Modelica 液压系统的仿真
我尝试用Modelica语言在Ansys Twinbuilder 2021 R1中模拟一台液压机 整个系统如下图所示 首先,我尝试将整个系统划分为子系统。我模拟了pumpraum-1,pumpraum-2,pumpraum-3,出口组件的子系统。子系统独立工作,没有任何问题。然后我尝试将子系统编译成整个系统。那么模拟就不能顺利进行了。它会在任何时间步停止,不会继续到模拟结束。这是什么原因呢?我如何理解我整个系统中的问题在哪里 我的模型代码如下:Modelica 液压系统的仿真,modelica,Modelica,我尝试用Modelica语言在Ansys Twinbuilder 2021 R1中模拟一台液压机 整个系统如下图所示 首先,我尝试将整个系统划分为子系统。我模拟了pumpraum-1,pumpraum-2,pumpraum-3,出口组件的子系统。子系统独立工作,没有任何问题。然后我尝试将子系统编译成整个系统。那么模拟就不能顺利进行了。它会在任何时间步停止,不会继续到模拟结束。这是什么原因呢?我如何理解我整个系统中的问题在哪里 我的模型代码如下: model HD_3Kolben_bsp
model HD_3Kolben_bsp
//Declaration(s)
Real V_max = 0.000003;
Real V_tod = 0.000002;
Real N = 2800;
replaceable package medium = Modelica.Media.Water.StandardWater( );
Real opening_HP;
Real opening_LP;
constant Modelica.SIunits.AbsolutePressure patm = 1e5;
Real opening_HP_2;
Real opening_LP_2;
Real opening_HP_3;
Real opening_LP_3;
constant Modelica.SIunits.Frequency freq = 46;
//Component(s)
Modelica.Fluid.Machines.SweptVolume Kolben1 (
pistonCrossArea = 0.0001131,
clearance = 0.00000250621,
redeclare package Medium = Modelica.Media.Water.StandardWater,
nPorts = 1,
use_portsData = false,
use_T_start = true,
T_start = 293.15,
V(start = 0.005),
m(start = 0.005));
inner Modelica.Fluid.System system (p_ambient = 101325);
Modelica.Mechanics.Translational.Sources.Position Posit1 (exact = true, useSupport = false);
Modelica.Blocks.Sources.Sine Sine1 (
amplitude = 0.005567,
freqHz = freq,
offset = 0.005567,
phase = +Modelica.Constants.pi/2.01,
startTime = 0);
Modelica.Fluid.Vessels.ClosedVolume ClosedVolume1 (
V = 0.000005/2,
nPorts = 3,
redeclare package Medium = medium,
use_portsData = false);
Modelica.Fluid.Pipes.DynamicPipe pipe_CV_HD_1 (
length = 0.005,
diameter = 0.002,
redeclare package Medium = medium,
roughness = 2.5E-5);
Modelica.Fluid.Valves.ValveLinear HDVentile1 (
dp_nominal = 95,
m_flow_nominal = 0.05867441,
redeclare package Medium = medium,
opening = opening_HP);
Modelica.Fluid.Pipes.DynamicPipe pipe_ND_CV_1 (
length = 0.005,
diameter = 0.002,
redeclare package Medium = medium,
roughness = 2.5E-5);
Modelica.Fluid.Valves.ValveLinear NDVentile1 (
dp_nominal = 94.35,
m_flow_nominal = 0.05867441,
redeclare package Medium = medium,
opening = opening_LP);
Modelica.Fluid.Pipes.DynamicPipe pipe_Ein_ND (
length = 0.005,
diameter = 0.002,
redeclare package Medium = medium,
roughness = 2.5E-5);
Modelica.Fluid.Sources.FixedBoundary Einlass (p = 4e5, redeclare package Medium = Modelica.Media.Water.StandardWater, nPorts = 1);
Modelica.Mechanics.Translational.Sensors.PositionSensor Position;
Modelica.Mechanics.Translational.Sensors.PositionSensor Position2;
Modelica.Fluid.Valves.ValveLinear NDVentile2 (
dp_nominal = 94.35,
m_flow_nominal = 0.05867441,
redeclare package Medium = medium,
opening = opening_LP_2);
Modelica.Fluid.Pipes.DynamicPipe pipe_ND_CV_2 (
length = 0.005,
diameter = 0.002,
redeclare package Medium = medium,
roughness = 2.5E-5);
Modelica.Fluid.Valves.ValveLinear HDVentile2 (
dp_nominal = 95,
m_flow_nominal = 0.05867441,
redeclare package Medium = medium,
opening = opening_HP_2);
Modelica.Fluid.Pipes.DynamicPipe pipe_CV_HD_2 (
length = 0.005,
diameter = 0.002,
redeclare package Medium = medium,
roughness = 2.5E-5);
Modelica.Fluid.Vessels.ClosedVolume ClosedVolume2 (
V = 0.000005/2,
nPorts = 3,
redeclare package Medium = medium,
use_portsData = false);
Modelica.Blocks.Sources.Sine Sine2 (
amplitude = 0.005567,
freqHz = freq,
offset = 0.005567,
phase = +Modelica.Constants.pi/2.01,
startTime = 7/(3*freq));
Modelica.Mechanics.Translational.Sources.Position Posit2 (exact = true, useSupport = false);
Modelica.Fluid.Machines.SweptVolume Kolben2 (
pistonCrossArea = 0.0001131,
clearance = 0.00000250621,
redeclare package Medium = Modelica.Media.Water.StandardWater,
nPorts = 1,
use_portsData = false,
use_T_start = true,
T_start = 293.15,
V(start = 0.005),
m(start = 0.005));
Modelica.Mechanics.Translational.Sensors.PositionSensor Position3;
Modelica.Fluid.Valves.ValveLinear NDVentile3 (
dp_nominal = 94.35,
m_flow_nominal = 0.05867441,
redeclare package Medium = medium,
opening = opening_LP_3);
Modelica.Fluid.Pipes.DynamicPipe pipe_ND_CV_3 (
length = 0.005,
diameter = 0.002,
redeclare package Medium = medium,
roughness = 2.5E-5);
Modelica.Fluid.Valves.ValveLinear HDVentile3 (
dp_nominal = 95,
m_flow_nominal = 0.05867441,
redeclare package Medium = medium,
opening = opening_HP_3);
Modelica.Fluid.Pipes.DynamicPipe pipe_CV_HD_3 (
length = 0.005,
diameter = 0.002,
redeclare package Medium = medium,
roughness = 2.5E-5);
Modelica.Fluid.Vessels.ClosedVolume ClosedVolume3 (
V = 0.000005/2,
nPorts = 3,
redeclare package Medium = medium,
use_portsData = false);
Modelica.Blocks.Sources.Sine Sine3 (
amplitude = 0.005567,
freqHz = freq,
offset = 0.005567,
phase = +Modelica.Constants.pi/2.01,
startTime = 14/(3*freq));
Modelica.Mechanics.Translational.Sources.Position Posit3 (exact = true, useSupport = false);
Modelica.Fluid.Machines.SweptVolume Kolben3 (
pistonCrossArea = 0.0001131,
clearance = 0.00000250621,
redeclare package Medium = Modelica.Media.Water.StandardWater,
nPorts = 1,
use_portsData = false,
use_T_start = true,
T_start = 293.15,
V(start = 0.005),
m(start = 0.005));
Modelica.Fluid.Sources.FixedBoundary boundary1 (p = 4e5, redeclare package Medium = Modelica.Media.Water.StandardWater, nPorts = 1);
Modelica.Fluid.Pipes.DynamicPipe pipe1 (
length = 0.005,
diameter = 0.002,
redeclare package Medium = medium,
roughness = 2.5E-5);
Modelica.Fluid.Sources.FixedBoundary boundary2 (p = 4e5, redeclare package Medium = Modelica.Media.Water.StandardWater, nPorts = 1);
Modelica.Fluid.Pipes.DynamicPipe pipe2 (
length = 0.005,
diameter = 0.002,
redeclare package Medium = medium,
roughness = 2.5E-5);
Modelica.Fluid.Pipes.DynamicPipe pipe3 (
length = 0.005,
diameter = 0.0055,
redeclare package Medium = medium,
roughness = 2.5E-5,
modelStructure = Modelica.Fluid.Types.ModelStructure.av_b);
Modelica.Fluid.Pipes.DynamicPipe pipe4 (
length = 0.005,
diameter = 0.0055,
redeclare package Medium = medium,
roughness = 2.5E-5,
modelStructure = Modelica.Fluid.Types.ModelStructure.av_b);
Modelica.Fluid.Pipes.DynamicPipe pipe5 (
length = 0.005,
diameter = 0.0055,
redeclare package Medium = medium,
roughness = 2.5E-5,
modelStructure = Modelica.Fluid.Types.ModelStructure.av_b);
Modelica.Fluid.Vessels.ClosedVolume volume2 (
V = 3.13e-6,
nPorts = 4,
redeclare package Medium = medium,
use_portsData = false);
Modelica.Fluid.Pipes.StaticPipe pipe (length = 0.001, diameter = 0.002, redeclare package Medium = medium);
Modelica.Fluid.Pipes.StaticPipe pipe6 (length = 0.001, diameter = 0.002, redeclare package Medium = medium);
Modelica.Fluid.Pipes.StaticPipe pipe7 (length = 0.001, diameter = 0.002, redeclare package Medium = medium);
Modelica.Fluid.Pipes.DynamicPipe pipe10_steig (
length = 0.003,
diameter = 0.002721,
redeclare package Medium = medium,
roughness = 2.5E-5,
nNodes = 1,
modelStructure = Modelica.Fluid.Types.ModelStructure.av_b);
Modelica.Fluid.Pipes.DynamicPipe pipe9_steig (
length = 0.008,
diameter = 0.00598,
redeclare package Medium = medium,
roughness = 2.5E-5,
nNodes = 1,
modelStructure = Modelica.Fluid.Types.ModelStructure.av_b);
Modelica.Fluid.Pipes.DynamicPipe pipe8 (
length = 5,
diameter = 0.0057,
redeclare package Medium = medium,
roughness = 2.5E-5,
nNodes = 1,
modelStructure = Modelica.Fluid.Types.ModelStructure.av_b);
Modelica.Fluid.Fittings.SimpleGenericOrifice orifice4 (diameter = 0.00452, zeta = 3.5, redeclare package Medium = medium);
Modelica.Fluid.Pipes.DynamicPipe Duese_2 (
length = 0.0082,
diameter = 0.0042,
redeclare package Medium = medium,
roughness = 2.5E-5,
nNodes = 1,
modelStructure = Modelica.Fluid.Types.ModelStructure.av_b);
Modelica.Fluid.Pipes.DynamicPipe Duese_3 (
length = 0.018,
diameter = 0.00452,
redeclare package Medium = medium,
roughness = 2.5E-5,
nNodes = 1,
modelStructure = Modelica.Fluid.Types.ModelStructure.av_b);
Modelica.Fluid.Pipes.DynamicPipe Duese_4 (
length = 0.0002,
diameter = 0.0005,
redeclare package Medium = medium,
roughness = 2.5E-5,
nNodes = 1,
modelStructure = Modelica.Fluid.Types.ModelStructure.av_b);
Modelica.Fluid.Pipes.DynamicPipe Duese_1 (
length = 0.393,
diameter = 0.0074,
redeclare package Medium = medium,
roughness = 2.5E-5,
nNodes = 1,
modelStructure = Modelica.Fluid.Types.ModelStructure.av_b);
Modelica.Fluid.Pipes.DynamicPipe pistole_3 (
length = 0.02,
diameter = 0.004,
redeclare package Medium = medium,
roughness = 2.5E-5,
nNodes = 1,
modelStructure = Modelica.Fluid.Types.ModelStructure.av_b);
Modelica.Fluid.Fittings.SimpleGenericOrifice orifice2 (diameter = 0.005, zeta = 0.98, redeclare package Medium = medium);
Modelica.Fluid.Pipes.DynamicPipe pistole_1 (
length = 0.041,
diameter = 0.0057,
redeclare package Medium = medium,
roughness = 2.5E-5,
nNodes = 1,
modelStructure = Modelica.Fluid.Types.ModelStructure.av_b);
Modelica.Fluid.Fittings.SimpleGenericOrifice orifice1 (diameter = 0.005, zeta = 1, redeclare package Medium = medium);
Modelica.Fluid.Pipes.DynamicPipe pistole_2 (
length = 0.269,
diameter = 0.0069,
redeclare package Medium = medium,
roughness = 2.5E-5,
nNodes = 1,
modelStructure = Modelica.Fluid.Types.ModelStructure.av_b);
Modelica.Fluid.Pipes.DynamicPipe pipe9 (
length = 0.24,
diameter = 0.005,
redeclare package Medium = medium,
roughness = 2.5E-5,
modelStructure = Modelica.Fluid.Types.ModelStructure.av_b,
nNodes = 1);
Modelica.Fluid.Sources.FixedBoundary Auslass (p = patm, redeclare package Medium = medium, nPorts = 1);
equation
if der(Position.s)>=0 then
opening_LP=1;
opening_HP=0;
else
opening_LP=0;
opening_HP=1;
end if;
if der(Position2.s)>=0 then
opening_LP_2=1;
opening_HP_2=0;
else
opening_LP_2=0;
opening_HP_2=1;
end if;
if der(Position3.s)>=0 then
opening_LP_3=1;
opening_HP_3=0;
else
opening_LP_3=0;
opening_HP_3=1;
end if;
//Connection(s)
connect(Posit1.flange, Kolben1.flange);
connect(Sine1.y, Posit1.s_ref);
connect(pipe_CV_HD_1.port_b, HDVentile1.port_a);
connect(NDVentile1.port_b, pipe_ND_CV_1.port_a);
connect(Einlass.ports[1], pipe_Ein_ND.port_a);
connect(Posit1.flange, Position.flange);
connect(Position2.flange, Posit2.flange);
connect(NDVentile2.port_b, pipe_ND_CV_2.port_a);
connect(HDVentile2.port_a, pipe_CV_HD_2.port_b);
connect(Sine2.y, Posit2.s_ref);
connect(Posit2.flange, Kolben2.flange);
connect(Position3.flange, Posit3.flange);
connect(NDVentile3.port_b, pipe_ND_CV_3.port_a);
connect(HDVentile3.port_a, pipe_CV_HD_3.port_b);
connect(Sine3.y, Posit3.s_ref);
connect(Posit3.flange, Kolben3.flange);
connect(boundary1.ports[1], pipe1.port_a);
connect(boundary2.ports[1], pipe2.port_a);
connect(pipe_Ein_ND.port_b, NDVentile1.port_a);
connect(pipe1.port_b, NDVentile2.port_a);
connect(pipe2.port_b, NDVentile3.port_a);
connect(HDVentile1.port_b, pipe3.port_a);
connect(HDVentile2.port_b, pipe4.port_a);
connect(HDVentile3.port_b, pipe5.port_a);
connect(pipe_ND_CV_1.port_b, ClosedVolume1.ports[2]);
connect(pipe_CV_HD_1.port_a, ClosedVolume1.ports[3]);
connect(pipe_ND_CV_2.port_b, ClosedVolume2.ports[2]);
connect(pipe_CV_HD_2.port_a, ClosedVolume2.ports[3]);
connect(pipe_ND_CV_3.port_b, ClosedVolume3.ports[2]);
connect(pipe_CV_HD_3.port_a, ClosedVolume3.ports[3]);
connect(pipe3.port_b, volume2.ports[1]);
connect(pipe4.port_b, volume2.ports[2]);
connect(pipe5.port_b, volume2.ports[3]);
connect(Kolben1.ports[1], pipe.port_a);
connect(pipe.port_b, ClosedVolume1.ports[1]);
connect(Kolben2.ports[1], pipe6.port_a);
connect(pipe6.port_b, ClosedVolume2.ports[1]);
connect(Kolben3.ports[1], pipe7.port_a);
connect(pipe7.port_b, ClosedVolume3.ports[1]);
connect(pipe10_steig.port_a, Duese_3.port_b);
connect(pipe9_steig.port_b, Duese_2.port_a);
connect(pipe9_steig.port_a, Duese_1.port_b);
connect(pipe10_steig.port_b, orifice4.port_a);
connect(pistole_3.port_a, pistole_2.port_b);
connect(pistole_1.port_b, pistole_2.port_a);
connect(pipe8.port_b, pistole_1.port_a);
connect(pipe8.port_a, orifice2.port_b);
connect(orifice4.port_b, Duese_4.port_a);
connect(Duese_2.port_b, Duese_3.port_a);
connect(Duese_4.port_b, Auslass.ports[1]);
connect(Duese_1.port_a, orifice1.port_b);
connect(pistole_3.port_b, orifice1.port_a);
connect(orifice2.port_a, pipe9.port_b);
connect(pipe9.port_a, volume2.ports[4]);
end HD_3Kolben_bsp;
//----------------------------------------------------------------------------
使用Dymola,在减少解算器的相对公差后,我得到以下结果: 模型错误-区分if-then-else不连续:(if 时间<0.050724637681159424,然后0其他正弦2.振幅(289.02652413026095(时间-0.050724637681159424)+正弦2.相位) 该值从0跳至0.00556683 可以通过设置
Posit2.exact=false
来克服此错误。但随后出现了后续错误,可能是由于快速变化或整体系统不一致。如果不详细了解模型,这很难判断。所以我会把这个问题留给其他人来解决
除此之外,初始化还存在一些问题,但这些问题似乎很小:
IF97介质功能调用时压力过低p=-35428.5 Pa 611.657
关于第二点意见:
初始化问题应该通过设置以下列表中的(重要)变量来解决。该列表实际上包含模拟环境必须猜测其初始值的变量,因为未指定这些变量
Assuming fixed start value for the continuous states:
ClosedVolume1.medium.h(start = ClosedVolume1.h_start)
ClosedVolume1.medium.p(start = 101325.0)
ClosedVolume2.medium.h(start = ClosedVolume2.h_start)
ClosedVolume2.medium.p(start = 101325.0)
ClosedVolume3.medium.h(start = ClosedVolume3.h_start)
ClosedVolume3.medium.p(start = 101325.0)
Duese_1.mediums[1].h(start = Duese_1.h_start)
Duese_1.mediums[1].p(start = Duese_1.ps_start[1])
Duese_2.mediums[1].h(start = Duese_2.h_start)
Duese_2.mediums[1].p(start = Duese_2.ps_start[1])
Duese_3.mediums[1].h(start = Duese_3.h_start)
Duese_3.mediums[1].p(start = Duese_3.ps_start[1])
Duese_4.mediums[1].h(start = Duese_4.h_start)
Duese_4.mediums[1].p(start = Duese_4.ps_start[1])
Kolben1.medium.h(start = Kolben1.h_start)
Kolben1.medium.p(start = 101325.0)
Kolben2.medium.h(start = Kolben2.h_start)
Kolben2.medium.p(start = 101325.0)
Kolben3.medium.h(start = Kolben3.h_start)
Kolben3.medium.p(start = 101325.0)
pipe1.mediums[1].h(start = pipe1.h_start)
pipe1.mediums[2].h(start = pipe1.h_start)
pipe1.mediums[2].p(start = pipe1.ps_start[2])
pipe2.mediums[1].h(start = pipe2.h_start)
pipe2.mediums[2].h(start = pipe2.h_start)
pipe2.mediums[2].p(start = pipe2.ps_start[2])
pipe3.mediums[1].h(start = pipe3.h_start)
pipe3.mediums[1].p(start = pipe3.ps_start[1])
pipe3.mediums[2].h(start = pipe3.h_start)
pipe3.mediums[2].p(start = pipe3.ps_start[2])
pipe4.mediums[1].h(start = pipe4.h_start)
pipe4.mediums[1].p(start = pipe4.ps_start[1])
pipe4.mediums[2].h(start = pipe4.h_start)
pipe4.mediums[2].p(start = pipe4.ps_start[2])
pipe5.mediums[1].h(start = pipe5.h_start)
pipe5.mediums[1].p(start = pipe5.ps_start[1])
pipe5.mediums[2].h(start = pipe5.h_start)
pipe5.mediums[2].p(start = pipe5.ps_start[2])
pipe8.mediums[1].h(start = pipe8.h_start)
pipe8.mediums[1].p(start = pipe8.ps_start[1])
pipe9.mediums[1].h(start = pipe9.h_start)
pipe9_steig.mediums[1].h(start = pipe9_steig.h_start)
pipe9_steig.mediums[1].p(start = pipe9_steig.ps_start[1])
pipe10_steig.mediums[1].h(start = pipe10_steig.h_start)
pipe10_steig.mediums[1].p(start = pipe10_steig.ps_start[1])
pipe_CV_HD_1.mediums[1].h(start = pipe_CV_HD_1.h_start)
pipe_CV_HD_1.mediums[2].h(start = pipe_CV_HD_1.h_start)
pipe_CV_HD_1.mediums[2].p(start = pipe_CV_HD_1.ps_start[2])
pipe_CV_HD_2.mediums[1].h(start = pipe_CV_HD_2.h_start)
pipe_CV_HD_2.mediums[2].h(start = pipe_CV_HD_2.h_start)
pipe_CV_HD_2.mediums[2].p(start = pipe_CV_HD_2.ps_start[2])
pipe_CV_HD_3.mediums[1].h(start = pipe_CV_HD_3.h_start)
pipe_CV_HD_3.mediums[2].h(start = pipe_CV_HD_3.h_start)
pipe_CV_HD_3.mediums[2].p(start = pipe_CV_HD_3.ps_start[2])
pipe_Ein_ND.mediums[1].h(start = pipe_Ein_ND.h_start)
pipe_Ein_ND.mediums[2].h(start = pipe_Ein_ND.h_start)
pipe_Ein_ND.mediums[2].p(start = pipe_Ein_ND.ps_start[2])
pipe_ND_CV_1.mediums[1].h(start = pipe_ND_CV_1.h_start)
pipe_ND_CV_1.mediums[1].p(start = pipe_ND_CV_1.ps_start[1])
pipe_ND_CV_1.mediums[2].h(start = pipe_ND_CV_1.h_start)
pipe_ND_CV_2.mediums[1].h(start = pipe_ND_CV_2.h_start)
pipe_ND_CV_2.mediums[1].p(start = pipe_ND_CV_2.ps_start[1])
pipe_ND_CV_2.mediums[2].h(start = pipe_ND_CV_2.h_start)
pipe_ND_CV_3.mediums[1].h(start = pipe_ND_CV_3.h_start)
pipe_ND_CV_3.mediums[1].p(start = pipe_ND_CV_3.ps_start[1])
pipe_ND_CV_3.mediums[2].h(start = pipe_ND_CV_3.h_start)
pistole_1.mediums[1].h(start = pistole_1.h_start)
pistole_1.mediums[1].p(start = pistole_1.ps_start[1])
pistole_2.mediums[1].h(start = pistole_2.h_start)
pistole_2.mediums[1].p(start = pistole_2.ps_start[1])
pistole_3.mediums[1].h(start = pistole_3.h_start)
pistole_3.mediums[1].p(start = pistole_3.ps_start[1])
volume2.medium.h(start = volume2.h_start)
volume2.medium.p(start = 101325.0)
非常感谢这些信息。您能否提供有关初始化问题的更多信息,为什么会出现此问题,或者如何避免此错误?除此之外,是否有办法在Twinbuilder中查看这些错误?我不用迪莫拉。因此,我看不到这样的错误。关于1:我编辑了这篇文章以提供进一步的信息。关于2:我没有Twinbuilder,所以我没办法,对不起……非常感谢。我在初始方程部分写了这些方程。它为每个状态抛出一个错误。我遇到这样一个错误:
找不到ClosedVolume1.mediumh()的声明。
。如何定义这些组件的状态?您需要确保初始等式位于正确的层次结构级别。如果您使用的是ClosedVolume1.mediumh()
(我认为应该是ClosedVolume1.medium.h(start=…
),这应该是模型的顶层。此外,特别是对于ClosedVolume.h
,在初始化选项卡中实际上有一个名为h\u start
的参数。