CN106383969A - Multi-body simulation data interaction method for launch vehicle - Google Patents
Multi-body simulation data interaction method for launch vehicle Download PDFInfo
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Abstract
The invention relates to a multi-body simulation data interaction method for a launch vehicle. The method comprises the following steps: step (1), establishing a finite element model of the launch vehicle; step (2), performing shutdown analysis of the launch vehicle, updating or acquiring the current time sequence; step (3), performing time series analysis for each component of the launch vehicle and acquiring the status of each component of the launch vehicle through the time sequence and a preset offset value; step (4), configuring status parameters for each component of the launch vehicle, establishing interactive data cards between various components, and filling the interactive data cards with output parameters of the various components under the current status; and step (5), using a Lagrange equation of the first kind to discretize the finite element model established in the step (1) and external forces generated by the various components in the step (4) into differential-algebraic equations, solving the equations, and obtaining the displacement and load of each node in the finite element model of the launch vehicle. The multi-body simulation data interaction method for the launch vehicle provided by the invention realizes the general dynamics simulation of the launch vehicle, and realizes the calculation of the flight trajectory, attitude and load of the launch vehicle.
Description
Technical field
The present invention relates to a kind of Dynamics Simulation method with instruction action, the many bodies of especially a kind of carrier rocket
Emulation data interactive method, belongs to Launch Vehicle mechanics emulation field.
Background technology
In carrier rocket flight, each part chronologically when string instruction switching state after, control rocket press new state work.As
Engine, starts and produces thrust, in tank, propellant consumes therewith after being connected to start-up command, and rocket body track profile etc. continues
Change.Similar part includes solid mouse, cut spring, blasting bolt, computer, aerodynamic force etc. on arrow.These parts
State switching there is contact in time, there is complex data simultaneously between part and exchange, simulated program establishment, debugging are difficult easily
Error, studies a kind of general emulation mode of each model significant.
Content of the invention
The present invention proposes a kind of carrier rocket multi-simulation data interactive method, and rocket motion is expressed as many bodies power
Learn the emulation under virtual prototype, the effect of each component actuation is considered as external force suffered by model machine.Devise and go here and there during sequential and interaction number
According to management method it is achieved that carrier rocket general dynamic emulates.
The above-mentioned purpose of the present invention is mainly achieved by following technical solution：
A kind of carrier rocket multi-simulation data interactive method, comprises the steps：
(1), set up carrier rocket FEM model；
(2), carry out the shutdown analysis of carrier rocket, update or obtain the current sequential time；
(3), it is directed to each part of carrier rocket, by described sequential time and deviant set in advance, string point when carrying out
Analysis, obtains carrier rocket each part status；
(4) it is, carrier rocket each part configuration status parameter, set up interaction data card between each part, by each part simultaneously
Output parameter under current state is filled in interaction data card, and wherein output parameter includes external force that each part produces and each
Interaction parameter between part；
(5), utilize lagrange equations of the first kind, each part in the FEM model that set up step (1) and step (4)
The external force that produces discrete for differential-algebraic equation group, and solving equation group, obtain each node in carrier rocket FEM model
Displacement and load.
In above-mentioned carrier rocket multi-simulation data interactive method, carry out the shutdown analysis of carrier rocket in step (2),
The concrete grammar obtaining the current sequential time is as follows：
(2.1), set up sequential array da_TK, each sequential TKX in described sequential array da_TK represents and cannot shift to an earlier date
Each float command of precognition；
(2.2), each sequential of described sequential array da_TK is initialized, initialization value is INF, represents acquiescence
All sequential all do not send；
(2.3), calculate moment Tstep current, for each sequential in described sequential array da_TK, by predefined
Shutdown rule judgment whether trigger；Occur triggering then to enter step (2.4) if there are sequential, otherwise enter step (2.5)；
(2.4), change occurs the corresponding array value of the sequential of triggering is Tstep, and arranges da_TK array other sequential
Corresponding array value is INF, represents that other sequential all will not send；
(2.5), travel through described sequential array da_TK, search before current calculating moment Tstep, sequential array da_TK
The interior correspondence position closest to Tstep, sequential TKX of this correspondence position is the current sequential time.
In above-mentioned carrier rocket multi-simulation data interactive method, predefined shutdown rule in described step (2.3)
Comprise timing shutdown, range shutdown, depleted shutdown, semi-major axis shutdown or little overload shutdown one of form, or they
Logical combination form.
In above-mentioned carrier rocket multi-simulation data interactive method, in described step (3), obtain each part of carrier rocket
The concrete grammar of status is as follows：
(3.1), the state name of all parts is set；
(3.2), it is directed to each state name, the data structure of setting " sequential pointer "+" deviant ".Wherein, sequential pointer
Point to sequential TKX in described sequential array da_TK, deviant PY is fixed numbers；
(3.3), for each part, travel through its all state, calculate the TKX+PY value of all states, form array
TKPY, searches before current calculating moment Tstep, closest to the correspondence position of Tstep in described array TKPY, this corresponding position
The state put is this part status.
In above-mentioned carrier rocket multi-simulation data interactive method, in described step (3.2), deviant PY is double
Type numerical value.
In above-mentioned carrier rocket multi-simulation data interactive method, each part bag of carrier rocket in described step (3)
Include actual part and the virtual component of carrier rocket, wherein actual part includes engine, blasting bolt, solid mouse and is used to
Property device, described virtual component includes mission program in aerodynamic force and rrow machine.
In above-mentioned carrier rocket multi-simulation data interactive method, in described step (4), data card represents carrier rocket
The hop count group that each part carries, represents the interactive information of this part and other parts, and data card carries out unified scheduling and divides
Send out.
In above-mentioned carrier rocket multi-simulation data interactive method, set up by finite element software in described step (1)
Carrier rocket FEM model, and the correctness of FEM model is verified by two modal testing results, checking correctly enters step afterwards
Suddenly (2).
The present invention compared with prior art has the advantages that：
(1), rocket motion is expressed as the emulation under many-body dynamics virtual prototype by the present invention, by the effect of each component actuation
Fruit is considered as external force suffered by model machine, devises during sequential string and interaction data management method it is achieved that carrier rocket general dynamic
Emulation is it is achieved that the calculating of carrier rocket flight track, attitude and load；
(2), the instruction action that original for carrier rocket each part is voluntarily managed by the present invention, be changed to unified Time-Series analysis and
When string parsing, instruction action management achieves versatility, and more easy-to-use；
(3), the present invention passes through for FEM model to be directly configured to many-body dynamics virtual prototype, and each part is acted on
Effect is converted into the external force under model machine, thus not relying on the versions such as rocket series, boosting number, is various carrier rocket
General dynamics simulation platform；
(4), the part in the present invention more presses close to carrier rocket particular hardware, and interface represents the particular row of real hardware
For and interface formats unification, possess nature access HWIL simulation model machine ability.
Brief description
Fig. 1 is sequential array schematic diagram of the present invention；
Fig. 2 is the example states figure of each part of carrier rocket of the present invention.
Specific embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings：
The present invention sets up flexible multibody dynamics virtual prototype, after replacing currently widely used Mathematical Modeling, carries out fortune
Carry rocket dynamics emulation, specific carrier rocket multi-simulation data interactive method comprises the steps：
(1), rocket limited element calculation model is set up by finite element software, and verify finite element by two modal testing results
The correctness of model, checking correctly enters step (2) afterwards, and the finite element software adopting in the present invention is Patran.
(2), carry out the shutdown analysis of carrier rocket, update or obtain the current sequential time, realized by timing generator,
Concrete methods of realizing is as follows：
(2.1), set up sequential array da_TK, each sequential TKX in described sequential array da_TK represents and cannot shift to an earlier date
Each float command of precognition.
(2.2), each sequential of described sequential array da_TK is initialized, initialization value is that INF is (predefined
One larger numerical value, such as be 1E100 in the present embodiment), represent that giving tacit consent to all sequential does not all send.
(2.3), calculate moment Tstep current, for each sequential in described sequential array da_TK, by predefined
Shutdown rule judgment whether trigger, if there are sequential occur triggering then enter step (2.4), otherwise, send out without sequential
Raw triggering, then enter step (2.5).
Wherein predefined shutdown rule comprises timing shutdown, range shutdown, depleted shutdown, semi-major axis shutdown or little overload
One of shutdown form, or their logical combination form.Such as the 0s that takes off can be set to the timing shutdown of 0s；
(2.4), change occurs the corresponding array value of the sequential of triggering is Tstep, and arranges da_TK array other sequential
Corresponding array value is INF, represents that other sequential all will not send.
(2.5), travel through described sequential array da_TK, search before current calculating moment Tstep, sequential array da_TK
The interior correspondence position closest to Tstep, sequential TKX of this correspondence position is the current sequential time.It is illustrated in figure 1 this
Bright sequential array schematic diagram, current sequential is TK1.
(3), it is directed to each part of carrier rocket, by sequential time and deviant set in advance, string parsing when carrying out, obtain
Take each part status, by when string generator realize, wherein each part of carrier rocket can be rocket actual part, such as starts
Mission program etc. in machine, blasting bolt, solid mouse, inertia device etc. or virtual component, such as aerodynamic force, rrow machine.
Concrete methods of realizing is as follows：
(3.1), the state name of all parts is set；As one-level III engine includes the state names such as startup, shutdown, fault.
Each part can have any number of state, and form of Definition can be flexible and changeable, such as aerodynamic force part, can set below 0.2Ma number
For a kind of state, it is another kind of state in more than 0.2Ma.
(3.2), it is directed to each state name, the data structure of setting " sequential pointer "+" deviant ".Wherein, sequential pointer
Point to sequential TKX in described sequential array da_TK, deviant PY is fixed numbers.Such as engine start state can correspond to
TK1+0.3s, off-mode corresponds to TK2+0.0s, activates starting state after representing TK1 sequential 0.3s, and activation after TK2 sequential 0s is closed
Machine state.Decline it is only necessary to add a new malfunction as simulated 123s motor power, and be arranged on TK0+123s and touch
Send out this malfunction；Deviant PY is double type numerical value,
(3.3), for each part, travel through its all state, calculate the TKX+PY value of all states, form array
TKPY, searches before current calculating moment Tstep, closest to the correspondence position of Tstep in described array TKPY, this corresponding position
The state put is this part status.
(4), each part for carrier rocket, configuration status parameter, sets up interaction data card, Jiang Gebu between each part simultaneously
Output parameter under part current state is filled in data card, output parameter include part generation external force and with other portions
Part interaction parameter, concrete methods of realizing is as follows：
(4.1), in each state of part, configure the state parameter needed for this state, indicate entry into this state computation
The parameter of Shi Suoxu, the such as little deviation equation of engine start state, or the thrust curve under off-mode.
(4.2), each part carries a hop count group, represents the interactive information of this part and other parts, referred to as " data
Card ", is tied to during data card initialization on the memory headroom that many-body dynamics solver is opened up, and completes to adjust by management program unification
Degree and distribution.As every engine components carry a hop count group, the 1st element of array is thrust, and 2-6 is each propellant stream
Amount, 7-11 is boosted flow, and 12-13 is attitude control pivot angle.
(4.3), it is directed to each part, the state obtaining according to step (2) and (3), read this state configuration parameter, calculate
The correlation output parameter of this part is simultaneously filled in data card.
It is illustrated in figure 2 each part of the present invention and its state, the arbitrarily many state data card interactions of each part definable
Parameter.Each state all defines the configuration parameter of string configuration and state during sequential.As starting state in Fig. 2, send in TK0
0.3s is activated afterwards, according to the parameter being pre-configured with, executes calculating, exports the motor power after calculating, propellant flow rate etc..
In Fig. 2, when state name, sequential, string configuration, state configuration parameter all can carry out configuration outside, such that it is able to not change program,
Conveniently realize model generalization configuration, modification, interpolation of fault condition etc..
(5), utilize lagrange equations of the first kind, under absolute node coordinate, FEM model that step (1) is set up
Discrete with the external force in step (4) for differential-algebraic equation group, and solving equation group, obtain in carrier rocket FEM model
The displacement of each node and load.
The above, the only optimal specific embodiment of the present invention, but protection scope of the present invention is not limited thereto,
Any those familiar with the art the invention discloses technical scope in, the change or replacement that can readily occur in,
All should be included within the scope of the present invention.
The content not being described in detail in description of the invention belongs to the known technology of professional and technical personnel in the field.
Claims (8)
1. a kind of carrier rocket multi-simulation data interactive method it is characterised in that：Comprise the steps：
(1), set up carrier rocket FEM model；
(2), carry out the shutdown analysis of carrier rocket, update or obtain the current sequential time；
(3), it is directed to each part of carrier rocket, by described sequential time and deviant set in advance, string parsing when carrying out, obtain
Take carrier rocket each part status；
(4) it is, carrier rocket each part configuration status parameter, set up interaction data card between each part simultaneously, will be current for each part
Output parameter under state is filled in interaction data card, and wherein output parameter includes external force and each part that each part produces
Between interaction parameter；
(5), utilize lagrange equations of the first kind, in the FEM model that set up step (1) and step (4), each part produces
External force discrete for differential-algebraic equation group, and solving equation group, obtain the displacement of each node in carrier rocket FEM model
And load.
2. a kind of carrier rocket multi-simulation data interactive method according to claim 1 it is characterised in that：Described step
(2) carry out the shutdown analysis of carrier rocket in, the concrete grammar obtaining the current sequential time is as follows：
(2.1), set up sequential array da_TK, each sequential TKX in described sequential array da_TK represents cannot be predicted in advance
Each float command；
(2.2), each sequential of described sequential array da_TK is initialized, initialization value is INF, represent that acquiescence is all
Sequential does not all send；
(2.3), calculate moment Tstep current, for each sequential in described sequential array da_TK, by predefined pass
Whether machine rule judgment triggers；Occur triggering then to enter step (2.4) if there are sequential, otherwise enter step (2.5)；
(2.4), change occurs the corresponding array value of the sequential of triggering is Tstep, and arranges the correspondence of da_TK array other sequential
Array value is INF, represents that other sequential all will not send；
(2.5), travel through described sequential array da_TK, search before current calculating moment Tstep, in sequential array da_TK
Close to the correspondence position of Tstep, sequential TKX of this correspondence position is the current sequential time.
3. a kind of carrier rocket multi-simulation data interactive method according to claim 2 it is characterised in that：Described step
(2.3) in, predefined shutdown rule comprises timing shutdown, range shutdown, depleted shutdown, semi-major axis shutdown or little overload shutdown
One of form, or their logical combination form.
4. a kind of carrier rocket multi-simulation data interactive method according to claim 1 it is characterised in that：Described step
(3) concrete grammar obtaining carrier rocket each part status in is as follows：
(3.1), the state name of all parts is set；
(3.2), it is directed to each state name, the data structure of setting " sequential pointer "+" deviant ".Wherein, sequential pointer points to
Sequential TKX in described sequential array da_TK, deviant PY is fixed numbers；
(3.3), for each part, travel through its all state, calculate the TKX+PY value of all states, form array TKPY, look into
Look for before current calculating moment Tstep, closest to the correspondence position of Tstep in described array TKPY, the shape of this correspondence position
State is this part status.
5. a kind of carrier rocket multi-simulation data interactive method according to claim 4 it is characterised in that：Described step
(3.2) in, deviant PY is double type numerical value.
6. a kind of carrier rocket multi-simulation data interactive method according to claim 1 it is characterised in that：Described step
(3) in, each part of carrier rocket includes actual part and the virtual component of carrier rocket, wherein actual part include engine,
Blasting bolt, solid mouse and inertia device, described virtual component includes mission program in aerodynamic force and rrow machine.
7. a kind of carrier rocket multi-simulation data interactive method according to claim 1 it is characterised in that：Described step
(4) in, data card represents the hop count group that each part of carrier rocket carries, and represents the interactive information of this part and other parts, number
Carry out unified scheduling and distribution according to card.
8. a kind of carrier rocket multi-simulation data interactive method according to claim 1 it is characterised in that：Described step
(1) in, carrier rocket FEM model is set up by finite element software, and verify FEM model by two modal testing results
Correctness, checking correctly enters step (2) afterwards.
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Cited By (6)
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| CN107063244A (en) * | 2017-04-14 | 2017-08-18 | 北京航天自动控制研究所 | A kind of aircraft flight process analogy method |
| CN109491266A (en) * | 2018-11-28 | 2019-03-19 | 北京宇航系统工程研究所 | A kind of Launch vehicle flight simulation method based on more body virtual prototypes |
| CN109858189A (en) * | 2019-01-09 | 2019-06-07 | 北京蓝箭空间科技有限公司 | Carrier rocket loading analysis method |
| CN113591202A (en) * | 2021-06-22 | 2021-11-02 | 北京宇航系统工程研究所 | Method for determining engine shutdown staggered time |
| CN113704881A (en) * | 2021-08-07 | 2021-11-26 | 中国航空工业集团公司沈阳飞机设计研究所 | Method for applying inertial load to structural finite element model |
| CN115077308A (en) * | 2022-05-18 | 2022-09-20 | 中国人民解放军61191部队 | Rocket space-time position simulation method and device based on rocket launching time sequence |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107063244A (en) * | 2017-04-14 | 2017-08-18 | 北京航天自动控制研究所 | A kind of aircraft flight process analogy method |
| CN107063244B (en) * | 2017-04-14 | 2019-07-12 | 北京航天自动控制研究所 | A kind of aircraft flight process analogy method |
| CN109491266A (en) * | 2018-11-28 | 2019-03-19 | 北京宇航系统工程研究所 | A kind of Launch vehicle flight simulation method based on more body virtual prototypes |
| CN109491266B (en) * | 2018-11-28 | 2022-04-12 | 北京宇航系统工程研究所 | Carrier rocket flight simulation method based on multi-body virtual prototype |
| CN109858189A (en) * | 2019-01-09 | 2019-06-07 | 北京蓝箭空间科技有限公司 | Carrier rocket loading analysis method |
| CN113591202A (en) * | 2021-06-22 | 2021-11-02 | 北京宇航系统工程研究所 | Method for determining engine shutdown staggered time |
| CN113704881A (en) * | 2021-08-07 | 2021-11-26 | 中国航空工业集团公司沈阳飞机设计研究所 | Method for applying inertial load to structural finite element model |
| CN113704881B (en) * | 2021-08-07 | 2023-08-04 | 中国航空工业集团公司沈阳飞机设计研究所 | Inertial load application method for finite element model of structure |
| CN115077308A (en) * | 2022-05-18 | 2022-09-20 | 中国人民解放军61191部队 | Rocket space-time position simulation method and device based on rocket launching time sequence |
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