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Multi-physical Field Mechanical System Model (MSAM)
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Technical Description of Multi-physical Field Mechanical System Model Digital Simulation Test Platform (MSAM)
Process Design from Mechanical System Modeling to Multi-physical Field Digital Simulation
The multi-physical field digital simulation test platform MSAM is mainly used for large-scale or complex mechanical system modeling and dynamic parametric model joint simulation, Implement the CAD-CAE process design from mechanical system modeling to multi-physical field system Virtual prototype verification. The platform consists of multiple physical field system algorithms (MSA) and mechanical system modeling (MSM). Multi physical field system algorithm (MSA) is mainly developed through C/C++and Simulink tools for interface development, and dual interaction simulation is conducted with mechanical system model (MSM) general development tools. The construction of mechanical system modeling (MSM) prime models includes three processes parts: mathematical modeling, mechanical modeling, and mechanism modeling; And application extensions: Wheel carrier and special robots.
Basic Theoretical Modeling
Mathematical Modeling
Combinatorial mathematics theory, differential dynamics, and Hamiltonian system theory are used to solve flexible multi degree of freedom problems using spinor and convex analysis techniques, while Lie group and Lie algebra methods are used to solve rigid mechanisms. The entire mathematical modeling process includes the object coordinate system and the degree of freedom of the mechanism. The current popular DAE algorithm, recursive algorithm, object motion trajectory and constraint control, spatial position, configuration deformation, motion direction, speed and acceleration, inertia, and other main parameters are optimized to maintain the dynamic parameterization and numerical characteristics of the model.
Mechanical Modeling
Mainly focusing on elastic and rigid bodies, the research focuses on multibody system dynamics MBS, and motion stability of multibody systems. During the construction of mechanical models, mechanical analysis FEA of key structural components, research on mass, damping, and stiffness issues, as well as the construction of digital fields, are always considered. This mainly involves wind field simulation CFD and accurate digital ground DGM construction, it also includes the trajectory planning of the mechanism structure in the multi field motion process and the fluid structure coupling algorithm of the mechanism structure. The mechanical modeling direction of the MSAM test platform focuses on solid mechanics modeling, including three-dimensional objects, coupling relationships, and structural finite elements. The direction of contact mechanics modeling includes contact surface research, static and dynamic stress problems, and constitutive relationships of key materials. The research on nonlinear vibration response mainly focuses on the nonlinear vibration and damping of springs.
Mechanism Modeling
Conducting configuration research and singular interference problem solutions around the field of mechanism, especially possessing proprietary technology (6-DOF/FTPM) in workspace solving algorithms for flexible 6-DOF mechanisms. The research scope includes mechanism kinematics and dynamics, robot mechanics, mechanical transmission methods, mechanical structure and system dynamics, and mechanical system integration design.
Engineering Application
Wheeled Vehicles
The research scope includes two aspects: vehicle dynamics and motion stability, including chassis control research, 6-DOF attitude analysis and constraints for spring mounted vehicle bodies, research on motion trajectory and acceleration issues in reference coordinate systems for multibody systems, testing of pitch, roll, and yaw issues, and stability analysis under the influence of CFD wind fields; The dynamics of all-terrain vehicle systems mainly focuses on the mechanical performance of vehicles under predetermined digital road conditions, the study of nonlinear vibration frequencies between suspension and digital road systems, the analysis of damping effects, the structural deformation effects and constitutive relationships of steering systems in extreme situations, and the issue of tire flexible deformation interference.
Special Robots
Special purpose and all-weather vehicular modular and self-reconfigurable robots, focusing on the research of mechanism kinematics and dynamics related issues of special robot systems, motion and path planning, and motion control algorithms. In terms of robot sensing and servo control, we mainly use the type selection test of acceleration sensors (piezoelectric and oscillating) and yaw rate sensors (gyroscope type), as well as cooperate with laser radar and ultrasonic rangefinders to carry out robustness research on motion control.
The construction of the digital platform began in 2018, and currently focuses on the research of all terrain wheel carrier and all-weather special robots. It has a complete technology of prime model construction, and uses dual interaction modeling process design to optimize engineering issues such as geometric relationships, loads, motion, and force constraints of research objects, as well as multi-objective optimization, providing a basis for the design of mechanical system model construction processes. It also studies transportation tools and special robots under microgravity conditions.
Key words: multi physical field; Mechanical system modeling; Digital terrain;Wheeled vehicles; Special robots;
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Developer of Digital Simulation Test Platform (MSAM)
for Mechanical System Models with Multiple Physical Fields
Simplified Chinese：多物理场机械系统模型数字化仿真试验平台（MSAM）技术
https://blog.sciencenet.cn/blog-3530355-1380889.html
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