面向并行设计的建模方法研究
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摘要
在综合分析并行协同设计研究的历史和现状后，针对当前复杂产品设计研究中的过程建模、产品建模、CAX集成建模、控制规划建模等关键问题，对并行建模和并行优化求解进行了一些有益的尝试，主要研究进展体现在以下七个方面：
一、基于设计支持模型动态扩张的复杂产品求解方法研究
为解决并行设计中面向下游的知识冲突和设计反馈问题，提出了产品设计的全过程策略：基于产品信息扩张和模型动态重组的动态求解知识框架。以知识集成、潜真扩展为特征重组设计模型，建立面向设计进程的潜知识表达方式；构建柔性建模机制，支持设计模型的及时更新；以螺旋进程为设计推进模式，降低设计风险，提高设计效率。
二、基于潜模型理论的的潜知识表达方法研究
首先进行了动态知识表达的理论探索：以传统逻辑论和信息论中处理不完全信息的潜模型理论为基础，结合复杂技术产品设计进程中变量、目标与约束等信息的扩张过程，提出了产品设计潜知识表达理论，描述了具有层次性、集成性和动态性的动态知识表达方式，将传统的面向单点的产品知识转变为面向进程的知识框架，使模型能响应设计进程从潜真状态逐渐向全真状态逼近。用挖掘机设计中的设计知识进行了实例改造。
三、基于动态知识表达的柔性设计支持模型研究
在阐述了产品动态知识框架的基础上，构造了复合知识模型，阐述了复合知识模型由知识源和模型重组机制组成的本质。知识源具有潜真性、灵活性、感应性和设计导向性等潜知识特征，设计者在同步知识源所组成的公共知识块的基础上进行并行建模，包括约束网络、优化模型、分析模型和评价模型等，降低模型间的知识冲突，实现模型的及时重组和动态响应反馈。提出了以层次型设计需求、未知变量敏度和函数完整度三种方式共同作用的设计导向机制，协助设计者优选设计路径。
四、螺旋设计进程研究
建立了基于复合知识模型的螺旋设计进程，提出了以扩张的设计模型、分析模型、评价模型、优化模型支持的四个设计阶段循环渐进的推进策略，以渐进的进程模式和逐步扩张的产品模型代替以往的固化方式，同时增加柔性约束网络进行冲突风险检测，以产品性能目标的扩展和渐进驱动设计进程。在设计反馈中引入了以后期产品信息修正前期设计模型的方式，降低了模型假设和简化带来的设计冲突，提高设计效率和效果。以挖掘机优化设计为例，进行了实例验证。
五、面向分析的集成建模技术研究
针对CAD／CAE集成困难的现状，提出了利用CAD参数化技术对CAE仿真模型进行自动建模，解决CAE软件自身无法克服的建模难、优化难问题。以面向广义优化的参数化建模、基于布局与骨架的整机建模及装配技术、ADAMS与PRO／E联合建模技术为基础，建立了面向分析反馈的CAD／CAE一体化模型。该方法提高了CAE与CAD技术的集成度，使CAE结果快速响应到设计进程中，有效提高了产品设计的并行性。以挖掘机建模为例进行了验证。
六、基于优化算法的轨迹规划建模研究
以既能达到良好的轨迹规划精度，又有优良的操纵平稳性及节能效果为目标，提出了一种挖掘机器人的多领域协同轨迹规划方法。以挖掘姿态角为优化变量，油缸进程和加速度梯度为双目标，位置盲角和最佳切削范围为约束建立优化数学模型，采用遗传算法寻找最优值。最后对多种规划策略进行了实验对比，分析结果表明采用该方法可以大幅减少液压系统冲击和振动，使挖掘机操纵更加平稳。
七、液压挖掘并行设计平台研究
建立了集成CAD、CAE模块和控制仿真模块的液压挖掘并行设计平台，结合面向设计进程的柔性设计支持体系，支持液压挖掘机的设计开发。
After a systematic analysis of the state-of-the-art of research on concurrent and cooperative design, a design methodology for complex products like excavator is originally put forward for computer-aided design of technical artifacts, aiming at solving some crucial issues in this research area such as process modeling, design supporting and CAD/CAE integrated modeling, control planning etc. The primary contributions are as follows.
First, according to the design requirement of the concurrent engineering, the solution method was proposed based on the products' information growth and the model's dynamic regeneration. The knowledge frame of dynamic solution was built, and three key problems were mentioned: knowledge expression, flexible modeling system and the spiral design progress for the following research.
Secondly, research on flexible modeling strategy for dynamic solution. The theory of products' general and limited design potential model was proposed, based on the traditional logic and potential model theories and combined with the information expanding process of the complex products' parameters, objects and constraints. The traditional functions were reconstructed using the complex functions' multistage decomposition and confidence sequencing methods. The single product information model was extended to a process model with design guide and reasoning performance based on sensitivity analysis, in order to set the foundation of this theory's application. The application example of excavator design indicates that the reconstructed design supporting model is flexible and suitable for the concurrent design requirements.
Thirdly, research on flexible design support model based on potential model theory. The multiple knowledge models were defined with expression and reasoning mode for the complex product design's dynamic and incomplete information reasoning requirements, which has the potential, flexible and design-guiding characteristics. The design supporting models for the expanded design process were reorganized based on above model. The design direction was recommended by the design guiding, to improve the efficiency of problem solving in addition. This method can ensure the consistency and continuity of design knowledge used in different phase models and expands the model with design information's expanding. Finally the example of excavator design was used to show the modeling method and application.
Fourthly, research on spiral design process model of complex products like excavator. The improved spiral process model and potential model were proposed to the concurrent design engineering, to make up the disadvantages of the traditional design process, including the immovable design phases, redundancies of knowledge resource and absent dynamic adjustments. The stepwise process style and product model can improve the efficiency of modeling and solving, which is required by the life-cycle product's design. In addition, the design risk can be examined by the expanded constraint network, based on the potential model theory. The modification method of using current information to correct the forgoing design model was imported in the design feedback, to deduce the conflict according to the model predigestion and design supposion. In the end the example of excavator design was shown to prove this method.
Fifthly, research on integrated modeling technology of CAD and CAE. The detached status between CAD and CAE technology was analyzed. The CAD parameterized modeling method can resolve the modeling and optimizing problem of the current CAE software. The virtual prototype CAD and CAE integration modeling research was made, based on the parameterized design method for general optimization, the entireness modeling and assembling technology, and the ADAMS and PRO/E united modeling technology. In the end the excavator's work device parameterized model and the virtual excavator prototype was built to validate this method. It improves the relevancy between CAD and CAE, and the conclusion of CAE can respond to the design flow immediately. So the design cycle is reduced and the quality of the product is improved.
Sixthly, research on excavator's path planning based on optimization method. In order to obtain an accurate trajectory with manipulating stability and energy saving, an intelligent trajectory planning method is proposed. An optimizing model was built with the variables of excavating angles, the targets of hydraulic cylinder's moving and acceleration grads, and the restrictions of condition blind angle and best cutting angle range. The genetic algorithm was adopted. The analyzing results of different planning methods are given in the end, which shows that the optimizing planning method can reduce the hydraulic system's impulsion and oscillation, and improve the maculating stability effectively.
Finally, research on concurrent design platform of hydraulic excavator. The integrated platform was built with CAD&CAE modules and control planning module. Additionally the flexible design supporting model based on multiple knowledge models was built to satisfy the excavator's spiral design process.
一、基于设计支持模型动态扩张的复杂产品求解方法研究
为解决并行设计中面向下游的知识冲突和设计反馈问题，提出了产品设计的全过程策略：基于产品信息扩张和模型动态重组的动态求解知识框架。以知识集成、潜真扩展为特征重组设计模型，建立面向设计进程的潜知识表达方式；构建柔性建模机制，支持设计模型的及时更新；以螺旋进程为设计推进模式，降低设计风险，提高设计效率。
二、基于潜模型理论的的潜知识表达方法研究
首先进行了动态知识表达的理论探索：以传统逻辑论和信息论中处理不完全信息的潜模型理论为基础，结合复杂技术产品设计进程中变量、目标与约束等信息的扩张过程，提出了产品设计潜知识表达理论，描述了具有层次性、集成性和动态性的动态知识表达方式，将传统的面向单点的产品知识转变为面向进程的知识框架，使模型能响应设计进程从潜真状态逐渐向全真状态逼近。用挖掘机设计中的设计知识进行了实例改造。
三、基于动态知识表达的柔性设计支持模型研究
在阐述了产品动态知识框架的基础上，构造了复合知识模型，阐述了复合知识模型由知识源和模型重组机制组成的本质。知识源具有潜真性、灵活性、感应性和设计导向性等潜知识特征，设计者在同步知识源所组成的公共知识块的基础上进行并行建模，包括约束网络、优化模型、分析模型和评价模型等，降低模型间的知识冲突，实现模型的及时重组和动态响应反馈。提出了以层次型设计需求、未知变量敏度和函数完整度三种方式共同作用的设计导向机制，协助设计者优选设计路径。
四、螺旋设计进程研究
建立了基于复合知识模型的螺旋设计进程，提出了以扩张的设计模型、分析模型、评价模型、优化模型支持的四个设计阶段循环渐进的推进策略，以渐进的进程模式和逐步扩张的产品模型代替以往的固化方式，同时增加柔性约束网络进行冲突风险检测，以产品性能目标的扩展和渐进驱动设计进程。在设计反馈中引入了以后期产品信息修正前期设计模型的方式，降低了模型假设和简化带来的设计冲突，提高设计效率和效果。以挖掘机优化设计为例，进行了实例验证。
五、面向分析的集成建模技术研究
针对CAD／CAE集成困难的现状，提出了利用CAD参数化技术对CAE仿真模型进行自动建模，解决CAE软件自身无法克服的建模难、优化难问题。以面向广义优化的参数化建模、基于布局与骨架的整机建模及装配技术、ADAMS与PRO／E联合建模技术为基础，建立了面向分析反馈的CAD／CAE一体化模型。该方法提高了CAE与CAD技术的集成度，使CAE结果快速响应到设计进程中，有效提高了产品设计的并行性。以挖掘机建模为例进行了验证。
六、基于优化算法的轨迹规划建模研究
以既能达到良好的轨迹规划精度，又有优良的操纵平稳性及节能效果为目标，提出了一种挖掘机器人的多领域协同轨迹规划方法。以挖掘姿态角为优化变量，油缸进程和加速度梯度为双目标，位置盲角和最佳切削范围为约束建立优化数学模型，采用遗传算法寻找最优值。最后对多种规划策略进行了实验对比，分析结果表明采用该方法可以大幅减少液压系统冲击和振动，使挖掘机操纵更加平稳。
七、液压挖掘并行设计平台研究
建立了集成CAD、CAE模块和控制仿真模块的液压挖掘并行设计平台，结合面向设计进程的柔性设计支持体系，支持液压挖掘机的设计开发。
After a systematic analysis of the state-of-the-art of research on concurrent and cooperative design, a design methodology for complex products like excavator is originally put forward for computer-aided design of technical artifacts, aiming at solving some crucial issues in this research area such as process modeling, design supporting and CAD/CAE integrated modeling, control planning etc. The primary contributions are as follows.
First, according to the design requirement of the concurrent engineering, the solution method was proposed based on the products' information growth and the model's dynamic regeneration. The knowledge frame of dynamic solution was built, and three key problems were mentioned: knowledge expression, flexible modeling system and the spiral design progress for the following research.
Secondly, research on flexible modeling strategy for dynamic solution. The theory of products' general and limited design potential model was proposed, based on the traditional logic and potential model theories and combined with the information expanding process of the complex products' parameters, objects and constraints. The traditional functions were reconstructed using the complex functions' multistage decomposition and confidence sequencing methods. The single product information model was extended to a process model with design guide and reasoning performance based on sensitivity analysis, in order to set the foundation of this theory's application. The application example of excavator design indicates that the reconstructed design supporting model is flexible and suitable for the concurrent design requirements.
Thirdly, research on flexible design support model based on potential model theory. The multiple knowledge models were defined with expression and reasoning mode for the complex product design's dynamic and incomplete information reasoning requirements, which has the potential, flexible and design-guiding characteristics. The design supporting models for the expanded design process were reorganized based on above model. The design direction was recommended by the design guiding, to improve the efficiency of problem solving in addition. This method can ensure the consistency and continuity of design knowledge used in different phase models and expands the model with design information's expanding. Finally the example of excavator design was used to show the modeling method and application.
Fourthly, research on spiral design process model of complex products like excavator. The improved spiral process model and potential model were proposed to the concurrent design engineering, to make up the disadvantages of the traditional design process, including the immovable design phases, redundancies of knowledge resource and absent dynamic adjustments. The stepwise process style and product model can improve the efficiency of modeling and solving, which is required by the life-cycle product's design. In addition, the design risk can be examined by the expanded constraint network, based on the potential model theory. The modification method of using current information to correct the forgoing design model was imported in the design feedback, to deduce the conflict according to the model predigestion and design supposion. In the end the example of excavator design was shown to prove this method.
Fifthly, research on integrated modeling technology of CAD and CAE. The detached status between CAD and CAE technology was analyzed. The CAD parameterized modeling method can resolve the modeling and optimizing problem of the current CAE software. The virtual prototype CAD and CAE integration modeling research was made, based on the parameterized design method for general optimization, the entireness modeling and assembling technology, and the ADAMS and PRO/E united modeling technology. In the end the excavator's work device parameterized model and the virtual excavator prototype was built to validate this method. It improves the relevancy between CAD and CAE, and the conclusion of CAE can respond to the design flow immediately. So the design cycle is reduced and the quality of the product is improved.
Sixthly, research on excavator's path planning based on optimization method. In order to obtain an accurate trajectory with manipulating stability and energy saving, an intelligent trajectory planning method is proposed. An optimizing model was built with the variables of excavating angles, the targets of hydraulic cylinder's moving and acceleration grads, and the restrictions of condition blind angle and best cutting angle range. The genetic algorithm was adopted. The analyzing results of different planning methods are given in the end, which shows that the optimizing planning method can reduce the hydraulic system's impulsion and oscillation, and improve the maculating stability effectively.
Finally, research on concurrent design platform of hydraulic excavator. The integrated platform was built with CAD&CAE modules and control planning module. Additionally the flexible design supporting model based on multiple knowledge models was built to satisfy the excavator's spiral design process.
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