CN101901287A - Geometry and behavior integrated three-dimensional modeling method for spacecraft - Google Patents
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Abstract
The invention relates to a geometry and behavior integrated three-dimensional modeling method for a spacecraft. After the invention fully researches the geometric shape and behavior characteristics of the spacecraft, the invention provides the method by adopting layering modeling, model abstraction technique and computer graphics three-dimensional modeling to be combined with a molding theory. The method is simple and efficient, the model can be modified easily, the components can be transplanted and reused, and the method can be used for behavior modeling for the spacecraft, provides auxiliary means for designing and manufacturing the spacecraft, can realize reasonable unification between the three-dimensional geometrical model and the behavioral model of the spacecraft, can be applied to full life cycle and full system comprehensive management of complex aerospace products, analyzes complex products on the system layer, and supports development of the complex system from top to bottom.
Description
Technical field
The present invention relates to the spacecraft design and manufacturing technology, relate in particular to spacecraft how much and the behavior integrated three-dimensional modeling method.
Background technology
Virtual Prototype Technique is a kind of digitalized design method of the computer simulation model based on product, and these digital models are virtual prototype (virtual prototype), and it simulates actual products from vision, the sense of hearing, sense of touch and function and behavior.Virtual Prototype Technique be all kinds of CAX (as CAD, CAM, CAE etc.)/DFX (as DFA, DFM etc.) technology development it further merged modern information technologies, advanced manufacturing technology and advanced emulation technology, these technology are applied to complex product Life cycle, total system, and they are carried out integrated management, come the Analysis of Complex product from the aspect of system, support the complication system development mode of " from top to bottom ".Virtual Prototype Technique is as a kind of brand-new methods of product development, it utilizes virtual prototype alternative physical model machine that product is carried out innovative design, test, assessment and personnel training, just become all kinds of manufacturing enterprises and shortening product development cycle, reduce cost, improve the product design quality, improve the important means of curstomer-oriented and market demand ability.Virtual Prototype Technique, for this class customer demand complexity of spacecraft, system form complicated, product technology is complicated, the Virtual Prototype Technique of the complex product of complicate fabrication process, project management complexity, is just becoming the new focus of the numerous and confused research in our times various countries.
The virtual prototype engineering of complex product relates to the integrated of personnel/tissue, management and technology relevant in the Simulation Engineering Life cycle and optimizes, become a complicated system engineering, it has proposed a series of new challenges to research, exploitation and the application of aspects such as traditional product development approach, technology, instrument.Therefore, research, exploitation and the application of carrying out the complex product Virtual Prototype Technique has crucial meaning.
Traditional spacecraft product modeling has obtained considerable result of study, but mainly concentrate on the geological information modeling of product, the completeness that product information is described is not enough, the standardization of Product Definition and standardization degree are bad, lack a kind of integrated, complete, consistent effective ways, especially complicated space product is difficult to unify on system level express, can not effectively supports the integrated performance history of spacecraft product lifecycle.
Widely used in the world at present commercial D modeling tool is (as 3DSMax, AutoCAD etc.) Shu Chu three-dimensional exchange model data structure (as 3DS form, DXF form) all is the boundary representation method that adopts based on triangular facet match solid object surface, though this data organization form is simple in structure, but it can only be the association of several polygon curved surfaces with model description, is not suitable for having the three-dimensional expression of the object (as spacecraft) of complex internal structure; B reps does not have parameter attribute to the geometric description of model, can not express the size of model assembly, position, direction, skew etc.; The 3D solid of 3DS format description also has motion characteristic, this method adopts the implementation of frame animation, it has stipulated the initial and abort frame state of action, and the animation of pilot process carries out interpolation by the control of time and obtains, and does not therefore allow the user that the model behavior parameter is controlled.
Summary of the invention
The purpose of this invention is to provide how much of a kind of spacecrafts and behavior integrated three-dimensional modeling method, can not on system level, unify to express to complicated space product to solve prior art, can not effectively support the integrated development problem of spacecraft product lifecycle.
For achieving the above object, how much of spacecrafts of the present invention and behavior integrated three-dimensional modeling method step are as follows:
(1) sets up the pel storehouse of spacecraft geometric model, comprise basic geometric graphic element in this pel storehouse and quote pel; Each basic geometric graphic element is to have model monomer single geometry, that use parameter setting;
(2) make up the model component that makes up each parts of spacecraft by pel and conversion thereof;
(3) according to the spacecraft entity structure, utilize tree data structure that the model component of each spacecraft component is connected, the model component of each parts is an independently node in model, link together with tree-shaped hierarchical structure between each node of model, root node is represented whole model, each connected node forms relative child node and father node according to the distance of distance root node, and described child node is set with parameter with respect to the conversion of father node;
(4) the spacecraft component node to the needs action carries out the kinematic parameter setting, finishes spacecraft how much and the modeling of behavior integrated three-dimensional.
Further, described parameter expression mode is a data item of utilizing geometric parameter to come each attribute of descriptive model resemblance, comprises primitive shapes, material, texture, drafting mode, and wherein material comprises surface color, luminous degree and transparency; The described pel of quoting also comprises conversion, action command parameter.
Further, the basic geometric graphic element in the pel storehouse comprises right cylinder, extrusion, sphere, space polygon, polygonal curved surface, rotary body, skin and conveyor screw in the described step (1); The described pel of quoting points to other model components, promptly the model component of quoting is used as the part in front assembly.
Further, described pel storehouse also comprises the expansion geometric graphic element, is used to finish the drafting of complicated special-effect, comprises haze effect, particIe system and digital elevation model.
Further, model component described in the described step (2) comprises the detailed structure and the attributive character of a spacecraft component.
Further, described model component is provided with the function of class in the object-oriented thought, allows to be inherited, quote and instantiation, and same child node assembly can be quoted by a plurality of father node assemblies.
Further, described model component comprises pel, state parameter, the transformation parameter of definitions component shape and other pels of quoting.
Further, the state of father node can only exert an influence to its all child nodes in the described step (3), and after some nodes produced motion, its motion state was delivered to following child node automatically.
Further, conversion comprises translation, rotation and convergent-divergent in the described step (3).
Further, kinematic parameter comprises mobile, rotation, convergent-divergent, mobile texture, rotation texture and convergent-divergent texture in the described step (4).
The present invention is after fully studying spacecraft geometric configuration and behavioural characteristic, adopt the stratification modeling, the method that the abstract technology of model and computer graphics three-dimensional modeling and moulding theory combine and proposed, this method is simply efficient, model is easy to revise, parts can be transplanted and reuse, and can carry out behavior modeling for spacecraft, for manufacturing and designing, spacecraft provides supplementary means, can realize the reasonable unification between spacecraft 3-D geometric model and the behavior model, can be applied to complicated space product Life cycle, system-wide integrated management, come the Analysis of Complex product from the aspect of system, support the complication system exploitation of " from top to bottom ".
The fundamental element of modeling method of the present invention is a pel, any solid model all is the conversion combination of some basic geometric graphic elements, these pels all adopt parameter to express, child node has also been carried out the parametrization expression with respect to the conversion (as translation, rotation, convergent-divergent etc.) of father node in tree structure, the model that parametrization is expressed readable strong, be easy to revise, solved the problem of the three-dimensional expression of spacecraft with accurate structural parameters.In addition, in processes such as emission, operation, recovery, follow finishing of various actions action, may produce phenomenons such as smog, blast, wake flame, can strengthen the verisimilitude of spacecraft three-dimensional simulation to the modeling of these special behaviors greatly at spacecraft.This patent utilizes the method for setting up the expansion geometric graphic element that the integrated of modeling method carried out in the special behaviors of multiple spacecraft such as smog, blast, engine wake flame at this present situation.
Modeling method of the present invention adopts tree data structure administrative model internal part, has tangible level, can well remedy the shortcoming of model boundary representation, and model assembly can be transplanted and reuse easily, and is easy to expansion.And model component is carried out parametrization express, under parameter control, the motion (as translation, rotation, convergent-divergent etc.) of some nodes of model component tree is delivered to the model assembly on each child node under this node, thereby realizes the expression of spacecraft parameter control 3D solid behavioural characteristic.
Description of drawings
Fig. 1 is the model component structural drawing;
Fig. 2 is a Cylinder pel synoptic diagram;
Fig. 3 is China's the Shenzhou V spacecraft three-dimensional geometry and behavior modeling design sketch;
Fig. 4 French SPOT-5 satellite modeling design sketch;
Fig. 5 international space station modeling design sketch;
No. 2 geometry of Fig. 6 Long March and behavior modeling design sketch;
Fig. 7 target blast modeling design sketch;
Fig. 8 smog modeling design sketch.
Embodiment
How much of spacecrafts of the present invention and behavior integrated three-dimensional modeling method step are as follows:
(1) sets up the pel storehouse of spacecraft geometric model, comprise basic geometric graphic element in this pel storehouse and quote pel; Each basic geometric graphic element is to have model monomer single geometry, that use parameter setting;
(2) make up the model component that makes up each parts of spacecraft by pel and conversion thereof;
(3) according to the spacecraft entity structure, utilize tree data structure that the model component of each spacecraft component is connected, the model component of each parts is an independently node in model, link together with tree-shaped hierarchical structure between each node of model, root node is represented whole model, each connected node forms relative child node and father node according to the distance of distance root node, and described child node is set with parameter with respect to the conversion of father node;
(4) the spacecraft component node to the needs action carries out the kinematic parameter setting, finishes spacecraft how much and the modeling of behavior integrated three-dimensional.
How much of spacecrafts of the present invention and behavior integrated three-dimensional modeling method are simple efficiently, model is easy to revise, parts can be transplanted and reuse, and can carry out behavior modeling for spacecraft, provide supplementary means for spacecraft manufactures and designs.The fundamental element of how much of spacecrafts of the present invention and the integrated modeling of behavior is a pel, any solid model all is the conversion combination of some basic geometric graphic elements, these pels all adopt parameter to set, in addition, child node also utilizes parameter to set with respect to the conversion (as translation, rotation, convergent-divergent etc.) of father node in tree structure.The model that parametrization is set readable strong, be easy to revise, solved the problem of the three-dimensional expression of spacecraft with accurate structural parameters.
Modeling method of the present invention adopts tree data structure administrative model internal part, has tangible level, can well remedy the shortcoming of model boundary representation, and model assembly can be transplanted and reuse easily, and is easy to expansion; Model component is carried out parametrization expresses, under parameter control, the motion (as translation, rotation, convergent-divergent etc.) of some nodes of model component tree is delivered to the model assembly on each child node under this node, thereby realizes the expression of spacecraft parameter control 3D solid behavioural characteristic.
In addition, in processes such as emission, operation, recovery, follow finishing of various actions action, may produce phenomenons such as smog, blast, wake flame, can strengthen the verisimilitude of spacecraft three-dimensional simulation to the modeling of these special behaviors greatly at spacecraft.And in the current research to various special 3-D effect modelings, be mostly at certain concrete effect, various effects are not carried out the integrated and encapsulation and the standardization of system, can easily not be used for the space flight vision emulation system.This patent utilizes the method for setting up special-effect pel (as the particIe system pel) that the integrated of modeling method carried out in the special behaviors of multiple spacecraft such as smog, blast, engine wake flame at this present situation.
The present invention is directed to the characteristics of spacecraft self, utilize the three-dimensional modeling of the integrated expression way of entity geometric model parameter and behavior parameter being realized spacecraft.This modeling technique has been used for reference OO thought, ultimate principle may be summarized to be following some:
(1) the fundamental element of model is a pel.Pel is some model monomers of definition, and a geometry (for example spherical) be described, basic geometric graphic element and quote pel composition pel storehouse.Any solid model all is the conversion combination of basic geometric graphic element, and defining basic geometric graphic element is to express for the ease of model entity being carried out parametrization.
(2) adopt Object-oriented Technique to set up model entity.Constitute the model component of each parts of spacecraft by pel and conversion thereof, model component is the base unit of modeling, and it has comprised the detailed structure and the attributive character of some parts (as solar energy sailboard).Model component has the function of class in the object-oriented thought, allows to be inherited, quote and instantiation, and same sub-component can be quoted by a plurality of parent components.
(3) utilize tree data structure that model assembly is organized.Each object instance is an independently node in model, organizes together with tree-shaped hierarchical structure between each node of model, and root node has been represented whole model.We can use top-down method that a geometric object is decomposed, and also can be reconstructed geometric object with bottom-up building method.
Come the implementation process of the inventive method specifically from several respects such as demonstration of model geometric parameter expression, behavior modeling, model below.
1, model geometric parameter expression
The geometric parameter of model is the data item of descriptive model resemblance various aspects attribute.Mainly comprise primitive shapes, material (surface color, luminous degree, transparency etc.), texture, drafting mode etc.The parameter assignment generally all provides in assembly or pel definition.
1.1 pel
Pel is used for the single entities definition in the present invention, and they all can be modified by parameter.Pel is divided into two big classes, one class is a geometric graphic element, and another kind of is to quote pel (ReferCom), and it points to other assemblies, promptly the assembly of quoting is used as the part when front assembly, the tree structure of model description mainly points to other assemblies by reference node and forms.Pel can be made amendment by parameter, for example conversion, color, transparency etc.We have defined eight kinds of basic geometric graphic elements (as shown in table 1) and multiple expansion geometric graphic element in the modeling of entity spacecraft, and the expansion pel mainly is the drafting of finishing complicated special-effect.The 4th part is seen below in concrete pel explanation, and model parameter is described referring to back the 5th part.
Geometric graphic element of the present invention is described flexibly, and same pel is provided with different parameters, can define different geometric configurations.With pel Cylinder is example, and it can derive multiple geometric configurations such as cylinder, circular cone, round platform, prism, pyramid, terrace with edge.In addition, the present invention describes spacecraft for simplicity in emission, the various effects (as flame, smolder, blast etc.) that may occur in the operational process, multiple dynamic expansion geometric graphic elements such as haze effect, particIe system have been designed, these dynamic effects are treated as a basic geometric graphic element, can be significantly reduced the workload of descriptive model.For quoting pel, it not only can comprise the component Name of quoting, and can also comprise orders such as conversion, action, also can comprise some parameters.
In the spacecraft modeling process, we decompose the spacecraft model of complexity by level, till the form that can be expressed as eight kinds of pels in the table 1.Each pel all has own special feature description parameter and texture description parameter.
Our employing＜pel key word 〉,＜/the pel key word〉combination defines a complete pel.For example, be defined as follows for a upper base radius 10, the radius 20 of going to the bottom, transparent red color cylinder body (Cylinder) pel high by 20, that texture is Test.BMP:
1.2 assembly
Each assembly is certain specific part of descriptive model all, and assembly comprises pel, parameter and other pels of quoting.In whole model description, assembly plays the framework effect, can be used as the root node and the branch node of model tree structure.An assembly can comprise pel (for example polygon and cylindrical), some state parameters (for example color and transparency), the transformation parameter (rotation, translation, convergent-divergent) of definitions component shape and other assembly (as shown in Figure 1) of quoting.
Model component is by key word＜Component ComponentName 〉,＜/Component〉definition, references component usefulness＜ReferCom ReferComName 〉,＜/ReferCom〉expression.For example, we can define an assembly that is named as Cone with following description.Comprise a right cylinder pel and translation transformation thereof in this assembly, also comprised sub-component and the rotational transform thereof of a Box by name.
1.3 conversion
Conversion both can be used for size, position and the direction of interior definitions component of 3d space or pel, also can be used for the definition of pel texture.For the 3d space conversion, we have defined three kinds of modes:
Rotation---around X, Y or the Z axle rotary components of parent component.The parametric description form is: Rotate＜rx〉＜ry〉＜rz 〉.
Convergent-divergent---enlarge or dwindle assembly at X, the Y of parent component or Z axle.The parametric description form is: Scale＜sx〉＜sy〉＜sz 〉.
Translation---with respect to X, Y or the parallel moving assembly of Z axle of parent component.The parametric description form is: Translate＜tx〉＜ty〉＜tz 〉.
All sub-components are inherited the conversion of parent component.All conversion realize by the order in the assembly.
For texture transformation, we have defined translation, rotation, convergent-divergent equally.Key word is respectively TxTranslate, TxRotate, TxScale, and parameter is identical with the 3d space conversion.
2, behavior modeling
The behavior model of entity is to make up on the basis of geometric model.Because model component is with tree-shaped hierarchical structure tissue, so can on the node of moving component motion be defined needing, can look rule to the state transfer between each node simultaneously and limit, the behavior of these definition externally driving of parameter realizes down.The state of each father node can have influence on its all child nodes, but can not influence other node.That is to say that after some nodes produced motion, its motion state was delivered to following child node automatically, and child node only need be calculated the motion state with respect to father node.
The following formal definition of nodes ' behavior feature:
Movement＜denomination of dive〉＜the action key word〉＜minimum value〉＜initial value〉＜maximal value 〉
＜denomination of dive〉definition can play the effect that some actions are discerned, it is unique in same model.＜action key word〉defined the mode of moving, it has comprised that several type of sports are as shown in table 2:
＜initial value〉＜maximal value〉defined the start-stop scope of node kinematic parameter.Need to prove that the motion of any one node all is with respect to the father node coordinate system.
3, models show
The method of the tree-shaped hierarchical model memory node that the present invention adopts has more easily realized the demonstration to solid model, and display operation can be based on the depth-first recurrence ergodic algorithm of tree.
As shown in Figure 3, be China's the Shenzhou V spacecraft three-dimensional geometry and behavior modeling design sketch, the figure illustrates behaviors such as the stretching, extension of airship model solar energy sailboard, main engine ignition, attitude adjustment engine operation, these behaviors can be implemented under parameter control.
Be illustrated in figure 4 as French SPOT-5 satellite modeling design sketch.
Be illustrated in figure 5 as international space station modeling design sketch.
Be illustrated in figure 6 as No. 2 geometry of the Long March and behavior modeling design sketch, utilize particIe system expansion pel to rocket flame behavior carry out modeling.
Be illustrated in figure 7 as target blast modeling design sketch.
Be illustrated in figure 8 as smog modeling design sketch.
4, pel explanation
We have defined eight kinds of basic geometric graphic elements in the modeling of entity spacecraft, being described in detail as follows of this eight kinds of basic geometric graphic elements.
4.1Cylinder pel
The Cylinder pel will draw one cylindrical, as shown in Figure 2, table 3 is a Cylinder pel parameter list.
4.2Extrusion pel
The Extrusion pel is along the xsect of the length of the inswept one section definition of X-axis, and extruding part is the no end cap object of hollow.Data has partly defined the summit of each xsect.The NumVerts parameter is the quantity that comprises in the xsect definition a little.
When squeeze-up of definition, keyword Data must monopolize delegation, and each point in this external cross section (by x, y, z definition) also must be monopolized delegation.As shown in table 4 below is Extrusion pel parameter list.
4.3Helix pel
The Helix pel helix that draws, parameter list is as shown in table 5 below.
4.4PolygonPel
A Polygon pel generates a zone by the definition of Data point, the number of NumVerts parameter-definition Data parameter mid point.Each row in the Data parameter is polygonal point.NumVerts and Data parameter all must definition.
When polygon of definition, keyword Data must monopolize delegation.Each point of polygon (by x, y, z definition) also must be monopolized delegation in addition.Parameter is as shown in table 6 below.
4.5PolygonMesh pel
The PolygonMesh pel is used for storing the data that import from the master pattern program.If polygonal mesh has texture, must replace the Data parameter with the DataTx parameter.The NumVerts parameter-definition is included in the quantity of the point in Data or the DataTx parameter.A point of each the row definition grid in the Data parameter.NumVerts, Data or DataTx, NumPolys and Polys parameter must define.Define a polygonal mesh, keyword Data or DataTx must monopolize delegation.In addition, each point of polygonal mesh (by x, y, z definition) also must be monopolized delegation.Parameter is as shown in table 7 below.
4.6Revolve pel
The Revolve pel generates an xsect that rotates around X-axis.The NumVerts parameter-definition is included in the quantity of the point in the Data parameter.Each row in the Data parameter is a summit of xsect.StartAngle, NumVerts, the Data parameter must be defined as a rotation.Give an example, rotating a circle from the initial place to generate an annulus.
When rotation of definition, keyword Data must monopolize delegation.In addition, each point in the rotation (by x, y, z definition) also must be monopolized delegation.As shown in table 8 below is Revolve pel parameter.
4.7Skin pel
The Skin pel connects two or more xsects (the some definition that xsect is provided by data), forms the outside surface (skin) of a hollow.The quantity of the NumFramePts parameter-definition xsect in the Data parameter.Each row in the Data parameter is a point of shell.NumFrames, NumFramePts and Data parameter must define in the shell pel.
When pel of definition, keyword Data must monopolize delegation.In addition, each point in the shell (by x, y, z definition) also must be monopolized delegation.The pel parameter is as shown in table 9 below.
4.8Sphere pel
The Sphere pel generates an entity geometric profile, and the surface is generated by the equidistant points from the center.As shown in table 10 below is Sphere pel parameter.
5, parameter declaration
Parameter is used to further describe assembly and pel.Following chart provides the Short Description of various parameters in the model file.In most of examples, a parameter is inherited by all sub-components/pel, provides in the description of the parameter of exception in form.
Claims (10)
1. how much of spacecrafts and behavior integrated three-dimensional modeling method is characterized in that the step of this method is as follows:
(1) sets up the pel storehouse of spacecraft geometric model, comprise basic geometric graphic element in this pel storehouse and quote pel; Each basic geometric graphic element is to have model monomer single geometry, that use parameter setting;
(2) make up the model component that makes up each parts of spacecraft by pel and conversion thereof;
(3) according to the spacecraft entity structure, utilize tree data structure that the model component of each spacecraft component is connected, the model component of each parts is an independently node in model, link together with tree-shaped hierarchical structure between each node of model, root node is represented whole model, each connected node forms relative child node and father node according to the distance of distance root node, and described child node is set with parameter with respect to the conversion of father node;
(4) the spacecraft component node to the needs action carries out the kinematic parameter setting, finishes spacecraft how much and the modeling of behavior integrated three-dimensional.
2. modeling method according to claim 1, it is characterized in that: described parameter expression mode is to utilize geometric parameter to come the data item of each attribute of descriptive model resemblance, comprise primitive shapes, material, texture, drafting mode, wherein material comprises surface color, luminous degree and transparency; The described pel of quoting also comprises conversion, action command parameter.
3. modeling method according to claim 2 is characterized in that: the basic geometric graphic element in the described step (1) in the pel storehouse comprises right cylinder, extrusion, sphere, space polygon, polygonal curved surface, rotary body, skin and conveyor screw; The described pel of quoting points to other model components, promptly the model component of quoting is used as the part in front assembly.
4. modeling method according to claim 3 is characterized in that: described pel storehouse also comprises the expansion geometric graphic element, is used to finish the drafting of complicated special-effect, comprises haze effect, particIe system and digital elevation model.
5. according to each described modeling method among the claim 1-4, it is characterized in that: model component described in the described step (2) comprises the detailed structure and the attributive character of a spacecraft component.
6. modeling method according to claim 5 is characterized in that: described model component is provided with the function of class in the object-oriented thought, allows to be inherited, quote and instantiation, and same child node assembly can be quoted by a plurality of father node assemblies.
7. modeling method according to claim 6 is characterized in that: described model component comprises pel, state parameter, the transformation parameter of definitions component shape and other pels of quoting.
8. modeling method according to claim 7 is characterized in that: the state of father node can only exert an influence to its all child nodes in the described step (3), and after some nodes produced motion, its motion state was delivered to following child node automatically.
9. modeling method according to claim 8 is characterized in that: conversion comprises translation, rotation and convergent-divergent in the described step (3).
10. modeling method according to claim 9 is characterized in that: kinematic parameter comprises mobile, rotation, convergent-divergent, mobile texture, rotation texture and convergent-divergent texture in the described step (4).
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| CN106227066A (en) * | 2016-09-30 | 2016-12-14 | 西北工业大学 | The configurable visual display method of spacecraft space manipulation |
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