Compared with traditional feedback control,predictive control can eliminate the lag of pose control and avoid the snakelike motion of shield machines.Therefore,a shield pose prediction model was proposed based on dyna...Compared with traditional feedback control,predictive control can eliminate the lag of pose control and avoid the snakelike motion of shield machines.Therefore,a shield pose prediction model was proposed based on dynamic modeling.Firstly,the dynamic equations of shield thrust system were established to clarify the relationship between force and movement of shield machine.Secondly,an analytical model was proposed to predict future multistep pose of the shield machine.Finally,a virtual prototype model was developed to simulate the dynamic behavior of the shield machine and validate the accuracy of the proposed pose prediction method.Results reveal that the model proposed can predict the shield pose with high accuracy,which can provide a decision basis whether for manual or automatic control of shield pose.展开更多
Multi-disciplinary virtual prototypes of complex products are increasingly and widely used in modern advanced manufactur- ing. How to effectively address the problems of unified modeling, composition and reuse based o...Multi-disciplinary virtual prototypes of complex products are increasingly and widely used in modern advanced manufactur- ing. How to effectively address the problems of unified modeling, composition and reuse based on the multi-disciplinary heteroge- neous models has brought great challenges to the modeling and simulation （M＆S） science and technology. This paper presents a top-level modeling theory based on the meta modeling framework （M2F） of the COllaborative SIMulation （COSlM） theory of virtual prototyping to solve the problems. Firstly the fundamental prin- ciples of the top-level modeling theory are decribed to expound the premise, assumptions, basic conventions and special require- ments in the description of complex heterogeneous systems. Next the formalized definitions for each factor in top level modeling are proposed and the hierarchical nature of them is illustrated. After demonstrating that they are self-closing, this paper divides the top- level modeling into two views, static structural graph and dynamic behavioral graph. Finally, a case study is discussed to demon- strate the feasibility of the theory.展开更多
According to the virtual prototyping technology and the theory of dynamics of multi-rigid-body system, a virtual prototyping of ocean mining vehicle was constructed by using 3-dimensional entity modeling software ((Pr...According to the virtual prototyping technology and the theory of dynamics of multi-rigid-body system, a virtual prototyping of ocean mining vehicle was constructed by using 3-dimensional entity modeling software ((Pro/E),) automatic dynamic analysis of mechanical systems(ADAMS) and advanced visual software(AVS). After 32 new modules were developed with C++ at AVS platform, the interface problems of the 3 types of software were solved effectively and a visual environment for ocean mining subsystem was constructed. Based on the similarity (theory) and similarity experiments, the validity and reliability of the virtual prototyping were verified. By using the (constructed) virtual prototyping, the relevant parameters, such as cutting depth, rotation speed of roller,marching speed of mining vehicle can be adjusted one by one. After repeatable virtual tests and analysis its corresponding dynamic characteristics, the structure parameter of mining vehicle and the parameter of mining process can be optimized fast and accurately. The experiment and simulation results show that, under the controlled mining parameters, 4 function expressions between the average force of single pick,average torque,average cutting power,energy consumption ratio and cutting depth are obtained. The maximum force of a single pick is less than (11090N) and the maximum torque of the roller is less than 3600N·m.展开更多
基金Project(2023JBZY030)supported by the Fundamental Research Funds for the Central Universities,ChinaProject(U1834208)supported by the National Natural Science Foundation of China。
文摘Compared with traditional feedback control,predictive control can eliminate the lag of pose control and avoid the snakelike motion of shield machines.Therefore,a shield pose prediction model was proposed based on dynamic modeling.Firstly,the dynamic equations of shield thrust system were established to clarify the relationship between force and movement of shield machine.Secondly,an analytical model was proposed to predict future multistep pose of the shield machine.Finally,a virtual prototype model was developed to simulate the dynamic behavior of the shield machine and validate the accuracy of the proposed pose prediction method.Results reveal that the model proposed can predict the shield pose with high accuracy,which can provide a decision basis whether for manual or automatic control of shield pose.
基金supported by the National High Technology Research and Development Program (863 Program) (2011AA040502).
文摘Multi-disciplinary virtual prototypes of complex products are increasingly and widely used in modern advanced manufactur- ing. How to effectively address the problems of unified modeling, composition and reuse based on the multi-disciplinary heteroge- neous models has brought great challenges to the modeling and simulation （M＆S） science and technology. This paper presents a top-level modeling theory based on the meta modeling framework （M2F） of the COllaborative SIMulation （COSlM） theory of virtual prototyping to solve the problems. Firstly the fundamental prin- ciples of the top-level modeling theory are decribed to expound the premise, assumptions, basic conventions and special require- ments in the description of complex heterogeneous systems. Next the formalized definitions for each factor in top level modeling are proposed and the hierarchical nature of them is illustrated. After demonstrating that they are self-closing, this paper divides the top- level modeling into two views, static structural graph and dynamic behavioral graph. Finally, a case study is discussed to demon- strate the feasibility of the theory.
基金Project(50474052) supported by the National Natural Science Foundation of China
文摘According to the virtual prototyping technology and the theory of dynamics of multi-rigid-body system, a virtual prototyping of ocean mining vehicle was constructed by using 3-dimensional entity modeling software ((Pro/E),) automatic dynamic analysis of mechanical systems(ADAMS) and advanced visual software(AVS). After 32 new modules were developed with C++ at AVS platform, the interface problems of the 3 types of software were solved effectively and a visual environment for ocean mining subsystem was constructed. Based on the similarity (theory) and similarity experiments, the validity and reliability of the virtual prototyping were verified. By using the (constructed) virtual prototyping, the relevant parameters, such as cutting depth, rotation speed of roller,marching speed of mining vehicle can be adjusted one by one. After repeatable virtual tests and analysis its corresponding dynamic characteristics, the structure parameter of mining vehicle and the parameter of mining process can be optimized fast and accurately. The experiment and simulation results show that, under the controlled mining parameters, 4 function expressions between the average force of single pick,average torque,average cutting power,energy consumption ratio and cutting depth are obtained. The maximum force of a single pick is less than (11090N) and the maximum torque of the roller is less than 3600N·m.
