铁路救援起重机液压系统仿真开发研究
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摘要
铁路救援起重机是实施铁路救援所必不可少的重大装备。随着铁路行业的高速发展,干线铁路对救援机的需求与日俱增。铁道部(现中国铁路总公司)已在全路建立若干个救援基地,并从国内外批量引进了大量先进的救援起重机。然而,对铁路救援起重机司机人员的培训并非易事。虽然国外已经拥有相对成熟的铁路救援起重机司机人员训练仿真系统进行培训,但由于价格昂贵,国内尚无引进此类仿真器,这给国内司机人员的培训工作带来一定的困难。为此,本论文基于铁路救援起重机仿真器开发项目,对救援起重机液压系统进行了分析研究并建立相应的模型,从AMESim模型中导出动态库,成功地在第三方平台进行步进仿真,为救援起重机仿真器提供了底层仿真逻辑计算。
本论文首先对普通液压系统进行了基本的分析,介绍了各液压元件的工作原理,涉及到的概念与公式,以及基本用途和作用等。为救援起重机液压系统的建模及模型参数设定提供理论基础。
AMESim是目前液压仿真建模较流行的软件,与多个软件有接口,并能够导出模型非托管动态库,在第三方平台进行仿真,保障了仿真器模块化的研究。本论文结合KIROW铁路救援起重机液压部分,研究了各液压回路系统,建立了对应的AMESim模型,并设置参数输入输出接口,导出非托管动态库。
当前最流行的C#编程语言以完全面对对象进行编程的优势,让编程人员从繁琐的程序语句中脱离出来,更专注于对象模型。本论文将C#作为第三方平台,对AMESim导出的非托管动态库进行调用,并成功地实现了联合仿真,达到了系统模块化设计,联合仿真的要求。
Railway rescue crane is essential for railway rescue. As the railway industry is developing at a high speed, demand in railway lines for rescue crane grow with each passing day. The railway ministry have established a number of rescue base in all sections, and introduced a large number of advanced rescue crane from home and abroad. However, the railway rescue crane driver training is not so easy. Although the foreign countries have relatively mature railway rescue crane driver training simulation system for training, there is no domestic introduction of such simulator as the high price. In this paper, Based on railway rescue crane simulator development projects, rescue crane hydraulic system is analyzed to study and establish the corresponding model. The dynamic library is derived from AMESim model, and simulat in the third party platform successfully, providing the underlying logic calculation simulation to rescue crane simulator.
Firstly the ordinary hydraulic system was analysed in the paper,and the working principle of the hydraulic components, related to the concept and formula, as well as the basic purpose and function was introduced. It provides theoretical basis for rescue crane hydraulic system modeling and model parameter setting.
AMESim is a popular software of hydraulic simulation modeling, with a number of software interface, and the ability to export the model unmanaged dynamic library, ensuring emulator modular research in the third party platform for simulation. This paper combining the KIROW railway rescue crane hydraulic parts, the hydraulic circuit system is studied, the corresponding AMESim model is established, the parameters input and output interface is set, and the unmanaged dynamic library is derived finally.
The most popular C#programming language With the advantage of fully object-oriented, so that programmers from the cumbersome procedure statement out of them, more focused on the object model. In The paper,C#as third platform, calls unmanaged dynamic library which derived from the AMESim model, and realized the combination of simulation successfully. The system has achieved module design and Combined simulation.
本论文首先对普通液压系统进行了基本的分析,介绍了各液压元件的工作原理,涉及到的概念与公式,以及基本用途和作用等。为救援起重机液压系统的建模及模型参数设定提供理论基础。
AMESim是目前液压仿真建模较流行的软件,与多个软件有接口,并能够导出模型非托管动态库,在第三方平台进行仿真,保障了仿真器模块化的研究。本论文结合KIROW铁路救援起重机液压部分,研究了各液压回路系统,建立了对应的AMESim模型,并设置参数输入输出接口,导出非托管动态库。
当前最流行的C#编程语言以完全面对对象进行编程的优势,让编程人员从繁琐的程序语句中脱离出来,更专注于对象模型。本论文将C#作为第三方平台,对AMESim导出的非托管动态库进行调用,并成功地实现了联合仿真,达到了系统模块化设计,联合仿真的要求。
Railway rescue crane is essential for railway rescue. As the railway industry is developing at a high speed, demand in railway lines for rescue crane grow with each passing day. The railway ministry have established a number of rescue base in all sections, and introduced a large number of advanced rescue crane from home and abroad. However, the railway rescue crane driver training is not so easy. Although the foreign countries have relatively mature railway rescue crane driver training simulation system for training, there is no domestic introduction of such simulator as the high price. In this paper, Based on railway rescue crane simulator development projects, rescue crane hydraulic system is analyzed to study and establish the corresponding model. The dynamic library is derived from AMESim model, and simulat in the third party platform successfully, providing the underlying logic calculation simulation to rescue crane simulator.
Firstly the ordinary hydraulic system was analysed in the paper,and the working principle of the hydraulic components, related to the concept and formula, as well as the basic purpose and function was introduced. It provides theoretical basis for rescue crane hydraulic system modeling and model parameter setting.
AMESim is a popular software of hydraulic simulation modeling, with a number of software interface, and the ability to export the model unmanaged dynamic library, ensuring emulator modular research in the third party platform for simulation. This paper combining the KIROW railway rescue crane hydraulic parts, the hydraulic circuit system is studied, the corresponding AMESim model is established, the parameters input and output interface is set, and the unmanaged dynamic library is derived finally.
The most popular C#programming language With the advantage of fully object-oriented, so that programmers from the cumbersome procedure statement out of them, more focused on the object model. In The paper,C#as third platform, calls unmanaged dynamic library which derived from the AMESim model, and realized the combination of simulation successfully. The system has achieved module design and Combined simulation.
引文
[1]吕维镇.铁路救援起重机液压传动系统.起重运输机械.1993.
[2]王圣.大吨位伸缩臂铁路起重机转台结构分析与研究.西南交通大学.2009.
[3]我国对起重机司机技术指导项目明细分析.中国起重网.
[4]王少海,王海平.起重机仿真训练器的研制与应用.建筑机械.2005.
[5]起重机仿真训练器的研制与应用.佳工机电网.
[6]周罡.铁路救援125t伸缩臂起重机液压系统.建筑机械：上半月.2008第10期.
[7]朱诗源.基于HLA的工程级仿真系统框架关键技术研究.国防科学技术大学.2010
[8]周晓敏.液压传动基本原理.金属世界.2011第4期.
[9]毕延鹏.液压泵室内检测问题研究.科技创新导报.2010.
[10]姜继海,宋锦春,高常识.液压与气压传动.第二版.北京：高等教育出版社,2009
[11]侯敏.液控滑阀阀芯运动特性的研究.兰州理工大学.2011
[12]夏显明.溢流阀,减压阀和顺序阀的比较.安徽农业技术师范学院学报.1999
[13]肖扬.新型伺服液压机控制系统的研究.合肥工业大学.2011
[14]曹建强.深海水下分离器液控系统研究.中国石油大学(华东).2011
[15]张雅芹.关于定差减压阀和差压减压阀.液压与气动.2005
[16]吴海荣.筑路机械冷却装置液压驱动系统的设计.山东农业大学.2005
[17]郭雄华.挖掘机负流量液压系统的控制特性分析.液压与气动.2011
[18]刘翔.节流调速回路的调速性能分析.科技咨询.2009
[19]刘波.谈专用汽车的液压系统及使用(续).重型汽车.2009
[20]王守成,段俊勇.液压元件及选用.北京：工业出版社.2007
[21]翁应强.新型电梯主控阀与单出杆对称液压缸的设计.浙江大学.2006
[22]张利平,邓钟明.液压气动设计手册.北京：机械工业出版社.1997
[23]QIAO Hui.ZHANG Yuping.LIN Jing.Research on the Visual Simulation System of Railway Rescue Crane Driving Simulator. Journal of Chengdu Electromechanical College,2012, Volume 15,Number 2.
[24]Buck,M.,1998, "Chapter 2:Immersive User Interaction within Industrial Virtual Environment," appears in Virtual Reality for Industrial Applications, Dan, Springer, Berlin,pp.39-60.
[25]R. M. T. Raja Ismail, M. A. Ahmad, M. S. Ramli, R. Ishak, and M. A. Zawawi.Dynamic Modelling Of A Double-Pendulum Gantry Crane System Incorporating Payload.API Conf. Proc.1337,118 (2011); doi:10.1063/1.3592452
[26]Muhammad Salihin, Saealal and Mohd Zaidi, Mohd Tumari and Kamarul Hawari, Ghazali and Mohd Syakirin, Ramli (2012) Practical Sway Motion Control for Double Pendulum-type Overhead Crane System. International Journal on Smart Sensing and Intelligent Systems,5 (2). pp.362-380. ISSN 1178-5608
[27]Mohd Zaidi, Mohd Tumari and Muhammad Salihin, Saealal and Yasmin, Abdul Wahab and Mohd Riduwan, Ghazali (2012) H-Infinity Controller with LMI Region Schemes for a Lab-Scale Rotary Pendulum Crane System. International Journal of Signal System Control and Engineering Application,5 (1). pp.14-20. ISSN 1997-5422.
[28]Khairul Azmi, Mohd Yusoff (2010) Active sway control of a gantry crane system using LQR controller. EngD thesis, Universiti Malaysia Pahang.
[29]Wan Mohd Saifuddin, W Zamani (2010) Active sway control of a gantry crane system using delayed feedback signal controller. EngD thesis, Universiti Malaysia Pahang.
[30]Mohd Ashraf, Ahmad and Ahmad Nor Kasruddin, Nasir and Haszuraidah, Ishak (2009) Techniques of Anti-sway and Input Tracking Control of a Gantry Crane System. In:International Conference on Mechatronics and Automation, ICMA 2009,9-12 August 2009, Changchun, China.
[31]贺荣兵.水利水电建筑工程专业中对水力学的要求及实践研究.科技创业月刊.2010第7期.
[32]Brian W.Kernighan, Dennis M.Ritchie.C程序设计语言.徐宝文,李帮清,刘杰,刘圆等译.第二版.北京：机械工业出版社.2001
[33]Bradley L.Jones.21天学通C#.信达工作室译.北京：人民邮电出版社.2002
[34]Karli Watson.C#入门经典.齐立波译.第三版.北京：清华大学出版社.2006
[35]王翔.设计模式——基于C#的工程化实现及扩展.北京：电子工作出版社.2006
[36]徐君明,李国林,赵红超,范绍里.基于动态链接库的虚拟仪表建模与仿真.航大控制.2010
[37]林立.动态链接库在CAA中的应用.中国新技术新产品.2011.
[38]高连生,盛柏林.动态链接库在组态软件中的应用.工业控制计算机.2010
[39]James Cownie, John DelSignore, Bronis R. de Supinski and Karen Warren. DMPL:An OpenMP DLL Debugging Interface, Lecture Notes in Computer,2003, Volume 2716, Open Shared Memory Parallel Programming,137-146
[40]文欣秀,米西峰,赫枫龄.基于动态链接库实现软件界面组件化方法研究.计算机应用于软件.2007
[41]孙晶,滕迪,姜昱舟.基于C#.net的院校网上考试系统的设计与实现.网络与通信.2012
[42]宁娅姗.通过动态链接库实现VC(?)(?)Lab Windows/CVI的混合编程.自动化学报.2011
[43]郝春强.C#基础与实例教程.北京：中国电力出版社.2006
[44]张一光,梁成岗,姜子罡,蔺蜀.基于.NET(C#)和SQL的办公管理软件项目开发关键技术分析.科技传播.2012
[45]李海波,马鸣.案例讨论法在《C#语言程序设计》课程中的实际.电脑知识与技术.2011
[46]Xianggen Wang, Dengguo Feng and Purui Su. Reconstructing a Packed DLL Binary for Static Analysis. Lecture Notes in Computer Science,2009, Volume 5451, Information Security Practice and Experience,71-82
[47]Stephen Sunter and Aubin Roy. Noise-Insensitive Digital BIST for any PLL or DLL. Journal of Electronic Testing,2008, Volume 24, Number 5,461-472
[48]Jiangguo Liu and Richard Ewing. An Operator Splitting Method for Nonlinear Reactive Transport Equations and Its Implementation Based on DLL and COM.2005, Current Trends in High Performance Computing and Its Applications, Part I,93-102
[49]Birna Bjarnason-Wehrens, Klaus Held, Eike Hoberg, Marthin Karoff and Bernhard Rauch. Deutsche Leitlinie zur Rehabilitation von Patienten mit Herz-Kreislauferkrankungen (DLL-KardReha). Clinical Research in Cardiology Supplements,2007, Volume 2, Number 3,1-54
[50]Hubert Joris. Hydraulic Manipulators for ICSI.2012, Practical Manual of In Vitro Fertilization, Part 7,329-334
[51]KyoungKwan Ahn, ByungRyong Lee and SoonYong Yang. Design and experimental evaluation of a robust force controller for a 6-link electro-hydraulic manipulator via hoo control theory. Journal of Mechanical Science and Technology,2003, Volume 17, Number 7,999-1010
[52]M. Cremaschi and C. Pizzi. Hydraulic Systems in the Po Plain (Northern Italy) During the Bronze Age:Archaeology and Geoarchaeology.2011, Proceedings of the 37th International Symposium on Archaeometry,13th-16th May 2008, Siena, Italy, Part 9,555-560
[2]王圣.大吨位伸缩臂铁路起重机转台结构分析与研究.西南交通大学.2009.
[3]我国对起重机司机技术指导项目明细分析.中国起重网.
[4]王少海,王海平.起重机仿真训练器的研制与应用.建筑机械.2005.
[5]起重机仿真训练器的研制与应用.佳工机电网.
[6]周罡.铁路救援125t伸缩臂起重机液压系统.建筑机械：上半月.2008第10期.
[7]朱诗源.基于HLA的工程级仿真系统框架关键技术研究.国防科学技术大学.2010
[8]周晓敏.液压传动基本原理.金属世界.2011第4期.
[9]毕延鹏.液压泵室内检测问题研究.科技创新导报.2010.
[10]姜继海,宋锦春,高常识.液压与气压传动.第二版.北京：高等教育出版社,2009
[11]侯敏.液控滑阀阀芯运动特性的研究.兰州理工大学.2011
[12]夏显明.溢流阀,减压阀和顺序阀的比较.安徽农业技术师范学院学报.1999
[13]肖扬.新型伺服液压机控制系统的研究.合肥工业大学.2011
[14]曹建强.深海水下分离器液控系统研究.中国石油大学(华东).2011
[15]张雅芹.关于定差减压阀和差压减压阀.液压与气动.2005
[16]吴海荣.筑路机械冷却装置液压驱动系统的设计.山东农业大学.2005
[17]郭雄华.挖掘机负流量液压系统的控制特性分析.液压与气动.2011
[18]刘翔.节流调速回路的调速性能分析.科技咨询.2009
[19]刘波.谈专用汽车的液压系统及使用(续).重型汽车.2009
[20]王守成,段俊勇.液压元件及选用.北京：工业出版社.2007
[21]翁应强.新型电梯主控阀与单出杆对称液压缸的设计.浙江大学.2006
[22]张利平,邓钟明.液压气动设计手册.北京：机械工业出版社.1997
[23]QIAO Hui.ZHANG Yuping.LIN Jing.Research on the Visual Simulation System of Railway Rescue Crane Driving Simulator. Journal of Chengdu Electromechanical College,2012, Volume 15,Number 2.
[24]Buck,M.,1998, "Chapter 2:Immersive User Interaction within Industrial Virtual Environment," appears in Virtual Reality for Industrial Applications, Dan, Springer, Berlin,pp.39-60.
[25]R. M. T. Raja Ismail, M. A. Ahmad, M. S. Ramli, R. Ishak, and M. A. Zawawi.Dynamic Modelling Of A Double-Pendulum Gantry Crane System Incorporating Payload.API Conf. Proc.1337,118 (2011); doi:10.1063/1.3592452
[26]Muhammad Salihin, Saealal and Mohd Zaidi, Mohd Tumari and Kamarul Hawari, Ghazali and Mohd Syakirin, Ramli (2012) Practical Sway Motion Control for Double Pendulum-type Overhead Crane System. International Journal on Smart Sensing and Intelligent Systems,5 (2). pp.362-380. ISSN 1178-5608
[27]Mohd Zaidi, Mohd Tumari and Muhammad Salihin, Saealal and Yasmin, Abdul Wahab and Mohd Riduwan, Ghazali (2012) H-Infinity Controller with LMI Region Schemes for a Lab-Scale Rotary Pendulum Crane System. International Journal of Signal System Control and Engineering Application,5 (1). pp.14-20. ISSN 1997-5422.
[28]Khairul Azmi, Mohd Yusoff (2010) Active sway control of a gantry crane system using LQR controller. EngD thesis, Universiti Malaysia Pahang.
[29]Wan Mohd Saifuddin, W Zamani (2010) Active sway control of a gantry crane system using delayed feedback signal controller. EngD thesis, Universiti Malaysia Pahang.
[30]Mohd Ashraf, Ahmad and Ahmad Nor Kasruddin, Nasir and Haszuraidah, Ishak (2009) Techniques of Anti-sway and Input Tracking Control of a Gantry Crane System. In:International Conference on Mechatronics and Automation, ICMA 2009,9-12 August 2009, Changchun, China.
[31]贺荣兵.水利水电建筑工程专业中对水力学的要求及实践研究.科技创业月刊.2010第7期.
[32]Brian W.Kernighan, Dennis M.Ritchie.C程序设计语言.徐宝文,李帮清,刘杰,刘圆等译.第二版.北京：机械工业出版社.2001
[33]Bradley L.Jones.21天学通C#.信达工作室译.北京：人民邮电出版社.2002
[34]Karli Watson.C#入门经典.齐立波译.第三版.北京：清华大学出版社.2006
[35]王翔.设计模式——基于C#的工程化实现及扩展.北京：电子工作出版社.2006
[36]徐君明,李国林,赵红超,范绍里.基于动态链接库的虚拟仪表建模与仿真.航大控制.2010
[37]林立.动态链接库在CAA中的应用.中国新技术新产品.2011.
[38]高连生,盛柏林.动态链接库在组态软件中的应用.工业控制计算机.2010
[39]James Cownie, John DelSignore, Bronis R. de Supinski and Karen Warren. DMPL:An OpenMP DLL Debugging Interface, Lecture Notes in Computer,2003, Volume 2716, Open Shared Memory Parallel Programming,137-146
[40]文欣秀,米西峰,赫枫龄.基于动态链接库实现软件界面组件化方法研究.计算机应用于软件.2007
[41]孙晶,滕迪,姜昱舟.基于C#.net的院校网上考试系统的设计与实现.网络与通信.2012
[42]宁娅姗.通过动态链接库实现VC(?)(?)Lab Windows/CVI的混合编程.自动化学报.2011
[43]郝春强.C#基础与实例教程.北京：中国电力出版社.2006
[44]张一光,梁成岗,姜子罡,蔺蜀.基于.NET(C#)和SQL的办公管理软件项目开发关键技术分析.科技传播.2012
[45]李海波,马鸣.案例讨论法在《C#语言程序设计》课程中的实际.电脑知识与技术.2011
[46]Xianggen Wang, Dengguo Feng and Purui Su. Reconstructing a Packed DLL Binary for Static Analysis. Lecture Notes in Computer Science,2009, Volume 5451, Information Security Practice and Experience,71-82
[47]Stephen Sunter and Aubin Roy. Noise-Insensitive Digital BIST for any PLL or DLL. Journal of Electronic Testing,2008, Volume 24, Number 5,461-472
[48]Jiangguo Liu and Richard Ewing. An Operator Splitting Method for Nonlinear Reactive Transport Equations and Its Implementation Based on DLL and COM.2005, Current Trends in High Performance Computing and Its Applications, Part I,93-102
[49]Birna Bjarnason-Wehrens, Klaus Held, Eike Hoberg, Marthin Karoff and Bernhard Rauch. Deutsche Leitlinie zur Rehabilitation von Patienten mit Herz-Kreislauferkrankungen (DLL-KardReha). Clinical Research in Cardiology Supplements,2007, Volume 2, Number 3,1-54
[50]Hubert Joris. Hydraulic Manipulators for ICSI.2012, Practical Manual of In Vitro Fertilization, Part 7,329-334
[51]KyoungKwan Ahn, ByungRyong Lee and SoonYong Yang. Design and experimental evaluation of a robust force controller for a 6-link electro-hydraulic manipulator via hoo control theory. Journal of Mechanical Science and Technology,2003, Volume 17, Number 7,999-1010
[52]M. Cremaschi and C. Pizzi. Hydraulic Systems in the Po Plain (Northern Italy) During the Bronze Age:Archaeology and Geoarchaeology.2011, Proceedings of the 37th International Symposium on Archaeometry,13th-16th May 2008, Siena, Italy, Part 9,555-560