shown, the processor 1001 is used to execute the BIM-based complex steel structure assembly simulation program stored in the memory 1003 to implement the steps of the BIM-based complex steel structure assembly simulation method described above.

[0186] The specific implementation method of the BIM-based complex steel structure assembly simulation equipment in this application is basically the same as the embodiments of the BIM-based complex steel structure assembly simulation method described above, and will not be repeated here.

[0187] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0188] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0189] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0190] The above are merely preferred embodiments of this application and do not limit the scope of this application. Any equivalent structural or procedural transformations made based on the description and drawings of this application, or direct or indirect applications in other related technical fields, are similarly included within the scope of protection of this application.

[0191] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0192] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

Claims

1. A BIM-based simulation method for assembling complex steel structures, characterized in that, The method includes: Obtain force and displacement response data of the closure joint components when multi-directional test thrust is applied; Based on the force response data and displacement response data, the elastic stiffness of the principal axis in the direction of force application and the transaxial displacement coupling coefficient in the direction of non-force application are calculated, and the corresponding stiffness-coupling coefficient matrix is ​​generated. The stiffness-coupling coefficient matrix is ​​mapped to the BIM finite element model as a forced displacement condition to construct a simulation case containing coupled deformation characteristics; based on the simulation case, traversal calculations are performed in the discrete assembly direction space to obtain the sum of structural strains in multiple assembly directions; The relative displacement field of the bolt holes on the interface flange is orthogonally decomposed, and the first displacement ratio is calculated. The first displacement ratio is used to characterize the risk of interface misalignment during assembly. The sum of the structural strains is combined with the first displacement ratio to generate a spatial assembly cost dataset. Using a discrete search algorithm, the minimum cost assembly trajectory from the current position to the preset alignment position is extracted from the spatial assembly cost dataset, and the minimum cost assembly trajectory is parsed to obtain the actuator collaborative scaling command.

2. The BIM-based complex steel structure assembly simulation method as described in claim 1, characterized in that, The calculation of the principal axis elastic stiffness in the applied force direction and the transaxial displacement coupling coefficient in the non-applied force direction based on the force response data and displacement response data includes: The displacement data of the stationary section is calculated and processed using the linear regression method to obtain the environmental thermal drift rate vector. The displacement response data is corrected based on the environmental thermal drift rate vector to obtain a corrected displacement vector. For any applied force direction, the elastic stiffness of the principal axis is calculated based on the ratio between the force increment in the current applied force direction and the displacement increment corresponding to the displacement response data. Extract the associated displacement increment in the non-force direction, and calculate the transaxial displacement coupling coefficient based on the ratio between the associated displacement increment and the corrected displacement vector.

3. The BIM-based complex steel structure assembly simulation method as described in claim 1, characterized in that, The step of mapping the stiffness-coupling coefficient matrix as a forced displacement condition to the BIM finite element model to construct a simulation condition containing coupled deformation characteristics includes: In the BIM finite element model, based on the preset local coordinate system at the end of the component, multiple linearly independent simulation conditions based on measured coupling are established for the closure joint component. Based on the stiffness-coupling coefficient matrix, virtual displacement excitation vectors are applied to the main control nodes of the closure joint component under each simulation condition to construct a simulation condition containing coupled deformation characteristics. The virtual displacement excitation vector includes the transaxial displacement coupling coefficient and the unit displacement.

4. The BIM-based complex steel structure assembly simulation method as described in claim 1, characterized in that, Based on the simulation conditions, a traversal calculation is performed in the discrete assembly direction space to obtain the sum of structural strains in multiple assembly directions, including: For any simulation condition, the current simulation condition is solved by finite element method, and the Cauchy stress tensor and engineering strain tensor of each finite element are obtained. The discrete assembly direction space under each of the simulation conditions is traversed and calculated to obtain a set of discrete directions, which includes multiple assembly direction vectors. Based on the assembly direction vector, Cauchy stress tensor, and engineering strain tensor, the total structural strain under each assembly direction is calculated. The total structural strain is used to characterize the elastic potential energy accumulated by the structure as a whole when assembled in any direction.

5. The BIM-based complex steel structure assembly simulation method as described in claim 4, characterized in that, The calculation of the total structural strain under each assembly direction based on the assembly direction vector, Cauchy stress tensor, and engineering strain tensor includes: The combined stress tensor of each finite element is calculated based on the sum of the products between the assembly direction vectors and the Cauchy stress tensor. The combined strain tensor of each finite element is calculated based on the sum of the products between the assembly direction vectors and the engineering strain tensor. Based on the sum of the dot products of the synthetic stress tensor and the synthetic strain tensor in the preset region of interest, the total structural strain under each assembly direction is calculated.

6. The BIM-based complex steel structure assembly simulation method as described in claim 4, characterized in that, The relative displacement field of the bolt holes on the interface flange is orthogonally decomposed to calculate the first displacement ratio, including: Determine the first displacement vector of the center point of each bolt hole on the flange surface of the closure joint relative to the main control node of the closure joint; For each assembly direction, the composite relative displacement vector of each bolt hole center point is calculated based on the displacement vector and the assembly direction vector. The synthesized relative displacement vector is orthogonally decomposed to obtain the flange face normal closure amount and the flange face tangential displacement amount. The flange face tangential displacement amount is used to characterize the sensitivity of bolt hole shear displacement. The first displacement ratio is calculated based on the ratio between the tangential displacement of the flange face and the normal closure of the flange face.

7. The BIM-based complex steel structure assembly simulation method as described in claim 1, characterized in that, The step of combining the sum of the structural strains with the first displacement ratio to generate a spatial assembly cost dataset includes: For any assembly direction, the overall assembly resistance cost in the current assembly direction is calculated based on the ratio of the total structural strain to the first displacement. Based on the comprehensive assembly resistance cost in each assembly direction, a spatial assembly cost dataset is generated.

8. The BIM-based complex steel structure assembly simulation method as described in claim 1, characterized in that, The step of extracting the minimum cost assembly trajectory from the current position to the preset alignment position from the spatial assembly cost dataset using a discrete search algorithm includes: Determine the trend direction from the current position to the preset alignment position; Query the overall assembly resistance cost corresponding to the trend direction and the neighborhood direction of the trend direction from the spatial assembly cost dataset; The direction vector that minimizes the overall assembly resistance cost is selected as the next movement vector. Based on the selected movement vectors, the minimum cost assembly trajectory is constructed.

9. The BIM-based complex steel structure assembly simulation method as described in claim 1, characterized in that, After parsing the minimum-cost assembly trajectory to obtain the actuator collaborative scaling instruction, the process further includes: Based on the elastic stiffness of the main axis and the current cumulative total displacement of the closure joint component, calculate the real-time thrust safety limit. If the feedback pressure of the monitored actuator exceeds the real-time thrust safety limit, the fuse protection mechanism will be triggered.

10. A BIM-based simulation system for assembling complex steel structures, characterized in that, The system includes a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the steps of the method as described in any one of claims 1 to 9.

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