基于联合仿真的机电液一体化系统优化设计方法研究
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摘要
机电液一体化系统是一个多学科交叉、技术密度高的复杂系统,主要包括机械、液压、控制等子系统,其子系统间存在着相互作用、相互影响的耦合关系。机电液一体化系统涵盖多个学科内容,不仅包括传统的结构力学、流体力学、控制理论、人工智能等,也包括现代的人机工程学等。对于机电液一体化系统,如采用传统设计方法,运用各子系统或学科顺序设计方法进行设计,忽略了各子系统或学科之间的相互影响和耦合作用,使设计结果常常不是最优解,而且设计效率低、周期长,设计成本高。机电液一体化系统的设计具有明显的“多学科”特点,属于典型的多学科设计问题。随着现代结构力学、流体力学和控制学等理论的不断完善和计算机科学技术的迅速发展,人们能够采用更高精度的模型进行子系统或学科分析与设计,各子系统或学科设计均取得了长足的进步。因此,如何综合协调各个子系统进行多学科设计已成为机电液一体化系统设计的关键问题。
多学科设计优化(Multidisciplinary Design Optimization, MDO)是在复杂系统的设计过程中集成了不同学科的知识、分析与建模理论以及计算方法,采用有效的优化策略,充分体现了学科间的相互作用而产生的协同效应,获得整个系统的最优解。多学科设计优化是一种充分利用和考虑系统所涉及的多学科间的相互影响和耦合作用、使整个系统的综合性能达到最优的设计优化方法。多学科设计优化技术是利用合适的优化策略去组织和管理优化设计过程的基本思想,通过分解、协调等方法将整个系统分解为若干与当前工程设计组织形式相一致的子系统,以达到可以充分利用现有的各学科分析设计工具手段,在分布式计算机网络上利用各学科或子系统现有的知识与经验,对系统进行整体设计的目的,从而缩短系统设计周期,降低产品开发成本,有效提高产品竞争力。
由于多学科设计优化问题常常具有设计变量和约束条件的类型复杂,数量巨大,各部分、各子系统之间存在着互相耦合等特点,导致很难建立优化模型并且难以找到有效的优化算法。多学科设计优化存在两类耦合因素：一是多个领域都需要对其进行优化设计的变量,即系统变量或交叉变量；二是某个领域计算的结果作为另一个领域的输入,即相关变量或耦合变量。机电液一体化系统的设计涉及到机械、液压和控制等学科,包括了整体方案与结构参数的优化、系统性能的综合优化,难以解决设计全局和全过程的问题。机电液一体化系统的优化能否得到圆满解决,主要取决于能否建立合理的优化模型和选择适合于优化模型的有效优化算法。
因此,本文引入在航空领域迅速发展起来的解决复杂系统设计与优化的多学科设计优化方法,对机电液一体系统的优化设计方法进行了较全面的研究,探讨多学科优化方法在机电液一体化系统设计中应用的可行性和适用性。论文以机电液一体化系统设计优化模型与优化算法为核心,包括机电液一体化系统设计优化方法的分析、优化模型的建立与简化、寻优策略、联合仿真技术应用研究、集成优化平台的搭建、并联机器人系统优化等。论文的主要工作包括以下几个方面：
1、机电液一体化系统设计优化模型构建与简化
针对机电液一体化系统总体设计的特点,将机电液一体化系统划分为机械、液压和控制等3个相对独立的子系统。在子系统分析的基础上,建立了各子系统的数学分析模型,提取了设计参数,明确了各子系统的输入和输出参数以及它们之间的相互耦合关系,构建了机电液一体化系统的优化模型。对近似模型技术进行了研究,将二次响应面和kriging近似模型应用于机电液一体化系统的优化设计中。研究表明,在机电液一体化系统优化设计中,采用近似模型替代原有复杂的、高精度分析模型进行优化迭代计算,大大减少了优化计算量,有效提高了计算效率,解决了机电液一体化系统优化中的计算瓶颈问题,具有较强的工程实用性。
2、机电液一体化系统设计优化模型寻优策略与算法研究
对现有的优化方法和优化算法进行了分析研究,并应用不同优化方法、单—优化算法以及不同优化算法组合对建立的机电液一体化系统优化模型进行优化分析。研究表明,传统优化算法优化时间短,对于单峰问题优化效果较好；对于多峰问题,智能优化算法优化效果较好,但优化时间较长。因此,选择全局探索+局部寻优的混合优化策略对机电液一体化系统优化模型进行优化,首先采用全局智能优化算法搜索确定最优值范围,再用局部传统优化算法获得最优解。通过实例验证,采用混合优化算法,快速高效,精度高,而且获得的是全局最优解。
3、基于联合仿真的机电液一体化系统集成优化平台的构建
提出了机电液一体化系统仿真优化一体化思想与实现方法,研究了CATIA、 ADAMS、ANSYS、MATLAB软件之间的接口,基于优化软件ISIGHT软件平台,集成了CATIA、ADAMS、ANSYS、MATLAB软件,搭建了机电液一体系统的仿真优化平台,有效地利用了CATIA软件的虚拟样机建模、AMESim软件的液压系统建模、ADAMS软件动力学仿真、ANSYS软件静力学分析和MATLAB软件控制仿真的功能以及ISIGHT软件的集成优化功能,实现了基于联合仿真的机电液一体化系统集成优化。通过实例验证,表明采用搭建的基于联合仿真的机电液一体化系统设计优化平台进行优化是可行的,结果是可靠的。
4、并联机器人系统的仿真优化
在搭建的仿真优化平台上对并联机器人进行联合仿真和集成优化研究。通过仿真优化验证了机电液一体化系统近似模型和优化算法的有效性,显著降低了整个系统设计优化模型优化的计算时间,大大提高了系统设计效率。
Mechanical-electrical-hydraulic integrated system is a high technology density and complex interdisciplinary system. Usually it is composed of several subsystems, such as mechanical subsystem, hydraulic subsystem, control subsystem. There is a coupling relationship among subsystems that they have mutual influence and interaction. Mechanical-electrical-hydraulic integrated system covers multidisciplinary content, not only including the traditional structural mechanics, fluid mechanics, control theory and so on, but also including modern ergonomics, etc. For designing the mechanical-electrical-hydraulic integrated system by using the traditional design method and sequence design method, mutual influence and coupling effect among the subsystems or subjects are ignored, which often makes the results of the design not the most optimal solution, and the efficiency of the design is low, the cycle is long, the cost of design is high. The design of mechanical-electrical-hydraulic integrated system has the obvious multidisciplinary characteristics, which belongs to the typical multidisciplinary design problem. With the constant improvement of structure mechanics, fluid mechanics, and control discipline theory, and the rapid development of computer technology, people can use a higher precise model to analyze and design subsystem or subject, and design of subsystem or subject has made great progress. Therefore, how to comprehensively coordinate each subsystem to make multidisciplinary design becomes the bottleneck problem of the mechanical-electrical-hydraulic integrated system design.
Multidisciplinary design optimization method integrates different subject knowledge, analysis and modeling theory and calculation method in the design process of whole complex system, to get the optimal solution of the whole system by applying effective design optimization strategy and making full use of the synergistic effect which the interaction between subjects produces. Multidisciplinary design optimization is a design method that fully utilizes and considers interaction and coupling effect between disciplines, and use multidisciplinary method to achieve optimal comprehensive performance. The basic ideology of multidisciplinary design optimization technique is to organize and manage optimization design process by using appropriate optimization strategy, and through the decomposition and coordination, to decompose complex system into several subsystems that are consistent with engineering design organization form. Thus by using the existing industry disciplinary analysis and design tools to comprehensively design complex system by integrating rich knowledge and experience of interdisciplinary or subsystem in the distributed computer network, so as to achieve the purpose of shorting the design cycle, reduce development cost and enhance the competitiveness of their products.
Because the multidisciplinary optimization problem often has the following characteristics:big amount and complex type of design variables and the constraint condition, and mutual coupling relation among parts and sub-blocks, consequently it is difficult to establish the optimization model and to find effective optimization algorithm. Two kinds of coupling factors:one is the variable to be optimized in the many field design, namely system variables or cross variable; the other is the variable which is a calculation parameter of a field as an input of another field, namely relevant variables or coupled variables. The design of mechanical-electrical-hydraulic integrated system involves mechanics, hydraulics and control disciplines, including optimization of parameters of overall plan and structure, the comprehensive optimization of mechanical properties. When it comes to the problem of designing the overall situation and the whole process, there are still many difficult problems to solve. Whether the optimization of the mechanical-electrical-hydraulic integrated system can be well solved, mainly depends on two factors. One is to establish the reasonable optimization model, and another is to choose effective optimization algorithm which is suitable for this model.
Therefore, in this dissertation, the multidisciplinary design optimization method which develops rapidly in the aviation field and can solve complex system design and optimization problem, is introduced to comprehensively study the optimization design method of mechanical-electrical-hydraulic integrated system. To explore multidisciplinary optimization method feasibility and applicability in the application of mechanical-electrical-hydraulic integrated system design. The dissertation covers the design optimization model and optimization algorithm of mechanical-electrical-hydraulic integrated system, optimization modeling and simplification, optimization strategy, combinative simulation research, development of integrated optimization platform, parallel robot system optimization, etc. The main work of the paper includes the following several aspects:
1. Mechanical-electrical-hydraulic integrated system design optimization modeling and simplification
According to the characteristics of mechanical-electrical-hydraulic integrated system overall design, mechanical-electrical-hydraulic integrated system will be divided into three independent subsystem, namely mechanical, hydraulic and control subsystem. On the basis of system analysis, the subsystem mathematical analysis model is established, the design parameters are extracted, and the input and output parameters of subsystem and the coupling relationships among them are established. The optimization model of mechanical-electrical-hydraulic integrated system is established. The approximation model techniques of multidisciplinary design optimization are studied, the quadratic response surface and kriging approximate model are applied to the optimization of the mechanical-electrical-hydraulic integrated system. The research indicates that in the optimization design of mechanical-electrical-hydraulic integrated system, the complex, high-precision module is replaced by the approximation model to optimize and iteratively calculate, which greatly reduce the computing amount and improve the efficiency of optimization computation, so the computing bottleneck problems of the mechanical-electrical-hydraulic integrated system optimization are solved, and it has strong engineering practicability.
2. Optimization strategies and algorithms research of optimization model for mechanical-electrical-hydraulic integrated system
By analyzing the existing optimization method and algorithm, mechanical-electrical-hydraulic integrated system model is optimized and analyzed by using different optimization methods, optimization algorithms and united algorithms. The research shows that by using traditional numerical optimization algorithms, optimization time is short and it is suitable for the unimodal problem; intelligent optimization algorithm has better optimal performance and long optimal time, and it is fit for multimodal problem. So the combinational algorithms strategy, including global exploration and local optimization, is chosen to optimize the mechanical-electrical-hydraulic integrated system problem. The multi-island genetic algorithm is used to search and determine the optimal value range, and traditional local algorithm is used to achieve optimal value. The result shows that combinational algorithm strategy has the advantage of fast and efficience, high accuracy, and global optimal values.
3. Development of integrated optimization platform for mechanical-electrical-hydraulic integrated system based on the co-simulation
Integrated theory and implement method of simulation and optimization for mechanical-electrical-hydraulic integrated system are put forward. The interface among software ADAMS、ANSYS、MATLAB and CATIA is study to integrate the CATIA, ADAMS and MATLAB software into software ISIGHT software platform. The CATIA software of virtual modeling function, ADAMS and MATLAB software dynamics simulation and control simulation function and ISIGHT software integrated optimization function are effectively used to set up the simulation optimization platform for mechanical-electrical-hydraulic integrated system and realize integrated optimization of mechanical-electrical-hydraulic integrated system based on co-simulation. By verifying example, the results show that by using the integrated optimization platform, the platform is feasible and the optimal results are reliable.
4. Simulation and optimization of6-DOF Parallel robot system
Combinative simulation and integrated optimization of the parallel robot system are studied by using the established simulation platform. Through simulation and optimization, the validity of the approximation model and the algorithm for mechanical-electrical-hydraulic integrated system is verified, the computing time of optimization model for the system is greatly reduced and the design efficiency is improved.
多学科设计优化(Multidisciplinary Design Optimization, MDO)是在复杂系统的设计过程中集成了不同学科的知识、分析与建模理论以及计算方法,采用有效的优化策略,充分体现了学科间的相互作用而产生的协同效应,获得整个系统的最优解。多学科设计优化是一种充分利用和考虑系统所涉及的多学科间的相互影响和耦合作用、使整个系统的综合性能达到最优的设计优化方法。多学科设计优化技术是利用合适的优化策略去组织和管理优化设计过程的基本思想,通过分解、协调等方法将整个系统分解为若干与当前工程设计组织形式相一致的子系统,以达到可以充分利用现有的各学科分析设计工具手段,在分布式计算机网络上利用各学科或子系统现有的知识与经验,对系统进行整体设计的目的,从而缩短系统设计周期,降低产品开发成本,有效提高产品竞争力。
由于多学科设计优化问题常常具有设计变量和约束条件的类型复杂,数量巨大,各部分、各子系统之间存在着互相耦合等特点,导致很难建立优化模型并且难以找到有效的优化算法。多学科设计优化存在两类耦合因素：一是多个领域都需要对其进行优化设计的变量,即系统变量或交叉变量；二是某个领域计算的结果作为另一个领域的输入,即相关变量或耦合变量。机电液一体化系统的设计涉及到机械、液压和控制等学科,包括了整体方案与结构参数的优化、系统性能的综合优化,难以解决设计全局和全过程的问题。机电液一体化系统的优化能否得到圆满解决,主要取决于能否建立合理的优化模型和选择适合于优化模型的有效优化算法。
因此,本文引入在航空领域迅速发展起来的解决复杂系统设计与优化的多学科设计优化方法,对机电液一体系统的优化设计方法进行了较全面的研究,探讨多学科优化方法在机电液一体化系统设计中应用的可行性和适用性。论文以机电液一体化系统设计优化模型与优化算法为核心,包括机电液一体化系统设计优化方法的分析、优化模型的建立与简化、寻优策略、联合仿真技术应用研究、集成优化平台的搭建、并联机器人系统优化等。论文的主要工作包括以下几个方面：
1、机电液一体化系统设计优化模型构建与简化
针对机电液一体化系统总体设计的特点,将机电液一体化系统划分为机械、液压和控制等3个相对独立的子系统。在子系统分析的基础上,建立了各子系统的数学分析模型,提取了设计参数,明确了各子系统的输入和输出参数以及它们之间的相互耦合关系,构建了机电液一体化系统的优化模型。对近似模型技术进行了研究,将二次响应面和kriging近似模型应用于机电液一体化系统的优化设计中。研究表明,在机电液一体化系统优化设计中,采用近似模型替代原有复杂的、高精度分析模型进行优化迭代计算,大大减少了优化计算量,有效提高了计算效率,解决了机电液一体化系统优化中的计算瓶颈问题,具有较强的工程实用性。
2、机电液一体化系统设计优化模型寻优策略与算法研究
对现有的优化方法和优化算法进行了分析研究,并应用不同优化方法、单—优化算法以及不同优化算法组合对建立的机电液一体化系统优化模型进行优化分析。研究表明,传统优化算法优化时间短,对于单峰问题优化效果较好；对于多峰问题,智能优化算法优化效果较好,但优化时间较长。因此,选择全局探索+局部寻优的混合优化策略对机电液一体化系统优化模型进行优化,首先采用全局智能优化算法搜索确定最优值范围,再用局部传统优化算法获得最优解。通过实例验证,采用混合优化算法,快速高效,精度高,而且获得的是全局最优解。
3、基于联合仿真的机电液一体化系统集成优化平台的构建
提出了机电液一体化系统仿真优化一体化思想与实现方法,研究了CATIA、 ADAMS、ANSYS、MATLAB软件之间的接口,基于优化软件ISIGHT软件平台,集成了CATIA、ADAMS、ANSYS、MATLAB软件,搭建了机电液一体系统的仿真优化平台,有效地利用了CATIA软件的虚拟样机建模、AMESim软件的液压系统建模、ADAMS软件动力学仿真、ANSYS软件静力学分析和MATLAB软件控制仿真的功能以及ISIGHT软件的集成优化功能,实现了基于联合仿真的机电液一体化系统集成优化。通过实例验证,表明采用搭建的基于联合仿真的机电液一体化系统设计优化平台进行优化是可行的,结果是可靠的。
4、并联机器人系统的仿真优化
在搭建的仿真优化平台上对并联机器人进行联合仿真和集成优化研究。通过仿真优化验证了机电液一体化系统近似模型和优化算法的有效性,显著降低了整个系统设计优化模型优化的计算时间,大大提高了系统设计效率。
Mechanical-electrical-hydraulic integrated system is a high technology density and complex interdisciplinary system. Usually it is composed of several subsystems, such as mechanical subsystem, hydraulic subsystem, control subsystem. There is a coupling relationship among subsystems that they have mutual influence and interaction. Mechanical-electrical-hydraulic integrated system covers multidisciplinary content, not only including the traditional structural mechanics, fluid mechanics, control theory and so on, but also including modern ergonomics, etc. For designing the mechanical-electrical-hydraulic integrated system by using the traditional design method and sequence design method, mutual influence and coupling effect among the subsystems or subjects are ignored, which often makes the results of the design not the most optimal solution, and the efficiency of the design is low, the cycle is long, the cost of design is high. The design of mechanical-electrical-hydraulic integrated system has the obvious multidisciplinary characteristics, which belongs to the typical multidisciplinary design problem. With the constant improvement of structure mechanics, fluid mechanics, and control discipline theory, and the rapid development of computer technology, people can use a higher precise model to analyze and design subsystem or subject, and design of subsystem or subject has made great progress. Therefore, how to comprehensively coordinate each subsystem to make multidisciplinary design becomes the bottleneck problem of the mechanical-electrical-hydraulic integrated system design.
Multidisciplinary design optimization method integrates different subject knowledge, analysis and modeling theory and calculation method in the design process of whole complex system, to get the optimal solution of the whole system by applying effective design optimization strategy and making full use of the synergistic effect which the interaction between subjects produces. Multidisciplinary design optimization is a design method that fully utilizes and considers interaction and coupling effect between disciplines, and use multidisciplinary method to achieve optimal comprehensive performance. The basic ideology of multidisciplinary design optimization technique is to organize and manage optimization design process by using appropriate optimization strategy, and through the decomposition and coordination, to decompose complex system into several subsystems that are consistent with engineering design organization form. Thus by using the existing industry disciplinary analysis and design tools to comprehensively design complex system by integrating rich knowledge and experience of interdisciplinary or subsystem in the distributed computer network, so as to achieve the purpose of shorting the design cycle, reduce development cost and enhance the competitiveness of their products.
Because the multidisciplinary optimization problem often has the following characteristics:big amount and complex type of design variables and the constraint condition, and mutual coupling relation among parts and sub-blocks, consequently it is difficult to establish the optimization model and to find effective optimization algorithm. Two kinds of coupling factors:one is the variable to be optimized in the many field design, namely system variables or cross variable; the other is the variable which is a calculation parameter of a field as an input of another field, namely relevant variables or coupled variables. The design of mechanical-electrical-hydraulic integrated system involves mechanics, hydraulics and control disciplines, including optimization of parameters of overall plan and structure, the comprehensive optimization of mechanical properties. When it comes to the problem of designing the overall situation and the whole process, there are still many difficult problems to solve. Whether the optimization of the mechanical-electrical-hydraulic integrated system can be well solved, mainly depends on two factors. One is to establish the reasonable optimization model, and another is to choose effective optimization algorithm which is suitable for this model.
Therefore, in this dissertation, the multidisciplinary design optimization method which develops rapidly in the aviation field and can solve complex system design and optimization problem, is introduced to comprehensively study the optimization design method of mechanical-electrical-hydraulic integrated system. To explore multidisciplinary optimization method feasibility and applicability in the application of mechanical-electrical-hydraulic integrated system design. The dissertation covers the design optimization model and optimization algorithm of mechanical-electrical-hydraulic integrated system, optimization modeling and simplification, optimization strategy, combinative simulation research, development of integrated optimization platform, parallel robot system optimization, etc. The main work of the paper includes the following several aspects:
1. Mechanical-electrical-hydraulic integrated system design optimization modeling and simplification
According to the characteristics of mechanical-electrical-hydraulic integrated system overall design, mechanical-electrical-hydraulic integrated system will be divided into three independent subsystem, namely mechanical, hydraulic and control subsystem. On the basis of system analysis, the subsystem mathematical analysis model is established, the design parameters are extracted, and the input and output parameters of subsystem and the coupling relationships among them are established. The optimization model of mechanical-electrical-hydraulic integrated system is established. The approximation model techniques of multidisciplinary design optimization are studied, the quadratic response surface and kriging approximate model are applied to the optimization of the mechanical-electrical-hydraulic integrated system. The research indicates that in the optimization design of mechanical-electrical-hydraulic integrated system, the complex, high-precision module is replaced by the approximation model to optimize and iteratively calculate, which greatly reduce the computing amount and improve the efficiency of optimization computation, so the computing bottleneck problems of the mechanical-electrical-hydraulic integrated system optimization are solved, and it has strong engineering practicability.
2. Optimization strategies and algorithms research of optimization model for mechanical-electrical-hydraulic integrated system
By analyzing the existing optimization method and algorithm, mechanical-electrical-hydraulic integrated system model is optimized and analyzed by using different optimization methods, optimization algorithms and united algorithms. The research shows that by using traditional numerical optimization algorithms, optimization time is short and it is suitable for the unimodal problem; intelligent optimization algorithm has better optimal performance and long optimal time, and it is fit for multimodal problem. So the combinational algorithms strategy, including global exploration and local optimization, is chosen to optimize the mechanical-electrical-hydraulic integrated system problem. The multi-island genetic algorithm is used to search and determine the optimal value range, and traditional local algorithm is used to achieve optimal value. The result shows that combinational algorithm strategy has the advantage of fast and efficience, high accuracy, and global optimal values.
3. Development of integrated optimization platform for mechanical-electrical-hydraulic integrated system based on the co-simulation
Integrated theory and implement method of simulation and optimization for mechanical-electrical-hydraulic integrated system are put forward. The interface among software ADAMS、ANSYS、MATLAB and CATIA is study to integrate the CATIA, ADAMS and MATLAB software into software ISIGHT software platform. The CATIA software of virtual modeling function, ADAMS and MATLAB software dynamics simulation and control simulation function and ISIGHT software integrated optimization function are effectively used to set up the simulation optimization platform for mechanical-electrical-hydraulic integrated system and realize integrated optimization of mechanical-electrical-hydraulic integrated system based on co-simulation. By verifying example, the results show that by using the integrated optimization platform, the platform is feasible and the optimal results are reliable.
4. Simulation and optimization of6-DOF Parallel robot system
Combinative simulation and integrated optimization of the parallel robot system are studied by using the established simulation platform. Through simulation and optimization, the validity of the approximation model and the algorithm for mechanical-electrical-hydraulic integrated system is verified, the computing time of optimization model for the system is greatly reduced and the design efficiency is improved.
引文
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