复杂机电系统统一建模与仿真技术研究
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摘要
面对日益激烈的市场竞争以及各国对知识产权的高度重视,产品设计是企业生存与发展的根本。在复杂机电一体化系统开发中,跨学科的系统建模方法、多领域模型的协同仿真和多学科协同开发的过程管理技术是目前亟待解决的关键技术,可以对机电一体化系统的设计和开发提供强有力的支持,目前已经成为该领域的研究重点。
本文以山东省科技攻关重大项目“复杂产品虚拟样机技术研究”、国家“十一五”科技支撑计划课题“复杂条件煤矿综放工作面关键设备研究”和山东省自然科学杰出青年基金项目“面向复杂产品协同设计的资源共享与虚拟样机技术研究”为研究背景,对复杂机电一体化系统的统一建模和仿真技术研究进行了深入研究,取得了以下的研究与应用成果：
(1)从系统的角度提出了复杂机电系统的统一建模与仿真技术的总体框架,给出了其工作原理和关键技术;
(2)通过对复杂机电一体化系统多学科系统建模技术的研究,创新性的提出了基于交互传递模型(Contact and Channel Model, C&CM)的统一产品模型(Unified Product Model,UPM)和基于UPM的统一建模方法,给出了UPM模型的信息元素,提出了UPM的具体描述方法和过程。将ontology应用于复杂机电系统设计过程,首次提出并实现了基于ontology的UPM描述技术。该描述方法既易于人理解,又易于计算机实现,保证了知识共享和信息的可检索性,为系统设计阶段的知识交流奠定了基础,同时也为后续过程求解的知识共享、重用提供了保障；
(3)以复杂机电一体化系统多学科协同仿真技术为核心,构建了一个基于UPM和(High Level Architecture, HLA)的协同仿真框架,为面向产品设计领域的多学科协同仿真的实施提供了一个完整通用的参考结构,提出了基于UPM和HLA的协同仿真建模过程模型,解决了现有的协同仿真研究中不能建立设计模型和仿真模型之间的内在关联关系的问题。在此基础上,对协同仿真运行管理技术进行了深入研究,实现了协同仿真运行管理器的设计和开发；
(4)从过程管理,模型管理和数据共享的角度出发,提出了复杂机电一体化系统多学科协同开发的过程管理方法,实现了对统一建模、领域建模、协同仿真等相关过程中所涉及的人员、数据、信息等的有效管理,为复杂机电一体化系统的跨领域并行协同开发提供了有力的支持；
(5)建立了复杂机电一体化系统多学科协同开发平台,提出了平台的总体技术框架和系统组成,并实现了平台的原型系统；以某型机器人手臂的设计过程为例,介绍了复杂机电一体化系统多学科协同开发平台的应用。
With the serious competition in the international market and the attention to knowledge privilege protection, the original product design is the key problem for the companies. Cross-domain system modelling approach、multiple-disciplinary simulation and collaborative development process management technology for complex mechatronic system are the key technologies during the development process of complex mechtronic system, which provide strong support. The research was based on the following research projects:(1) Key Research Project of Science and Technology Development Program of Shandong Province:Research on virtual prototype technology of complex product. (2) Key Research Project of the Supporting Program of Science and Technology of State 11th Five Years Plan:Research on key equipments of coal mine full mechanized mining face in complex mining conditions. (3) Shandong Natural Science Foundation for Distinguished Young scholars of China:Resource sharing and virtual prototype technology for cooperative development of complex product.
Unified Product Modelling approach and cooperative simulation technology for complex mechatronic system have been studied in detail in the dissertation and corresponding research and application achievements have been made.
(1) Multiple-disciplinary cooperative system modelling approach for complex mechantronic system was studied and Unified Product Model (UPM) based on C&CM for complex mechatronic system and Unified Product Modelling methodology based on UPM was given originally. The basic elements, the description method and process were given. UPM shows the internal structure of system model and the coupling relationship among domain models. According to UPM, it can ensure that all the team-members can always get the coherent view of the 'single source of truth' of mechatronic product, which could not be done in previous time. UPM can ensure the consistence from the genesis and eliminate unnecessary iterations so that it can help to shorten time to market and reduce cost by means of a more efficient development process.
(2) Ontology was used in the development process of complex mechatronic system and the description process of UPM based on ontology was given. According to this description, both the man and computer can understand it easily, which can assure the knowledge sharing and inquiry of information. It can provide the basis for knowledge communication at the system design stage and knowledge sharing and reuse at the late stage.
(3) With collaborative simulation technology for Complex mechatronic system in the core, a cooperative simulation framework based on HLA (High Level Architecture) was.provided, which gives a reference structure for the multiple-disciplinary cooperative simulation in produce development domain Collaborative simulation modelling approach based on UPM and HLA was given, this approach can help to set up the internal connecting relationship between design model and simulation model that has not been given in existing research. On this basis, modelling of cooperative simulation and cooperative simulation running management technology were studied, Simulation running management system was designed and developed.
(4) Collaborative development process management technology for complex mechatronic system was stuied from.the point view of process management, model management and data sharing.The management of staff, data and information involved in the process of unified product modelling, domain modelling and cooperative simulation etc was realized, which can support the concurrent cooperative development of complex mechtronic system.
(5) A multidisciplinary cooperative development platform was studied and the whole framework and elements of this platform were given. The platform was realized by programming. Application of the multidisciplinary cooperative development platform was given using one Robot Arm design.process as an example.
本文以山东省科技攻关重大项目“复杂产品虚拟样机技术研究”、国家“十一五”科技支撑计划课题“复杂条件煤矿综放工作面关键设备研究”和山东省自然科学杰出青年基金项目“面向复杂产品协同设计的资源共享与虚拟样机技术研究”为研究背景,对复杂机电一体化系统的统一建模和仿真技术研究进行了深入研究,取得了以下的研究与应用成果：
(1)从系统的角度提出了复杂机电系统的统一建模与仿真技术的总体框架,给出了其工作原理和关键技术;
(2)通过对复杂机电一体化系统多学科系统建模技术的研究,创新性的提出了基于交互传递模型(Contact and Channel Model, C&CM)的统一产品模型(Unified Product Model,UPM)和基于UPM的统一建模方法,给出了UPM模型的信息元素,提出了UPM的具体描述方法和过程。将ontology应用于复杂机电系统设计过程,首次提出并实现了基于ontology的UPM描述技术。该描述方法既易于人理解,又易于计算机实现,保证了知识共享和信息的可检索性,为系统设计阶段的知识交流奠定了基础,同时也为后续过程求解的知识共享、重用提供了保障；
(3)以复杂机电一体化系统多学科协同仿真技术为核心,构建了一个基于UPM和(High Level Architecture, HLA)的协同仿真框架,为面向产品设计领域的多学科协同仿真的实施提供了一个完整通用的参考结构,提出了基于UPM和HLA的协同仿真建模过程模型,解决了现有的协同仿真研究中不能建立设计模型和仿真模型之间的内在关联关系的问题。在此基础上,对协同仿真运行管理技术进行了深入研究,实现了协同仿真运行管理器的设计和开发；
(4)从过程管理,模型管理和数据共享的角度出发,提出了复杂机电一体化系统多学科协同开发的过程管理方法,实现了对统一建模、领域建模、协同仿真等相关过程中所涉及的人员、数据、信息等的有效管理,为复杂机电一体化系统的跨领域并行协同开发提供了有力的支持；
(5)建立了复杂机电一体化系统多学科协同开发平台,提出了平台的总体技术框架和系统组成,并实现了平台的原型系统；以某型机器人手臂的设计过程为例,介绍了复杂机电一体化系统多学科协同开发平台的应用。
With the serious competition in the international market and the attention to knowledge privilege protection, the original product design is the key problem for the companies. Cross-domain system modelling approach、multiple-disciplinary simulation and collaborative development process management technology for complex mechatronic system are the key technologies during the development process of complex mechtronic system, which provide strong support. The research was based on the following research projects:(1) Key Research Project of Science and Technology Development Program of Shandong Province:Research on virtual prototype technology of complex product. (2) Key Research Project of the Supporting Program of Science and Technology of State 11th Five Years Plan:Research on key equipments of coal mine full mechanized mining face in complex mining conditions. (3) Shandong Natural Science Foundation for Distinguished Young scholars of China:Resource sharing and virtual prototype technology for cooperative development of complex product.
Unified Product Modelling approach and cooperative simulation technology for complex mechatronic system have been studied in detail in the dissertation and corresponding research and application achievements have been made.
(1) Multiple-disciplinary cooperative system modelling approach for complex mechantronic system was studied and Unified Product Model (UPM) based on C&CM for complex mechatronic system and Unified Product Modelling methodology based on UPM was given originally. The basic elements, the description method and process were given. UPM shows the internal structure of system model and the coupling relationship among domain models. According to UPM, it can ensure that all the team-members can always get the coherent view of the 'single source of truth' of mechatronic product, which could not be done in previous time. UPM can ensure the consistence from the genesis and eliminate unnecessary iterations so that it can help to shorten time to market and reduce cost by means of a more efficient development process.
(2) Ontology was used in the development process of complex mechatronic system and the description process of UPM based on ontology was given. According to this description, both the man and computer can understand it easily, which can assure the knowledge sharing and inquiry of information. It can provide the basis for knowledge communication at the system design stage and knowledge sharing and reuse at the late stage.
(3) With collaborative simulation technology for Complex mechatronic system in the core, a cooperative simulation framework based on HLA (High Level Architecture) was.provided, which gives a reference structure for the multiple-disciplinary cooperative simulation in produce development domain Collaborative simulation modelling approach based on UPM and HLA was given, this approach can help to set up the internal connecting relationship between design model and simulation model that has not been given in existing research. On this basis, modelling of cooperative simulation and cooperative simulation running management technology were studied, Simulation running management system was designed and developed.
(4) Collaborative development process management technology for complex mechatronic system was stuied from.the point view of process management, model management and data sharing.The management of staff, data and information involved in the process of unified product modelling, domain modelling and cooperative simulation etc was realized, which can support the concurrent cooperative development of complex mechtronic system.
(5) A multidisciplinary cooperative development platform was studied and the whole framework and elements of this platform were given. The platform was realized by programming. Application of the multidisciplinary cooperative development platform was given using one Robot Arm design.process as an example.
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