CN115983075A - Numerical simulation method for recycling bidirectional fluid-solid coupling of unmanned aerial vehicle - Google Patents
Numerical simulation method for recycling bidirectional fluid-solid coupling of unmanned aerial vehicle Download PDFInfo
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Abstract
The invention belongs to the technical field of aerospace, and relates to a numerical simulation method for recovery of bidirectional fluid-solid coupling by an unmanned aerial vehicle, which comprises the following steps: dividing different calculation areas of the simulation object to obtain an outer flow field calculation domain and a solid calculation domain; carrying out mesh division on the solid calculation domain to obtain a solid calculation mesh; carrying out grid division on an external flow field calculation domain, and constructing an interpolated overlapped grid; calculating the overlapped grids after interpolation to obtain flow field data; calculating a solid calculation grid to obtain solid deformation data; outputting the coupling result by the flow field data and the solid deformation data in a fluid-solid bidirectional coupling mode; taking unmanned aerial vehicle recovery time T0 as a judgment condition, if fluid-solid coupling simulation time T is less than T0, carrying out grid torsion deformation and local grid regeneration on the outer flow field calculation domain grid according to a grid deformation threshold value, and carrying out grid reconstruction on the solid geometric domain grid; if T is larger than or equal to T0, a calculation result is output, and different applicable material characteristics of the simulation object are changed.
Description
Technical Field
The invention belongs to the technical field of aerospace, and particularly relates to a numerical simulation method for recovery bidirectional fluid-solid coupling of an unmanned aerial vehicle.
Background
Unmanned aerial vehicle recovery technology has a very high application prospect in the military field, and in recent years, the United states national Defense Advanced Research Program Administration (DARPA) has started a series of unmanned aerial vehicle recovery test flights, wherein 9 attempts to recover three 'sprites' unmanned aerial vehicles have failed to end, and the unmanned aerial vehicle recovery technology is the most important ring. In the future operation, large-scale there is man-machine and unmanned aerial vehicle's combination, the performance that will make unmanned aerial vehicle obtains full play, through being put in by active service fighter outside the enemy and defense area, unmanned aerial vehicle retrieves after carrying out corresponding combat mission, with the help of the longer dead time of carrier and range, unmanned aerial vehicle's operation distance and reaction time obtain effective promotion, both can keep pressure to the enemy through constantly sending unmanned aerial vehicle in the sky of hot area, also can cover with "machine sea" tactics has man-machine operation.
However, in the recovery process, the towing butt joint device and the carrier tail flow can affect each other with the unmanned aerial vehicle, all the components work in a cooperative mode, the probability of successful butt joint is increased, and the motion change of the whole butt joint process is analyzed by a complete numerical simulation method. In the prior art, mostly be the fluid-solid coupling of single simple model, when there are combined action such as carrier wake and flexible rope drag, the difficult realization of unmanned aerial vehicle recovery process that has complicated curved surface.
The patent CN 109783978A-an ANSYS workbench-based miniature flapping wing aircraft aerodynamic numerical simulation method describes that ANSYS workbench software is used for realizing fluid-solid coupling simulation of a simple flapping wing model, the method is only suitable for a simple model, rigid-flexible coupling complex flow simulation of a plurality of models is difficult to realize, and complex curved surface mesh adaptability is poor.
Disclosure of Invention
The invention aims to provide a numerical simulation method for recovering bidirectional fluid-solid coupling by an unmanned aerial vehicle, provides a complete rigid-flexible coupling calculation process of a multi-complex curved surface model, and solves the problems that rigid-flexible coupling of multiple models is difficult to calculate and the calculation efficiency is low.
The invention is realized by the following technical scheme:
a numerical simulation method for recovering bidirectional fluid-solid coupling of an unmanned aerial vehicle comprises the following steps:
step 1, selecting a carrier, a flexible rope and an unmanned aerial vehicle model as simulation objects;
step 2, carrying out different calculation region division on the simulation object through geometric processing to obtain an outer flow field calculation domain and a solid calculation domain;
step 3, carrying out grid division on the solid calculation domain, and uniformly distributing grid nodes on the surface of the model to obtain a solid calculation grid;
carrying out grid division on an external flow field calculation domain to generate a background grid domain of the carrier and a foreground grid domain containing flexible ropes and an unmanned aerial vehicle, controlling the grid size of the foreground grid domain and the background grid domain at the overlapping part of the foreground grid domain and the background grid domain through local encryption, and constructing an overlapped grid after interpolation;
step 4, calculating the overlapped grids after interpolation by using a fluid solver to obtain flow field data at grid nodes;
calculating the solid calculation grid generated in the step 3 by using a solid solver to obtain solid deformation data at grid nodes;
step 5, outputting the coupling result by the flow field data and the solid deformation data obtained in the step 4 in a fluid-solid bidirectional coupling mode;
step 6, taking the recovery time T0 of the unmanned aerial vehicle as a judgment condition, and carrying out grid adjustment and result output on a fluid domain and a solid domain used by the coupling part;
if the fluid-solid coupling simulation time T is not satisfied to be more than or equal to T0, performing the step 7, otherwise, performing the step 8;
step 7, carrying out grid torsion deformation and local grid regeneration on the outer flow field calculation domain grid according to a grid deformation threshold;
carrying out grid reconstruction on the solid geometric domain grid;
and 8, outputting a calculation result, checking the influence of the wake action area of the aircraft on the flexible rope and the motion trail of the unmanned aerial vehicle, judging the success rate of the recovery process and the reasonability of the layout of the separation model, adjusting and optimizing different parts, and changing different applicable material characteristics of the simulation object.
Further, in the step 2, in the unmanned aerial vehicle recovery process, the outer flow field calculation domain comprises a carrier, a flexible rope and an unmanned aerial vehicle;
the solid calculation domain comprises a flexible rope and an unmanned aerial vehicle, wherein the aerial vehicle is only responsible for generating a trail and acts on the flexible rope and the unmanned aerial vehicle part without participating in the deformation calculation of the solid.
Further, in step 3, the solid computation domain is subjected to meshing, specifically as follows:
drawing an internal solid grid aiming at the flexible rope and the unmanned aerial vehicle, dividing the grid size by taking the size of the rear edge of the unmanned aerial vehicle as a reference, sweeping the flexible rope by using a hexahedron grid, and filling the surface of the unmanned aerial vehicle by using a non-structural grid to obtain a solid calculation grid.
Further, in step 3, the mesh division is performed on the external flow field calculation domain, and the method specifically comprises the following steps:
3.1, independently drawing a fluid grid aiming at the carrier, wherein the fluid grid is used as a background grid part of an overlapped grid;
3.2, dividing the whole carrier part by 10-20 times of the size of the trailing edge of the wing, carrying out local space grid encryption on the relative space position of the flexible rope and the unmanned aerial vehicle, using the local space grid encryption for subsequent grid interpolation of overlapped parts, constructing encryption frames for main wings, horizontal tails, vertical tails and wings of the unmanned aerial vehicle with prominent aerodynamic characteristic influence, wherein the surface grid is triangular, and the space grid is filled with hexagonal cross sections by using a ploy-hexcore method; the flexible rope and the unmanned aerial vehicle draw a fluid grid together to serve as a foreground grid part of the overlapped grid;
and 3.3, carrying out mesh division on the flexible rope and the unmanned aerial vehicle according to the minimum curved surface size, carrying out encryption on the flexible rope and peripheral meshes of the unmanned aerial vehicle according to the encrypted space mesh size of the foreground mesh in the 3.2, and constructing an overlapped mesh after interpolation.
Further, in step 4, the specific obtaining process of the flow field data is as follows: and performing constant computation on the overlapped grids after interpolation by using a fluid solver, taking the final solution of the constant computation as an initial field of the unsteady computation, and beginning to compute the unsteady computation part of the computation domain of the outer flow field to obtain the flow field data at the nodes of the grids.
Further, in step 4, the specific process of obtaining the solid deformation data is as follows:
and (3) calculating the solid calculation grid generated in the step (3) by using a solid solver, selecting the time step length which is the same as that of the unsteady calculation of the outflowing field, endowing the flexible rope and the unmanned aerial vehicle with corresponding material properties, adding the gravity effect, monitoring corresponding deformation and speed parameters, and obtaining solid deformation data at the nodes of the grid.
Further, step 5 specifically comprises:
and (4) establishing the force and displacement parameter exchange of the fluid domain and the solid domain by the flow-solid bidirectional coupling mode according to the flow field data and the solid deformation data obtained in the step (4), setting the fluid-solid coupling simulation time T and the coupling time step length, adjusting the output frequency of the result to be stored in multiple coupling modes, and outputting the last coupling result.
Further, in step 7, the outer flow field calculation domain grid passes through grid fairing, and grid torsion deformation is carried out according to a grid deformation threshold; meanwhile, the outer flow field calculation domain grid carries out local grid regeneration by a linear elastomer method with the minimum grid size and the gradient value of 0.95 grid.
Further, in step 8, the calculation results include lift resistance, moment, flow field cloud map, deformation displacement, velocity and acceleration.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention discloses a numerical simulation method for recycling bidirectional fluid-solid coupling of an unmanned aerial vehicle, which adopts a far-field background grid and a moving part (such as an unmanned aerial vehicle) foreground grid, and a method for local torsional deformation and reconstruction of the foreground grid to realize rigid-flexible coupling of a plurality of models. Meanwhile, the method has good robustness on a plurality of moving parts, the motion change of the recovery process of the unmanned aerial vehicle can be reflected really if the calculation of the complex curved surface is recovered by the unmanned aerial vehicle, the motion boundary of the unmanned aerial vehicle can be simulated accurately, and the recovery safety evaluation under the combined action of carrier wake flow and flexible rope dragging is provided.
The invention can reflect the change of the flow field of the recovery process more truly by a steady and abnormal simulation mode, can adapt to the recovery processes of a plurality of unmanned aerial vehicles simultaneously, and has simple operation of the whole process, strong applicability and high engineering practicability.
The method of the invention can obtain the pneumatic parameter changes of the unmanned aerial vehicle in the recovery process, such as speed, angular velocity, angular acceleration, moment, lift resistance, and deformation displacement and cloud chart of the rope, can quickly judge the success rate and the reasonability of the layout of the recovery process, is convenient for adjusting and optimizing different components, and configures different material characteristics.
Drawings
FIG. 1 is a flow framework diagram of the present invention;
FIG. 2 is a diagram of a model used in the calculations of the present invention;
fig. 3 is an on-board background grid domain of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following detailed description is made with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
The components illustrated and described in the figures and embodiments of the present invention may be arranged and designed in a wide variety of different configurations, and accordingly, the detailed description of the embodiments of the present invention provided in the figures that follow is not intended to limit the scope of the invention, as claimed, but is merely representative of a selected embodiment of the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive efforts, based on the figures and embodiments of the present invention, belong to the scope of protection of the present invention.
The invention discloses a numerical simulation method for recovering bidirectional fluid-solid coupling of an unmanned aerial vehicle, which comprises the following steps:
step 1, selecting a carrier, a flexible rope and an unmanned aerial vehicle model as simulation objects;
step 2, carrying out different calculation area division on the simulation object through geometric processing to obtain an external flow field calculation domain and a solid calculation domain;
step 3, carrying out grid division on the solid calculation domain, and uniformly distributing grid nodes on the surface of the model to obtain a solid calculation grid;
carrying out grid division on an external flow field calculation domain to generate a background grid domain of the carrier and a foreground grid domain containing flexible ropes and an unmanned aerial vehicle, controlling the grid size of the foreground grid domain and the background grid domain at the overlapping part of the foreground grid domain and the background grid domain through local encryption, and constructing an overlapped grid after interpolation;
step 4, calculating the overlapped grids after interpolation by using a fluid solver to obtain flow field data at grid nodes;
calculating the solid calculation grid generated in the step 3 by using a solid solver to obtain solid deformation data at grid nodes;
step 5, outputting the coupling result by the flow field data and the solid deformation data obtained in the step 4 in a fluid-solid bidirectional coupling mode;
step 6, taking the recovery time T0 of the unmanned aerial vehicle as a judgment condition, and carrying out grid adjustment and result output on a fluid domain and a solid domain used by the coupling part;
if the fluid-solid coupling simulation time T is not satisfied to be more than or equal to T0, performing the step 7, otherwise, performing the step 8;
step 7, carrying out grid torsion deformation and local grid regeneration on the outer flow field calculation domain grid according to a grid deformation threshold;
carrying out grid reconstruction on the solid geometric domain grid;
and 8, outputting a calculation result, checking the influence of the wake action area of the aircraft on the flexible rope and the motion trail of the unmanned aerial vehicle, judging the success rate of the recovery process and the reasonability of the layout of the separation model, adjusting and optimizing different parts, and changing different applicable material characteristics of the simulation object.
The features and properties of the present invention are further described in detail below with reference to examples.
The invention discloses a numerical simulation method for recycling bidirectional fluid-solid coupling of an unmanned aerial vehicle, which comprises the following steps of dividing different calculation areas, setting calculation parameters of different calculation areas in an ANSYS workbench environment, performing coupling surface interpolation and data exchange on fluid and solid through system coupling, and outputting a coupled motion change result, as shown in figure 1, specifically comprising the following steps of:
step 1, selecting any carrier, a flexible rope with a certain length and an unmanned aerial vehicle model with a complex shape as shown in figure 2.
And 2, carrying out different calculation region division on the model by using Spaceclaim, wherein the model is divided into two parts, namely an external flow field calculation region and a solid calculation region. In the unmanned aerial vehicle recovery process, outflow field calculation domain needs to contain the carrier, flexible rope and unmanned aerial vehicle, and the solid calculation domain needs to contain flexible rope and unmanned aerial vehicle, and wherein the carrier is only responsible for producing the trail, comes to act on rope and unmanned aerial vehicle part, does not participate in the deformation calculation of solid.
Step 3, respectively carrying out grid division on the solid calculation domain and the outer flow field calculation domain, wherein the outer flow field calculation domain needs to use an overlapping grid method, and the specific operation steps of the grid are as follows:
step 3.1, calculating a domain grid by the outflow field: the carrier draws the fluid mesh separately, belonging to the background mesh portion of the overlapping mesh. The whole carrier part is divided by using a larger size, local space grid encryption is carried out on the relative space position of the flexible rope and the unmanned aerial vehicle, the local space grid encryption is used for subsequent grid interpolation of the overlapped part, an encryption frame is constructed for the main wing, the horizontal tail and the vertical tail which have prominent influence on aerodynamic characteristics and the wing part of the unmanned aerial vehicle, the surface grid is triangular, and the space grid is filled with a hexagon in the cross section shape by using a ply-hexcore method; the flexible rope and the unmanned aerial vehicle draw the fluid grid together, and the fluid grid belongs to the foreground part of the overlapped grid. The flexible rope and the unmanned aerial vehicle are subjected to mesh division according to the minimum curved surface size, and the flexible rope and the peripheral mesh of the unmanned aerial vehicle are encrypted according to the encrypted space mesh size at the foreground mesh.
Step 3.2, solid computing domain grid: the flexible rope and the unmanned aerial vehicle draw an internal solid grid, the size of the grid is close to that of a fluid foreground grid, the flexible rope sweeps the hexahedral grid, and the surface of the unmanned aerial vehicle is filled with a non-structural grid.
And 4, performing overlapped interpolation on the meshes of the outflow field, and using a mesh reconstruction method of smooth and remesh, wherein linear Elastic Solid is set to perform Local mesh torsional deformation in a self-adaptive manner according to a mesh deformation threshold, a Local Cell method is used to perform Local mesh reconstruction in a self-adaptive manner according to the minimum maximum mesh length and the maximum mesh gradient, the meshes are updated implicitly, and a specific global mesh is shown in FIG. 3.
And 5, calculating the overlapped grids of the given parameters in the step 4 by using the Fluent Flow, performing constant calculation, and starting an unsteady calculation part of the calculation domain of the external Flow field in the coupled calculation by using the corresponding result as an initial value of the unsteady calculation.
And 6, calculating the solid calculation grid generated in the step 3.2 by using a Transient structure, selecting a time step which is the same as the time step of the unsteady calculation of the outflow field, such as 0.0001, endowing the flexible rope and the unmanned aerial vehicle with corresponding material properties, such as nylon and structural steel, adding the gravity action, and monitoring corresponding deformation and speed parameters.
And 7, setting a coupling module, establishing force and displacement parameter exchange of a fluid domain and a solid domain by using a system coupling, setting fluid-solid coupling simulation time T and coupling time step length, adjusting the output frequency of the result to be five times of coupling, and outputting a fifth coupling result.
And 8, checking the influence of the trail action area of the carrier on the flexible rope and the movement track of the unmanned aerial vehicle in a Fluent Flow and a Transient structure of a solid solver respectively, and judging the success rate of the recovery process and the rationality of the layout of the diaphragm models according to the parameters of the unmanned aerial vehicle and the flexible rope such as (angular) speed, (angular) acceleration, lift resistance and displacement so as to adjust and optimize different components and change different applicable material characteristics.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (9)
1. The numerical simulation method for recovering bidirectional fluid-solid coupling by the unmanned aerial vehicle is characterized by comprising the following steps of:
step 1, selecting a carrier, a flexible rope and an unmanned aerial vehicle model as simulation objects;
step 2, carrying out different calculation region division on the simulation object through geometric processing to obtain an outer flow field calculation domain and a solid calculation domain;
step 3, carrying out grid division on the solid calculation domain, and uniformly distributing grid nodes on the surface of the model to obtain a solid calculation grid;
carrying out grid division on an external flow field calculation domain to generate a background grid domain of the aircraft and a foreground grid domain comprising flexible ropes and an unmanned aerial vehicle, controlling the grid size of the overlapped part of the foreground grid domain and the background grid domain through local encryption, and constructing an overlapped grid after interpolation;
step 4, calculating the overlapped grids after interpolation by using a fluid solver to obtain flow field data at grid nodes;
calculating the solid calculation grid generated in the step 3 by using a solid solver to obtain solid deformation data at grid nodes;
step 5, outputting the coupling result by the flow field data and the solid deformation data obtained in the step 4 in a fluid-solid bidirectional coupling mode;
step 6, taking the recovery time T0 of the unmanned aerial vehicle as a judgment condition, and carrying out grid adjustment and result output on a fluid domain and a solid domain used by the coupling part;
if the fluid-solid coupling simulation time T is not satisfied to be more than or equal to T0, performing the step 7, otherwise, performing the step 8;
step 7, carrying out grid torsion deformation and local grid regeneration on the outer flow field calculation domain grid according to a grid deformation threshold;
carrying out grid reconstruction on the solid geometric domain grid;
and 8, outputting a calculation result, checking the influence of a wake action area of the carrier on the flexible rope and the movement track of the unmanned aerial vehicle, judging the success rate of the recovery process and the reasonability of the separation model layout, adjusting and optimizing different parts, and changing different applicable material characteristics of the simulation object.
2. The method for simulating the numerical value of the bidirectional fluid-solid coupling for unmanned aerial vehicle recycling according to claim 1, wherein in the step 2, the outer flow field calculation domain comprises an aircraft carrier, a flexible rope and the unmanned aerial vehicle during unmanned aerial vehicle recycling;
the solid calculation domain comprises a flexible rope and an unmanned aerial vehicle, wherein the aerial vehicle is only responsible for generating a trail and acts on the flexible rope and the unmanned aerial vehicle part without participating in the deformation calculation of the solid.
3. The numerical simulation method for unmanned aerial vehicle recovery bidirectional fluid-solid coupling according to claim 1, wherein in step 3, a solid computational domain is subjected to meshing, specifically as follows:
drawing an internal solid grid aiming at the flexible rope and the unmanned aerial vehicle, dividing the grid size by taking the size of the rear edge of the unmanned aerial vehicle as a reference, sweeping the flexible rope by using a hexahedron grid, and filling the surface of the unmanned aerial vehicle by using a non-structural grid to obtain a solid calculation grid.
4. The numerical simulation method for unmanned aerial vehicle recovery bidirectional fluid-solid coupling according to claim 1, wherein in step 3, mesh division is performed on an external flow field calculation domain, and the method specifically comprises the following steps:
3.1, independently drawing a fluid grid aiming at the carrier, wherein the fluid grid is used as a background grid part of an overlapped grid;
3.2, dividing the whole carrier part by 10-20 times of the size of the trailing edge of the wing, carrying out local space grid encryption on the relative space position of the flexible rope and the unmanned aerial vehicle, using the local space grid encryption for subsequent grid interpolation of overlapped parts, constructing encryption frames for main wings, horizontal tails, vertical tails and wings of the unmanned aerial vehicle with prominent aerodynamic characteristic influence, wherein the surface grid is triangular, and the space grid is filled with hexagonal cross sections by using a ploy-hexcore method; the flexible rope and the unmanned aerial vehicle draw a fluid grid together to serve as a foreground grid part of the overlapped grid;
and 3.3, carrying out mesh division on the flexible rope and the unmanned aerial vehicle according to the minimum curved surface size, carrying out encryption on the flexible rope and peripheral meshes of the unmanned aerial vehicle according to the encrypted space mesh size of the foreground mesh in the 3.2, and constructing an overlapped mesh after interpolation.
5. The numerical simulation method for unmanned aerial vehicle recovery bidirectional fluid-solid coupling according to claim 1, wherein in step 4, the specific obtaining process of flow field data is as follows: and performing constant computation on the overlapped grids after interpolation by using a fluid solver, taking the final solution of the constant computation as an initial field of the unsteady computation, and beginning to compute the unsteady computation part of the computation domain of the outer flow field to obtain the flow field data at the nodes of the grids.
6. The numerical simulation method for unmanned aerial vehicle recovery bidirectional fluid-solid coupling according to claim 1, wherein in step 4, the specific obtaining process of solid deformation data is as follows:
and (4) calculating the solid calculation grid generated in the step (3) by using a solid solver, selecting a time step which is the same as that of unsteady calculation of an external flow field, endowing the flexible rope and the unmanned aerial vehicle with corresponding material attributes, adding a gravity effect, monitoring corresponding deformation and speed parameters, and obtaining solid deformation data at the node of the grid.
7. The numerical simulation method for unmanned aerial vehicle to recover bidirectional fluid-solid coupling according to claim 1, wherein step 5 specifically comprises:
and (5) establishing the force and displacement parameter exchange of the fluid domain and the solid domain by the flow-solid bidirectional coupling mode of the flow field data and the solid deformation data obtained in the step (4), setting the fluid-solid coupling simulation time T and the coupling time step length, adjusting the result output frequency to be stored in a multi-time coupling mode, and outputting the last coupling result.
8. The numerical simulation method for unmanned aerial vehicle recycling bidirectional fluid-solid coupling according to claim 1, wherein in step 7, the mesh of the out-flow field calculation domain passes through mesh fairing, and mesh torsional deformation is performed according to a mesh deformation threshold; meanwhile, the outer flow field calculation domain grid carries out local grid regeneration by a linear elastomer method with the minimum grid size and the gradient value of 0.95 grid.
9. The method according to claim 1, wherein in step 8, the calculation results include lift resistance, moment, flow field cloud pattern, deformation displacement, velocity, and acceleration.
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| CN116167303A (en) * | 2023-04-21 | 2023-05-26 | 中国空气动力研究与发展中心计算空气动力研究所 | Curved surface grid interpolation method for fluid-solid coupling simulation of helicopter rotor wing |
| CN116167303B (en) * | 2023-04-21 | 2023-07-07 | 中国空气动力研究与发展中心计算空气动力研究所 | Curved surface grid interpolation method for fluid-solid coupling simulation of helicopter rotor wing |
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