CN105718613A - Deformation simulation method for flexible cable - Google Patents
Deformation simulation method for flexible cable Download PDFInfo
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- CN105718613A CN105718613A CN201410725250.1A CN201410725250A CN105718613A CN 105718613 A CN105718613 A CN 105718613A CN 201410725250 A CN201410725250 A CN 201410725250A CN 105718613 A CN105718613 A CN 105718613A
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Abstract
The invention provides a deformation simulation method for a flexible cable. The method comprises the following steps: (1) describing the cable by management attributes, display attributes and mechanical attributes; and (2) implementing deformation display of the cable according to the mapping relation among the management attributes, the display attributes and the mechanical attributes. By adopting the method, real-time interactive dynamic adjustment can be performed on the cable in a virtual assembly environment and repeated trial installation of an actual physical prototype in cable design is avoided, thereby reducing the product research and development cycle and cost.
Description
Technical field
The present invention relates to armament systems Virtual assembly design field, be specifically related to a kind of flexible cable deformation simulation method.
Background technology
Cable, as the nerve of missile weapon system, is transmit electrically and the Important Components of communication signal.Existing commercialization computer aided design software, flexible cable can only be considered as rigid body, lack flexible cable modeling method and the module supporting cable dynamic realtime to adjust, cause the guided missile physical prototyping actual only by processing, repeatedly try for technologist to install, examination mount message is fed back to designer and completes initial designs amendment.Owing in prior art, cable design cannot realize real-time interactive design, it is impossible to the examination repeatedly on physical prototyping that loses contact with reality is installed, thus causing that research and development of products cycle and cost are significantly increased.
Summary of the invention
It is an object of the invention to provide a kind of flexible cable deformation simulation method, in virtual assembly environment, cable can be carried out real-time interactive and dynamically adjust, it is to avoid in cable design, the examination repeatedly on actual physics model machine is installed, thus saving research and development of products cycle and cost.
To achieve the above object, the present invention provides a kind of flexible cable deformation simulation method, including:
1) management attribute, display properties and mechanical attribute is adopted to describe cable；
Display properties, adopts the hierarchical structure display cable that topsheet, cross-sectional layers and branch's layer are constituted；Topsheet, with tri patch for elementary cell；Cross-sectional layers, with the face of cylinder of tri patch composition for elementary cell；Branch's layer, is connected by face of cylinder end section and forms；
Mechanical attribute, adopts mass-spring modeling to describe cable stress deformation characteristic；
ParticleMoving displacementAnd speedDetermined by the following differential equation:
In formula, particle is the end section center of circle,For particleSuffered internal force,For particleSuffered external force,For particleQuality；
Wherein,,For springCoefficient of elasticity,WithRespectively particleAnd particlePosition vector,For springFormer length,Represent the unit vector of spring force,For antivibratorDamped coefficient,WithRespectively particleAnd particleVelocity vector,For with particleThe particle number being connected；
,For the coefficient of elasticity of the spring of simulated operation power,WithThe respectively forward and backward position of mouse in drag cable process；
Use euler integration scheme that the above-mentioned differential equation is solved, it is thus achieved that after distortion of the cable, particle is in three-dimensional position and speed；
2) according to the mapping relations between management attribute, display properties and mechanical attribute, it is achieved the deformation of cable shows；
Translational movement is calculated according to particle position before and after deformation, according toCalculate rotation amount, obtain the locus transformation matrix on end section summit, particle place before and after deformation,WithThe respectively normal vector of particle place end section before and after deformation；Renewal according to locus transformation matrix finished surface lamella tri patch, thus the deformation realizing cable shows.
Above-mentioned flexible cable deformation simulation method, wherein, described management attribute includes cable essential information and connector information.
Above-mentioned flexible cable deformation simulation method, wherein, in described cable essential information, cable material determines the mass spring coefficient in mechanical attribute、With。
Above-mentioned flexible cable deformation simulation method, wherein, described display properties also includes geological information and the topology information of cable.
The flexible cable deformation simulation method of the present invention adopts the hierarchical structure display cable that topsheet, cross-sectional layers and branch's layer are constituted, and utilize the deformation that the mapping relations between mechanical attribute and display properties realize cable to show, it is achieved thereby that cable Real-time and Dynamic adjusts in virtual assembly environment, the examination repeatedly that avoiding problems in cable design on actual physics model machine is installed, and saves research and development of products cycle and cost.
Accompanying drawing explanation
The flexible cable deformation simulation method of the present invention is provided by below example and accompanying drawing.
Fig. 1 is the schematic diagram of the flexible cable deformation simulation method of the present invention.
Fig. 2 is management attribute in the present invention, display properties and mechanical attribute schematic diagram.
Fig. 3 is the spring-damper schematic diagram connecting two particles in the present invention.
Fig. 4 is adjacent particle number schematic diagram in Mass-Spring System in the present invention.
Fig. 5 is the spring system schematic diagram of simulated operation power in the present invention.
Fig. 6 is that in the present invention, distortion of the cable front-rear triangular dough sheet updates schematic diagram.
Fig. 7 is cable operated mode schematic diagram in the present invention.
Detailed description of the invention
Below with reference to Fig. 1～Fig. 7, the flexible cable deformation simulation method of the present invention is described in further detail.
Referring to Fig. 1, the flexible cable deformation simulation method of the present invention includes:
1) management attribute, display properties and mechanical attribute is adopted to describe cable；
(1) management attribute, refers to the information relevant to cable components management, it is possible to be summarized as cable essential information and connector information；Cable essential information includes cable I D, cable title, physical attribute, electric attribute etc., for the mark of cable；Connector information spinner to describe the information of the connector that cable components comprises, such as connector numbering, model, pin number, terminations and outlet method etc.；
On the one hand, management attribute is for instructing display properties to complete the display effect of cable and connector；On the other hand, the cable essential information in management attribute will be used for setting up cable stress deformation model in mechanical attribute；
(2) display properties, adopts the hierarchical structure display cable that topsheet, cross-sectional layers and branch's layer are constituted；As in figure 2 it is shown, (a) topsheet: with tri patch 1 for elementary cell, its base attribute includes the ID of tri patch, apex coordinate, normal vector etc.；(b) cross-sectional layers: the face of cylinder between two cross-section of cable circles, with the face of cylinder 2 of tri patch composition for elementary cell, its base attribute includes face of cylinder ID, end section 3ID, end section 3 central coordinate of circle, end section 3 normal vector etc.；(c) branch layer: cross-sectional layers exists syntopy between the face of cylinder, it is connected by face of cylinder end section and forms branch's layer, the base attribute of branch's layer includes son field ID, son field two ends ID, son field two end section central coordinate of circle, cross section, son field two ends normal vector etc.；The hierarchical structure artificial mains network that topsheet, cross-sectional layers and branch layer are constituted is adopted to make the artificial mains network can flexibility so that distortion of the cable emulation is possibly realized；
Display properties also includes geological information and the topology information of cable；Geological information includes the cross sectional shape of cable, bending radius, passed critical path point and cable locus etc.；Topology information mainly describes the topological organization relation between the element of composition cable, such as the topological relation etc. of main cable Yu branch cable；
(3) mechanical attribute, adopts mass-spring modeling to describe cable stress deformation characteristic；Specific as follows:
Assume particlePosition be the cross-sectional layers end section center of circle, the mechanical deformation of cable meets the following differential equation
(1)
Wherein,For particlePosition vector in three dimensions,For particleVelocity vector,For being applied to the total force on cable,For mass matrix；
To particle arbitrary on cable, meet following mechanical equation
(2)
Wherein,For particleQuality,For particleAcceleration；For particleSuffered makes a concerted effort,For particleSuffered internal force,For particleSuffered external force；
Internal forceBeing made up of spring force and damping force, introducing damping force is to prevent particle under high tension from irregular oscillation occur, connecting two particlesWithSpring-damper schematic diagram such as Fig. 3, according to Hooke's law, spring force is calculated, has
(3)
Wherein,For springCoefficient of elasticity,Provided by the cable essential information (physical attribute) in management attribute；WithRespectively particleAnd particlePosition vector；For springFormer length；Represent the unit vector of spring force；
Damping forceCan according to particleWithSpeed difference calculate, have
(4)
Wherein,For antivibratorDamped coefficient,Also provided by the cable essential information (physical attribute) in management attribute；WithRespectively particleAnd particleVelocity vector；
Except spring force and damping force, particleOn internal forceAlso with particleAdjacent particle number relevant, in Fig. 4,、、Adjacent particle number respectively 3,2,1, therefore, internal forceIt is calculated as follows
(5)
Wherein,For with particleThe particle number being connected；
In operating process, external force suffered by cable includes the fictitious force that the gravity of cable own, cabin section inwall support force and operation apply, owing to emphasis considers the deformation characteristic of cable, therefore acquiescence cable is originally in dynamic balance state under gravity and cabin section inwall support force effect, the operating physical force applied when only considering drag cable；The present invention uses this operating physical force of spring force approximate simulation, such as accompanying drawing 5, is calculated as follows
(6)
Wherein,For the coefficient of elasticity of the spring of simulated operation power, also it is provided by the cable essential information in management attribute,WithThe respectively forward and backward position of mouse in drag cable process, for calculating the amount of movement of mouse in the process of pulling；
Thus, acting on the external force on particle is:
(7)
Composite type (1) ~ formula (7), for particleMoving displacementAnd speedCan be determined by the following differential equation:
(8)
Use euler integration scheme that formula (8) is solved, it is possible to after obtaining distortion of the cable, particle is in three-dimensional position and speed；
2) according to the mapping relations between management attribute, display properties and mechanical attribute, it is achieved the deformation of cable shows；
In cable essential information, cable material determines the mass spring coefficient in mechanical attribute、With；
Mapping relations between mechanical attribute and display properties are as follows:
Referring to Fig. 6, if the deformation front and back moment is respectivelyWith, particlePlace cross-sectional layers end section vertex set is designated as, then deformation front elevational sectional vertex set is, corresponding normal vector is,By knownTry to achieve；After deformation, end section vertex set is, corresponding normal vector is,It is parallel toMoment is by particleWithThe vector being formed by connecting, have,ForMoment particlePosition vector,ForMoment particlePosition vector；Translational movement is calculated according to particle position before and after deformation, according toCalculate rotation amount, obtain the locus transformation matrix on deformation summit, cross section, front and back end；Renewal according to locus transformation matrix finished surface lamella tri patch.
In simulation process, use the interactive device drag cables such as mouse, keyboard or data glove, the simulation operation to cable.According to pulling position difference, the operation of cable there are connector operation and plastic deformation operation；What connector operated pulls position on connector, in Fig. 7 shown in (a), now, the position of operation connector is passed to power the cut cable cross section particle being connected with this connector；What plastic deformation operated pulls position on cable, in Fig. 7 shown in (b), if pulling position not on particle (the cross-sectional layers end section center of circle), then takes from pulling the particle that position is nearest.
Claims (4)
1. flexible cable deformation simulation method, it is characterised in that including:
1) management attribute, display properties and mechanical attribute is adopted to describe cable；
Display properties, adopts the hierarchical structure display cable that topsheet, cross-sectional layers and branch's layer are constituted；Topsheet, with tri patch for elementary cell；Cross-sectional layers, with the face of cylinder of tri patch composition for elementary cell；Branch's layer, is connected by face of cylinder end section and forms；
Mechanical attribute, adopts mass-spring modeling to describe cable stress deformation characteristic；
ParticleMoving displacementAnd speedDetermined by the following differential equation:
In formula, particle is positioned at face of cylinder end section circle centre position,For particleSuffered internal force,For particleSuffered external force,For particleQuality；
Wherein,,For springCoefficient of elasticity,WithRespectively particleAnd particlePosition vector,For springFormer length,Represent the unit vector of spring force,For antivibratorDamped coefficient,WithRespectively particleAnd particleVelocity vector,For with particleThe particle number being connected；
,For the coefficient of elasticity of the spring of simulated operation power,WithThe respectively forward and backward position of mouse in drag cable process；
Use euler integration scheme that the above-mentioned differential equation is solved, it is thus achieved that after distortion of the cable, particle is in three-dimensional position and speed；
2) according to the mapping relations between management attribute, display properties and mechanical attribute, it is achieved the deformation of cable shows；
Translational movement is calculated according to particle position before and after deformation, according toCalculate rotation amount, obtain the locus transformation matrix on end section summit, particle place before and after deformation,WithThe respectively normal vector of particle place end section before and after deformation；Renewal according to locus transformation matrix finished surface lamella tri patch, thus the deformation realizing cable shows.
2. flexible cable deformation simulation method as claimed in claim 1, it is characterised in that described management attribute includes cable essential information and connector information.
3. flexible cable deformation simulation method as claimed in claim 2, it is characterised in that in described cable essential information, cable material determines the mass spring coefficient in mechanical attribute、With。
4. flexible cable deformation simulation method as claimed in claim 1, it is characterised in that described display properties also includes geological information and the topology information of cable.
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| CN201410725250.1A CN105718613A (en) | 2014-12-04 | 2014-12-04 | Deformation simulation method for flexible cable |
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| CN201410725250.1A CN105718613A (en) | 2014-12-04 | 2014-12-04 | Deformation simulation method for flexible cable |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106709190A (en) * | 2016-12-28 | 2017-05-24 | 中国航空工业集团公司西安飞机设计研究所 | Refueling hose dynamic virtual display realization method |
| CN106991203A (en) * | 2015-11-13 | 2017-07-28 | 通用汽车环球科技运作有限责任公司 | For the method for the elastic property for determining motor vehicle bunch of cables |
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| CN101799845A (en) * | 2010-03-01 | 2010-08-11 | 南京航空航天大学 | Method for realizing flexible cable assembling model in virtual assembling environment |
| CN102323747A (en) * | 2011-09-27 | 2012-01-18 | 北京理工大学 | Method and device for performing assembly simulation on flexible cable |
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2014
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Patent Citations (4)
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| US20020123812A1 (en) * | 1998-12-23 | 2002-09-05 | Washington State University Research Foundation. | Virtual assembly design environment (VADE) |
| CN1832670A (en) * | 2005-03-11 | 2006-09-13 | 北京理工大学 | Cable wiring method at virtual environment |
| CN101799845A (en) * | 2010-03-01 | 2010-08-11 | 南京航空航天大学 | Method for realizing flexible cable assembling model in virtual assembling environment |
| CN102323747A (en) * | 2011-09-27 | 2012-01-18 | 北京理工大学 | Method and device for performing assembly simulation on flexible cable |
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| 马立元等: "基于质点-弹簧系统的柔性线缆建模及其运动仿真", 《系统仿真学报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106991203A (en) * | 2015-11-13 | 2017-07-28 | 通用汽车环球科技运作有限责任公司 | For the method for the elastic property for determining motor vehicle bunch of cables |
| CN106709190A (en) * | 2016-12-28 | 2017-05-24 | 中国航空工业集团公司西安飞机设计研究所 | Refueling hose dynamic virtual display realization method |
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Application publication date: 20160629 |