CN109815518A - Design Method of Aircraft Rudder Surface Based on Moment of Inertia Constraint - Google Patents

Design Method of Aircraft Rudder Surface Based on Moment of Inertia Constraint Download PDF

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CN109815518A
CN109815518A CN201811365415.3A CN201811365415A CN109815518A CN 109815518 A CN109815518 A CN 109815518A CN 201811365415 A CN201811365415 A CN 201811365415A CN 109815518 A CN109815518 A CN 109815518A
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finite element
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rudder surface
volume
inertia
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张卫红
高彤
时光辉
宋龙龙
邱雪莹
唐磊
全栋梁
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Northwestern Polytechnical University
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Abstract

本发明公开了一种基于转动惯量约束的飞行器舵面设计方法，用于解决现有飞行器舵面设计方法设计的舵面绕转轴的转动惯量大的技术问题。技术方案是该方法首先建立舵面结构有限元模型，再对舵面结构有限元模型设置载荷以及边界条件，给定实体材料杨氏模量E(0)和泊松比μ，对建立舵面结构有限元模型进行有限元分析，计算舵面结构整体柔顺度，给定体积约束上限VU，计算当前迭代步的结构体积VC，给定转动惯量上限IU，计算当前迭代步的结构转动惯量IC，定义拓扑优化模型，进行灵敏度分析与优化迭代。经测试，在不降低其他力学性能的前提下，所设计舵面的转动惯量由7445kg*mm2降到6764kg*mm2，降幅达10.1％。

The invention discloses an aircraft rudder surface design method based on rotational inertia constraint, which is used to solve the technical problem that the rudder surface designed by the existing aircraft rudder surface design method has a large rotational inertia around a rotating shaft. The technical solution is that the method first establishes the finite element model of the rudder surface structure, and then sets the load and boundary conditions for the finite element model of the rudder surface structure, and gives the Young's modulus E (0) of the solid material and the Poisson's ratio μ, to establish the rudder surface structure. The finite element model is subjected to finite element analysis, and the overall compliance of the rudder surface structure is calculated. Given the upper limit of the volume constraint V U , the structural volume V C of the current iteration step is calculated, and the upper limit of the moment of inertia I U is given, and the structural moment of inertia of the current iteration step is calculated. I C , define the topology optimization model, perform sensitivity analysis and optimization iteration. After testing, on the premise of not reducing other mechanical properties, the moment of inertia of the designed rudder surface is reduced from 7445kg*mm 2 to 6764kg*mm 2 , a decrease of 10.1%.

Description

Vehicle rudder design method based on rotary inertia constraint
Technical field
The present invention relates to a kind of vehicle rudder design method, in particular to a kind of aircraft based on rotary inertia constraint Rudder face design method.
Background technique
Rudder face is the important composition component of aircraft, is the control surface of aircraft, is had to the overall performance for guaranteeing aircraft Great influence.As the performance indicator to aircraft is constantly promoted, rudder face performance requirement is also continuously improved.The rotation of rudder face is used Measure closely related with the performance of aircraft: on the one hand, the rotary inertia of rudder face directly affects response speed when its rotation, rotates Inertia is bigger, and response speed is slower；On the other hand, during motion of rudder, biggish rotary inertia can generate biggish Acceleration can bring biggish impact force to itself, influence the service life of rudder face.Therefore, rudder face structure is reasonably carried out to set Meter is reduced its rotary inertia while guaranteeing the mechanical property of traditional rudder face structure, the globality of aircraft is promoted with this It can just seem and be even more important.
Document " performance evaluation of aircraft rudder surface hydraulic servo actuating system ", which establishes, considers that the rigidity of structure and rudder face rotate The hydraulic servo actuating system mathematical model of axis rotary inertia, is emulated under MATLAB environment by taking certain type machine as an example, is ground Aircraft rudder surface hydraulic servo actuating system performance is studied carefully and the rigidity of structure, rudder face rotates around the axis the structural parameters such as inertia to actuation The influence of system performance.Conclusion in text points out to consider the step response of actuating system after rigidity and equivalent quality than when not considering Rise time it is elongated, i.e., initial communication lags, so in airplane design, the rigidity of structure is big as far as possible, and rudder face Rotary inertia around the shaft is small as far as possible.
Summary of the invention
In order to overcome the shortcomings of that the rotary inertia of the rudder face of existing vehicle rudder design method design around the shaft is big, this hair It is bright that a kind of vehicle rudder design method based on rotary inertia constraint is provided.This method initially sets up rudder face structure finite element mould Type, then load and boundary condition are arranged to rudder face structural finite element model, give solid material Young's modulus E(0)And Poisson's ratio μ carries out finite element analysis to rudder face structural finite element model is established, and calculates rudder face structure entirety compliance, given volume constraint Upper limit VU, calculate the structural volume V of current iteration stepC, give rotary inertia upper limit IU, calculate the structure rotation of current iteration step Inertia IC, topological optimization model is defined, sensitivity analysis and Optimized Iterative are carried out.The present invention is minimum with rudder face entirety compliance Optimization aim is constrained as optimization using rudder face structural volume and rotary inertia and carries out topology optimization design.After tested, it is not dropping Under the premise of other low mechanical properties, the rotary inertia of rudder face is decreased obviously.
A kind of the technical solution adopted by the present invention to solve the technical problems: vehicle rudder based on rotary inertia constraint Design method, its main feature is that the following steps are included:
Step 1: geometric manipulations are carried out in UG three-dimensional software to rudder face initial geometric model, then in finite element software The pre-processing module HyperMesh of HyperWorks carries out FEM meshing, as rudder face structural finite element model, and another Save as cdb format.In addition, topology design variable x is arranged in a programiInitial value, its value changes between 0-1 in optimization.I is Positive integer indicates design domain element number, 1≤i≤ne, neIndicate structural unit sum in design domain.To avoid stiffness matrix odd It is different, the lower limit x of topology design variable is setL, i.e.,
Step 2: according to simulate come aerodynamic loading, original strong plane of load of being pressurized is divided into several pieces of pressure values differences Region load and boundary condition are arranged to rudder face structural finite element model by command stream APDL language.
Step 3: given solid material Young's modulus E(0)With Poisson's ratio μ.After each iteration, according to current design variable Value updates the respective material attribute in rudder face structural finite element model.Each is calculated separately using SIMP material interpolation model Young's modulus E of the finite elements under current iteration stepi
Wherein, E(0)The Young's modulus of presentation-entity material.Penalty factor p value takes 3.
Step 4: the analysis model established to three above step carries out finite element analysis in finite element soft Ansys, Obtain structural stiffness matrix, displacement structure vector information.
For linear static analysis, structure finite element equilibrium equation is written as
KU=F (3)
In formula, K is structure Bulk stiffness matrix, and U is modal displacement vector, and F is panel load vector.
Step 5: calculating rudder face structure entirety compliance
C=UTKU (4)
Rudder face structure entirety compliance C is calculated according to formula (3).By extracting i-th of unit in Finite element analysis results Stiffness matrix kiWith motion vector ui, first calculate the compliance of each unitAgain the compliance of all units It stacks up to obtain the whole compliance C of structure.
Step 6: given volume constrains upper limit VU, the structural volume V of current iteration step is calculated using formula (4)C。
Wherein, ViIndicate the volume of i-th of solid material unit.
Step 7: given rotary inertia upper limit IU, the structure rotary inertia I of current iteration step is calculated using formula (5)C。
Wherein, ρ indicates the density value of material, ViIndicate the volume of i-th of solid material unit, riIndicate i-th of entity material Material unit is with a distance from rotary shaft.
Step 8: being constraint with structural volume, structure rotary inertia, establishing with the minimum target of structure entirety compliance Topological optimization model.
In formula, x represents the set of design variable, xiFor the design variable value of i-th of finite elements, finite elements i is indicated Density value, wherein 1≤i≤ne.Structural stiffness matrix is unusual when to avoid finite element analysis, introduces design variable lower limit xL, neRepresent design domain unit sum.Optimization aim is that the whole compliance C of structure is minimum.It include volume constraint in constraint condition.VU Represent design domain volume constraint VCThe upper limit, IURepresent design domain rotary inertia constraint ICThe upper limit, ViIt indicates i-th in design domain The volume of a solid material unit, riDistance for i-th of units centre of mass apart from rotary shaft.
Step 9: acquiring sensitivity of the objective function about design variable.The GCMMA optimization algorithm based on gradient is chosen, Iteration is optimized using self-editing topological optimization program, obtains taking rotary inertia as the Structural Topology Optimization Design knot for optimizing constraint Fruit.
The beneficial effects of the present invention are: this method initially sets up rudder face structural finite element model, then to rudder face limited configurations Load and boundary condition is arranged in meta-model, gives solid material Young's modulus E(0)With Poisson's ratio μ, have to rudder face structure is established It limits meta-model and carries out finite element analysis, calculate rudder face structure entirety compliance, given volume constrains upper limit VU, calculate current iteration The structural volume V of stepC, give rotary inertia upper limit IU, calculate the structure rotary inertia I of current iteration stepC, define topological optimization Model carries out sensitivity analysis and Optimized Iterative.The present invention is with the minimum optimization aim of rudder face entirety compliance, with rudder face structure Volume and rotary inertia are as optimization constraint progress topology optimization design.After tested, before not reducing other mechanical properties It puts, the rotary inertia of rudder face is by 7445kg*mm2Drop to 6764kg*mm2, decrease by 10.1%.
It elaborates with reference to the accompanying drawings and detailed description to the present invention.
Detailed description of the invention
Fig. 1 is that the present invention is based on the flow charts of the vehicle rudder design method of rotary inertia constraint.
Fig. 2 is the initial geometric model schematic diagram in embodiment of the present invention method.
Fig. 3 is that the initial geometric model load applying zone in embodiment of the present invention method divides and boundary condition application is shown It is intended to.
Fig. 4 is rudder face design result figure in embodiment of the present invention method.
Specific embodiment
Referring to Fig.1-4.The present invention is based on the vehicle rudder design method of rotary inertia constraint, specific step is as follows:
(a) the rudder face construction geometry model for needing to optimize is established using 3D software UG, and model is carried out referring to engineering design Tamping operations.Finite element grid is carried out to the geometrical model using the pre-processing module HyperMesh of HyperWorks software to draw Point.First carry out GTD model, using based on hexahedron when grid dividing, covering is using being assigned to surface layer unit with a thickness of 1.5mm Shell unit carry out equivalent substitution, structural unit sum is 49980, is finally designed the division in domain and non-design domain.
(b) load and boundary condition are set.For rudder face structure by aerodynamic loading during military service, there is pressure in upper and lower surface It is strong poor, and the pressure difference of different zones is different, applies 95000Pa pressure in 1 region, applies 62000Pa pressure in 2 regions, Apply 40000Pa pressure in 3 regions, apply 82000Pa pressure in 4 regions, applies 52000Pa pressure in 5 regions, in 6 regions Apply 30000Pa pressure.Boundary condition is the end face of fixed rudderpost.
(c) solid material Young's modulus E is given(0)And Poisson's ratio.After each iteration, according to current design variate-value, update Respective material attribute in structural finite element model.Each finite elements is calculated separately using SIMP material interpolation model working as Young's modulus E under preceding iteration stepi
E(0)The Young's modulus of presentation-entity material, penalty factor p value take 3.
(d) for linear static analysis, structure finite element equilibrium equation can be written as
KU=F (3)
In formula, K is structure Bulk stiffness matrix, and U is modal displacement vector, and F is panel load vector.
(e) rudder face structure entirety compliance is calculated
C=UTKU (4)
Rudder face structure entirety compliance C is calculated according to formula (3).It is by extracting in Finite element analysis results when specific calculating I-th of unit stiffness matrix kiWith motion vector ui, first calculate the compliance of each unitAgain all The compliance of unit stacks up to obtain the whole compliance C of structure.
(f) the structural volume V of current iteration step is calculated using formula (4)C
Wherein ViIndicate the volume of i-th of solid material unit.
Given design domain volume upper limit V in the present embodimentU=0.4.
(g) the structure rotary inertia I of current iteration step is calculated using formula (5)C
Wherein ViIndicate the volume of i-th of solid material unit.
Given design domain volume upper limit I in the present embodimentU=8000kg*mm2。
(h) topological optimization model is defined
It is constraint, topological optimization with the volume in overall construction design domain with the minimum optimization aim of structure entirety compliance It designs a model as follows
X represents the set of design variable, x in formulaiFor the design variable value of i-th of finite elements, indicate finite elements i's Density value, being worth when being 1 indicates to be solid material at this, and being worth when being 0 indicates at this without material.All design variable initial values are all provided with It is set to 0.35.Structural stiffness matrix is unusual when to avoid finite element analysis, introduces design variable lower limit xL=10-3, neIt represents Design domain unit sum.Optimization aim is that the whole compliance C of structure is minimum.Constraint condition is design domain volume.VURepresentative is set Count domain volume constraint VCThe upper limit, IURepresent design domain rotary inertia constraint ICThe upper limit, ViIndicate i-th of entity in design domain The volume of material cell, riDistance for i-th of units centre of mass apart from rotary shaft.
(i) in each Optimized Iterative, model is subjected to a finite element analysis first；Choose the GCMMA based on gradient Optimization algorithm optimizes iteration using self-editing topological optimization program.It illustrates, other optimization algorithms based on gradient are such as ConLin, GCM, MDPA, SLP, QP etc. are able to achieve Optimized Iterative.In addition, some other optimization methods such as Method of Optimality Criteria, Mathematical programming approach, Evolutionary structural optimization etc. also can be carried out the optimization design of the method for the present invention.
The rotary inertia upper limit of the method for the present invention given design domain volume and whole rudder face, by being obtained after 264 step iteration Optimum Design Results.Obtained structural configuration clear and rational is designed by the design result of Fig. 4 is visible.Background technique method designs rudder The rotary inertia of face structure is 7445kg*mm2, the rudder face structure rotary inertia of the method for the present invention Configuration design is 6764kg*mm2, Under the premise of not reducing other mechanical properties, 10.1% is decreased by.This example demonstrates that be based on rotation used for the method for the present invention Measure the validity of the vehicle rudder Topology Optimization Method of constraint.Illustrate that the optimum results that this method obtains are guaranteeing not reduce it The rotary inertia for reducing rudder face in the case where his mechanical property simultaneously effectively improves response speed when rudder face work, from And achieve the effect that the overall performance for promoting aircraft.

Claims (1)

1.一种基于转动惯量约束的飞行器舵面设计方法，其特征在于包括以下步骤：1. an aircraft rudder surface design method based on rotational inertia constraint is characterized in that comprising the following steps: 步骤一、对舵面初始几何模型在UG三维软件中进行几何处理，然后在有限元软件HyperWorks的前处理模块HyperMesh进行有限元网格划分，即为舵面结构有限元模型，并另存为cdb格式；另外，在程序中设置拓扑设计变量xi初始值，优化中其值在0-1之间变化；i是正整数，表示设计域单元编号，1≤i≤ne，ne表示设计域内结构单元总数；为避免刚度矩阵奇异，设置拓扑设计变量的下限xL，即Step 1. Perform geometric processing on the initial geometric model of the rudder surface in UG 3D software, and then perform finite element mesh division in the preprocessing module HyperMesh of the finite element software HyperWorks, which is the finite element model of the rudder surface structure, and save it as cdb format ; In addition, set the initial value of the topology design variable x i in the program, and its value varies between 0 and 1 during optimization; i is a positive integer, indicating the design domain unit number, 1≤i≤n e , n e indicates the structure in the design domain The total number of elements; to avoid the singularity of the stiffness matrix, set the lower bound x L of the topology design variables, namely 步骤二、根据模拟出来的气动载荷，将原有的受压强载荷面分成几块压强值不同的区域，通过命令流APDL语言，对舵面结构有限元模型设置载荷以及边界条件；Step 2: According to the simulated aerodynamic load, divide the original pressure load surface into several areas with different pressure values, and set the load and boundary conditions for the finite element model of the rudder surface structure through the command flow APDL language; 步骤三、给定实体材料杨氏模量E(0)和泊松比μ；每次迭代后，根据当前设计变量值，更新舵面结构有限元模型中的相应材料属性；采用SIMP材料插值模型分别计算每一个有限单元在当前迭代步下的杨氏模量Ei Step 3: Given the Young's modulus E (0) and Poisson's ratio μ of the solid material; after each iteration, update the corresponding material properties in the finite element model of the rudder surface structure according to the current design variable values; adopt the SIMP material interpolation model to separately Calculate the Young's modulus E i of each finite element at the current iteration step 其中，E(0)表示实体材料的杨氏模量；惩罚因子p值取3；Among them, E (0) represents the Young's modulus of the solid material; the penalty factor p value is 3; 步骤四、对以上三个步骤建立的分析模型在有限元软件Ansys中进行有限元分析，获取结构刚度矩阵、结构位移向量信息；Step 4. Perform finite element analysis on the analysis model established in the above three steps in the finite element software Ansys to obtain the information of the structural stiffness matrix and the structural displacement vector; 对于线性静力分析，结构有限元平衡方程写为For linear static analysis, the structural finite element equilibrium equation is written as KU＝F (3)KU=F (3) 式中，K为结构整体刚度矩阵，U为节点位移向量，F为节点载荷向量；where K is the overall stiffness matrix of the structure, U is the nodal displacement vector, and F is the nodal load vector; 步骤五、计算舵面结构整体柔顺度Step 5. Calculate the overall compliance of the rudder surface structure C＝UTKU (4)C=U T KU (4) 根据式(3)计算舵面结构整体柔顺度C；通过提取有限元分析结果中的第i个单元的刚度矩阵ki和位移向量ui，先计算每个单元的柔顺度再把所有单元的柔顺度叠加起来得到结构的整体柔顺度C；Calculate the overall compliance C of the rudder surface structure according to formula (3). By extracting the stiffness matrix ki and displacement vector ui of the ith element in the finite element analysis results, first calculate the compliance of each element Then add the compliance of all units to get the overall compliance C of the structure; 步骤六、给定体积约束上限VU，采用式(4)计算当前迭代步的结构体积VC；Step 6: Given the upper limit of volume constraint V U , use formula (4) to calculate the structural volume V C of the current iteration step; 其中，Vi表示第i个实体材料单元的体积；Among them, V i represents the volume of the i-th solid material unit; 步骤七、给定转动惯量上限IU，采用式(5)计算当前迭代步的结构转动惯量IC；Step 7. Given the upper limit of the moment of inertia I U , use formula (5) to calculate the moment of inertia I C of the structure at the current iteration step; 其中，ρ表示材料的密度值，Vi表示第i个实体材料单元的体积，ri表示第i个实体材料单元离旋转轴的距离；Among them, ρ represents the density value of the material, V i represents the volume of the ith solid material unit, and ri represents the distance of the ith solid material unit from the rotation axis; 步骤八、以结构整体柔顺度最小为目标，以结构体积、结构转动惯量为约束，建立拓扑优化模型；Step 8. Establish a topology optimization model with the minimum overall compliance of the structure as the goal and the structural volume and the rotational inertia of the structure as constraints; 式中，x代表设计变量的集合，xi为第i个有限单元的设计变量值，表示有限单元i的密度值，其中1≤i≤ne；为避免有限元分析时结构刚度矩阵的奇异，引入设计变量下限xL，ne代表设计域单元总数；优化目标为结构的整体柔顺度C最小；约束条件中包含体积约束；VU代表设计域体积约束VC的上限，IU代表设计域转动惯量约束IC的上限，Vi表示设计域中第i个实体材料单元的体积，ri为第i个单元质心距离旋转轴的距离；In the formula, x represents the set of design variables, x i is the design variable value of the i-th finite element, and represents the density value of the finite element i, where 1≤i≤n e ; in order to avoid the singularity of the structural stiffness matrix in the finite element analysis , introduce the lower limit of the design variable x L , ne represents the total number of elements in the design domain; the optimization objective is to minimize the overall compliance C of the structure; the constraints include volume constraints; V U represents the upper limit of the design domain volume constraint VC , and I U represents the design The upper limit of the domain moment of inertia constraint IC , Vi represents the volume of the ith solid material element in the design domain, and ri is the distance from the center of mass of the ith element to the rotation axis; 步骤九、求得目标函数关于设计变量的灵敏度；选取基于梯度的GCMMA优化算法，采用自编拓扑优化程序进行优化迭代，得到以转动惯量为优化约束的结构拓扑优化设计结果。Step 9: Obtain the sensitivity of the objective function with respect to the design variables; select the gradient-based GCMMA optimization algorithm, use the self-compiled topology optimization program to perform optimization iterations, and obtain the structural topology optimization design results with the moment of inertia as the optimization constraint.
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CN116305591B (en) * 2023-05-22 2023-09-01 西安现代控制技术研究所 Guidance rocket force-heat iteration joint optimization overall design method
CN117874920A (en) * 2024-01-15 2024-04-12 湖南大学 A topology optimization method for multi-material structures of aircraft under inertial loads

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