CN116992577A - Simulation method, system, equipment and storage medium of cross-medium aircraft - Google Patents
Simulation method, system, equipment and storage medium of cross-medium aircraft Download PDFInfo
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Abstract
The embodiment of the application provides a simulation method, a system, equipment and a storage medium of a cross-medium aircraft, wherein the simulation method of the cross-medium aircraft comprises the following steps: acquiring motion state parameters of a cross-medium aircraft acquired by a sensor arranged on the cross-medium aircraft and environment parameters of the cross-medium aircraft acquired by the sensor arranged in the environment of the cross-medium aircraft; carrying out standardization processing on the motion state parameters and the environment parameters to obtain the motion state parameters and the environment parameters after the standardization processing; taking the motion state parameters after the standardization processing as initial conditions, taking the environment parameters after the standardization processing as working conditions, and carrying out simulation iterative computation on the cross-medium aircraft through the multi-physical field coupling model to obtain a simulation computation result. According to the embodiment of the application, the accuracy of the simulation calculation result of the cross-medium aircraft can be improved.
Description
Technical Field
The application belongs to the technical field of aircrafts, and particularly relates to a simulation method, a system, equipment and a storage medium of a cross-medium aircrafts.
Background
A cross-medium vehicle is a vehicle that is capable of moving and operating in different mediums (e.g., underwater, water, air, etc.). In order to improve the design effect and performance of the cross-medium aircraft and enable the aircraft to finish stable cross-domain navigation in different mediums, simulation calculation is required to be carried out on the cross-medium aircraft so as to simulate the behavior of the aircraft in a complex medium environment.
In the prior art, when performing simulation calculation on a cross-medium aircraft, only the influence of a single physical field on the aircraft is generally considered, but the influence of coupling effects among multiple physical fields on the aircraft is not considered. Therefore, the behavior of the cross-medium aircraft under the multi-physical-field coupling environment is difficult to effectively simulate, and the accuracy of simulation results is low.
Disclosure of Invention
The embodiment of the application provides a simulation method, a system, equipment and a storage medium of a cross-medium aircraft, which can improve the accuracy of simulation calculation results of the cross-medium aircraft.
In a first aspect, an embodiment of the present application provides a method for simulating a cross-medium aircraft, where the method for simulating a cross-medium aircraft includes: acquiring motion state parameters of a cross-medium aircraft acquired by a sensor arranged on the cross-medium aircraft and environment parameters of the cross-medium aircraft acquired by the sensor arranged in the environment of the cross-medium aircraft; carrying out standardization processing on the motion state parameters and the environment parameters to obtain the motion state parameters and the environment parameters after the standardization processing; taking the motion state parameter after the standardization processing as an initial condition, taking the environment parameter after the standardization processing as a working condition, and carrying out simulation iterative computation on the cross-medium aircraft through a multi-physical field coupling model to obtain a simulation computation result, wherein the simulation computation result comprises speed distribution data, stress strain distribution data and load distribution data of the cross-medium aircraft in the environment; the multi-physical field coupling model is a digital twin model of the cross-medium aircraft, and is obtained by coupling a plurality of digital twin sub-models corresponding to the cross-medium aircraft under different target physical fields.
According to an embodiment of the first aspect of the present application, before performing simulation iterative computation on the cross-medium vehicle by the multi-physical field coupling model, the simulation method of the cross-medium vehicle further includes: acquiring outline dimension parameters and material attribute parameters of the cross-medium aircraft; constructing a physical entity model of the cross-medium aircraft according to the outline dimension parameter and the material attribute parameter of the cross-medium aircraft; constructing a plurality of digital twin sub-models corresponding to the physical entity model under different target physical fields according to a plurality of target physical fields of the cross-medium aircraft; the target physical field comprises at least two of a pressure field, a speed field, a vortex quantity field and a turbulence kinetic energy field, the digital twin submodel comprises at least two of a stress analysis submodel, a structural mechanics submodel, an aerodynamic submodel and a hydrodynamic submodel, and the digital twin submodel is used for representing the motion state of the cross-medium aircraft under the corresponding target physical field, the stress strain state of the structure and/or the load distribution state of the structure; and coupling the plurality of digital twin sub-models according to the interaction among the plurality of target physical fields to obtain a coupled multi-physical field coupling model.
According to any of the foregoing embodiments of the first aspect of the present application, performing a simulation iterative computation on a cross-medium aircraft by using a multi-physical field coupling model to obtain a simulation computation result, including: dividing the physical entity model into a plurality of structured and/or unstructured numerical grids based on the calculation requirement of simulation iterative calculation of the cross-medium aircraft and the complexity of the physical entity model; based on a target numerical value solving method, carrying out simulation iterative computation on the numerical grids through a multi-physical field coupling model to obtain simulation computation results respectively corresponding to different numerical grids; the target numerical solving method includes any one of a finite difference method, a finite element method, and a boundary element method.
According to any one of the foregoing embodiments of the first aspect of the present application, taking the motion state parameter after the normalization processing as an initial condition, and the environmental parameter after the normalization processing as a working condition, performing simulation iterative computation on the cross-medium aircraft through the multi-physical field coupling model, to obtain a simulation computation result, including: taking the motion state parameters after the standardization processing as initial conditions, taking the environment parameters after the standardization processing as working conditions, and carrying out simulation iterative computation on the cross-medium aircraft through a multi-physical field coupling model to obtain a computation result of the iterative computation; and under the condition that the calculation result does not meet the preset convergence condition, taking the calculation result as a new initial condition, returning to execute simulation iterative calculation on the cross-medium aircraft through the multi-physical field coupling model until the calculation result meets the preset convergence condition, and taking the calculation result meeting the preset convergence condition as a simulation calculation result.
According to any one of the foregoing embodiments of the first aspect of the present application, after performing simulation iterative computation on the cross-medium aircraft by using the multiple physical field coupling model to obtain a simulation computation result, the simulation method of the cross-medium aircraft further includes: performing data visualization display on the simulation calculation result to obtain a stress strain distribution state and a load distribution state of a structural body of the cross-medium aircraft in the environment; under the condition that the stress-strain distribution state and the load distribution state of the structural body do not accord with the target state, analyzing the structural body of the cross-medium aircraft according to the stress-strain distribution state and the load distribution state to obtain analysis results, wherein the analysis results comprise interaction among different target physical fields and influence degrees of the motion state parameters, the outline dimension parameters and the material property parameters of the cross-medium aircraft on the stress-strain distribution state and the load distribution state of the structural body; according to the analysis result, evaluating performance indexes of the cross-medium aircraft to obtain an evaluation result, wherein the performance indexes comprise resistance, lift force, operability and stability of the cross-medium aircraft; and according to the evaluation result, adjusting the speed and the gesture of the cross-medium aircraft, and returning to execute the acquisition of the motion state parameters of the cross-medium aircraft acquired by the sensors arranged on the cross-medium aircraft and the environment parameters of the cross-medium aircraft acquired by the sensors arranged in the environment of the cross-medium aircraft until the stress strain distribution state and the load distribution state of the structural body meet the target state.
According to any of the foregoing embodiments of the first aspect of the present application, performing data visualization on a simulation calculation result includes: and drawing field quantity distribution diagrams of different target physical fields, stress-strain distribution diagrams of the cross-medium aircraft and load distribution diagrams of the cross-medium aircraft according to simulation calculation results, and calculating performance indexes of the cross-medium aircraft.
In a second aspect, an embodiment of the present application provides a simulation system for a cross-medium aircraft, where the simulation system for a cross-medium aircraft includes: the parameter acquisition module is respectively in communication connection with a sensor arranged on the cross-medium aircraft and a sensor arranged in the environment where the cross-medium aircraft is positioned, and is used for acquiring the motion state parameters of the cross-medium aircraft acquired by the sensor arranged on the cross-medium aircraft and the environment parameters of the cross-medium aircraft acquired by the sensor arranged in the environment where the cross-medium aircraft is positioned; the digital twin model construction module is used for constructing a multi-physical field coupling model, wherein the multi-physical field coupling model is a digital twin model of the cross-medium aircraft, and the multi-physical field coupling model is obtained by coupling a plurality of digital twin sub-models corresponding to the cross-medium aircraft under different target physical fields; the multi-physical field coupling simulation module is used for carrying out standardization processing on the motion state parameters and the environment parameters to obtain the motion state parameters and the environment parameters after the standardization processing; the multi-physical field coupling simulation module is also used for taking the motion state parameter after the standardization processing as an initial condition and the environment parameter after the standardization processing as a working condition, performing simulation iterative computation on the cross-medium aircraft through the multi-physical field coupling model to obtain a simulation computation result, wherein the simulation computation result comprises speed distribution data, stress strain distribution data and load distribution data of the cross-medium aircraft in the environment.
According to an embodiment of the second aspect of the application, the simulation system of the cross-medium craft further comprises: the simulation result analysis module is used for carrying out data visualization display on the simulation calculation result to obtain a stress strain distribution state and a load distribution state of the structure body of the cross-medium aircraft in the environment; the simulation result analysis module is further used for analyzing the structural body of the cross-medium aircraft according to the stress-strain distribution state and the load distribution state under the condition that the stress-strain distribution state and the load distribution state of the structural body are not in accordance with the target state, so as to obtain an analysis result, wherein the analysis result comprises interaction among different target physical fields and the influence degree of the motion state parameters, the outline dimension parameters and the material attribute parameters of the cross-medium aircraft on the stress-strain distribution state and the load distribution state of the structural body; the simulation result analysis module is also used for evaluating performance indexes of the cross-medium aircraft according to the analysis result to obtain an evaluation result, wherein the performance indexes comprise resistance, lift force, operability and stability of the cross-medium aircraft; and the control feedback optimization module is used for adjusting the speed and the gesture of the cross-medium aircraft according to the evaluation result until the stress strain distribution state and the load distribution state of the structural body accord with the target state.
In a third aspect, an embodiment of the present application provides a simulation apparatus for a cross-medium aircraft, where the simulation apparatus for a cross-medium aircraft includes: the acquisition module is used for acquiring the motion state parameters of the cross-medium aircraft acquired by the sensors arranged on the cross-medium aircraft and the environment parameters of the cross-medium aircraft acquired by the sensors arranged in the environment of the cross-medium aircraft; the processing module is used for carrying out standardized processing on the motion state parameters and the environment parameters to obtain the motion state parameters and the environment parameters after standardized processing; the calculation module is used for carrying out simulation iterative calculation on the cross-medium aircraft through the multi-physical field coupling model by taking the standardized motion state parameter as an initial condition and the standardized environment parameter as a working condition to obtain a simulation calculation result, wherein the simulation calculation result comprises speed distribution data, stress strain distribution data and load distribution data of the cross-medium aircraft in the environment; the multi-physical field coupling model is a digital twin model of the cross-medium aircraft, and is obtained by coupling a plurality of digital twin sub-models corresponding to the cross-medium aircraft under different target physical fields.
In a fourth aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory, and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of the method of simulating a cross-medium vehicle as provided in the first aspect.
In a fifth aspect, embodiments of the present application provide a computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements the steps of the method of simulating a cross-medium vehicle as provided in the first aspect.
According to the simulation method, system, equipment and storage medium of the cross-medium aircraft, the motion state parameters of the cross-medium aircraft after the standardization processing are used as initial conditions, the environment parameters of the cross-medium aircraft after the standardization processing are used as working conditions, and simulation iterative computation is carried out on the cross-medium aircraft through the multi-physical field coupling model. Because the multi-physical field coupling model is a digital twin model of the cross-medium aircraft and is obtained by coupling a plurality of digital twin sub-models corresponding to the cross-medium aircraft under different target physical fields, the embodiment of the application not only combines the digital twin technology, but also considers the influence of the coupling effect among the multi-physical fields on the cross-medium aircraft when the cross-medium aircraft is subjected to simulation iterative computation. Therefore, the embodiment of the application can improve the accuracy of the simulation calculation result and is beneficial to simulating the behavior of the cross-medium aircraft in the multi-physical field coupling environment.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present application, the drawings that are needed to be used in the embodiments of the present application will be briefly described, and it is possible for a person skilled in the art to obtain other drawings according to these drawings without inventive effort.
FIG. 1 is a schematic diagram of a simulation system for a cross-medium vehicle according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a simulation method for a cross-medium aircraft according to an embodiment of the present application;
FIG. 3 is a flow chart of another simulation method for a cross-medium vehicle provided by an embodiment of the present application;
FIG. 4 is a flow chart of yet another simulation method for a cross-medium vehicle provided by an embodiment of the present application;
FIG. 5 is a schematic structural view of a simulation device for a cross-medium vehicle according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Features and exemplary embodiments of various aspects of the present application will be described in detail below, and in order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail below with reference to the accompanying drawings and the detailed embodiments. It should be understood that the particular embodiments described herein are meant to be illustrative of the application only and not limiting. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the application by showing examples of the application.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Accordingly, it is intended that the present application covers the modifications and variations of this application provided they come within the scope of the appended claims (the claims) and their equivalents. The embodiments provided by the embodiments of the present application may be combined with each other without contradiction.
Before describing the technical solution provided by the embodiments of the present application, in order to facilitate understanding of the embodiments of the present application, the present application firstly specifically describes the problems existing in the prior art:
the existing simulation method of the cross-medium aircraft is mainly based on two parts of numerical calculation and experimental verification, but the existing method also has certain limitations, such as large calculation resource consumption, high experimental cost, poor real-time performance and the like. In addition, in the prior art, when the cross-medium aircraft is subjected to simulation calculation, only the influence of a single physical field on the cross-medium aircraft is generally considered, the influence of the coupling effect among multiple physical fields on the cross-medium aircraft is not considered, the behavior of the cross-medium aircraft under the environment of coupling of multiple physical fields is difficult to effectively simulate, and the accuracy of a simulation result is low. Meanwhile, due to complexity and uncertainty of a simulation method, verification of a simulation result is difficult to carry out through experiments, and therefore reliability and accuracy of the simulation result are also difficult to determine.
In order to solve the problems in the prior art, the embodiment of the application provides a simulation method, a system, equipment and a storage medium of a cross-medium aircraft.
The following first describes a simulation system of a cross-medium aircraft provided by an embodiment of the present application.
Fig. 1 is a schematic structural diagram of a simulation system of a cross-medium aircraft according to an embodiment of the present application. As shown in fig. 1, a simulation system 100 of a cross-medium vehicle may include a parameter acquisition module 101, a digital twin model building module 102, and a multi-physics field coupling simulation module 103.
The parameter acquisition module 101 is respectively in communication connection with a sensor arranged on the cross-medium aircraft and a sensor arranged in the environment of the cross-medium aircraft, and is used for acquiring the motion state parameters of the cross-medium aircraft acquired by the sensor arranged on the cross-medium aircraft and the environment parameters of the cross-medium aircraft acquired by the sensor arranged in the environment of the cross-medium aircraft.
Illustratively, the parameter acquisition module 101 establishes a communication connection with a sensor disposed on the cross-medium vehicle via a radio station and with a sensor disposed in an environment of the cross-medium vehicle via an external physical interface. Wherein the sensor disposed on the cross-medium vehicle may include a global positioning system (Global Positioning System, GPS) tracking locator for acquiring speed and position parameters of the cross-medium vehicle; attitude sensors for acquiring attitude parameters of the cross-medium craft, such as pitch angle, roll angle and yaw angle; and the depth gauge is used for acquiring depth parameters of the cross-medium aircraft. The sensor arranged in the environment of the cross-medium aircraft can comprise an anemometer, a flow velocity meter and a wave height meter, which are respectively used for acquiring wind speed parameters, fluid flow velocity parameters and wave height parameters of the environment of the cross-medium aircraft.
The digital twin model construction module 102 is configured to construct a multi-physical field coupling model, where the multi-physical field coupling model is a digital twin model of the cross-medium aircraft, and the multi-physical field coupling model is obtained by coupling a plurality of digital twin sub-models corresponding to the cross-medium aircraft under different target physical fields.
Illustratively, the multi-physics coupling model, as a digital twin model of the cross-medium vehicle, is coupled with the physical entities of the cross-medium vehicle, may include descriptions of the cross-medium vehicle in terms of structures, components, sensors, control systems, etc., and is capable of simulating performance and motion states of the cross-medium vehicle in different media (e.g., underwater, water, air, etc.) in real-time.
Physical fields of the cross-medium craft may include pressure fields, velocity fields, vorticity fields, and turbulent kinetic energy fields, which are related to physical fields such as structural dynamics and fluid dynamics, and the target physical fields may be at least two of them. Accordingly, the plurality of digital twinning sub-models corresponding to the cross-medium craft under different target physical fields may include at least two of a stress analysis sub-model, a structural mechanics sub-model, an aerodynamic sub-model, and a hydrodynamic sub-model.
The digital twinning sub-model may be used to characterize a state of motion of the cross-medium craft under a corresponding target physical field, a state of stress strain of the structure, and/or a state of load distribution of the structure. Wherein the stress analysis submodel may be used to characterize stress-strain states of the cross-medium craft structure, such as stress distribution and stress response of the structure under external loading, and provide information regarding stress conditions, stress concentration areas, stress levels, stress variations, etc. within the structure; the structural mechanics submodel can be used for representing the load distribution state of a cross-medium aircraft structure, such as the mechanical property and response of the structure under the action of external load, and providing information about structural strength, rigidity, vibration property, strain distribution, fatigue life and the like; both the aerodynamic and hydrodynamic sub-models can be considered flow field sub-models, which can be used to characterize the flow characteristics and response of a cross-medium vehicle in a fluid environment across different mediums (e.g., air and water), and to provide information about fluid flow, drag, lift, maneuverability, stability, and the like.
Illustratively, the digital twin model building module 102 may also build a corresponding environment model according to the collected environmental parameters of the cross-medium vehicle, where the environment model may include physical characteristics and change rules of the medium such as underwater, water surface, air, etc., and the environment model helps to analyze the dynamics characteristics and sensor responses of the cross-medium vehicle in different mediums.
The multi-physical field coupling simulation module 103 is used for carrying out standardization processing on the motion state parameters and the environment parameters to obtain the motion state parameters and the environment parameters after the standardization processing; and the simulation calculation result comprises speed distribution data, stress strain distribution data and load distribution data of the cross-medium aircraft in the environment.
Illustratively, after the digital twin model building module 102 integrates the motion state parameters and the environmental parameters of the cross-medium craft, the motion state parameters and the environmental parameters are normalized by the multi-physical field coupling simulation module 103. Taking the motion state parameters after the standardization processing as initial conditions, taking the environment parameters after the standardization processing as working conditions, and carrying out coupling simulation analysis on the cross-medium aircraft through a multi-physical field coupling model. In order to simulate the motion state of the cross-medium craft in the environment under the condition of considering the coupling effect among multiple physical fields, such as the influence of multiple physical fields of aerodynamic characteristics, hydrodynamic characteristics, structural dynamics and the like of the cross-medium craft under different mediums when the cross-medium craft is rapidly switched in different mediums.
As shown in FIG. 1, the simulation system 100 of the cross-medium vehicle may also include a simulation result analysis module 104 and a control feedback optimization module 105.
The simulation result analysis module 104 is used for performing data visual display on the simulation calculation result to obtain a stress strain distribution state and a load distribution state of the structure body of the cross-medium aircraft in the environment; the method is also used for analyzing the structural body of the cross-medium aircraft according to the stress-strain distribution state and the load distribution state under the condition that the stress-strain distribution state and the load distribution state of the structural body are not in accordance with the target state, so as to obtain an analysis result, wherein the analysis result comprises interaction among different target physical fields and the influence degree of the motion state parameters, the outline dimension parameters and the material attribute parameters of the cross-medium aircraft on the stress-strain distribution state and the load distribution state of the structural body; and the performance index of the cross-medium aircraft is evaluated according to the analysis result, so that an evaluation result is obtained, wherein the performance index comprises the resistance, the lifting force, the maneuverability and the stability of the cross-medium aircraft.
The simulation result analysis module 104 is used for carrying out data visual display on the simulation calculation result, analyzing the structural body of the cross-medium aircraft and evaluating the performance index of the cross-medium aircraft, so that the behavior of the cross-medium aircraft is predicted more accurately, and corresponding structural design optimization suggestions or fault diagnosis suggestions are provided for engineers of the cross-medium aircraft.
And the control feedback optimization module 105 is used for adjusting the speed and the gesture of the cross-medium aircraft according to the evaluation result until the stress strain distribution state and the load distribution state of the structural body accord with the target state.
According to the evaluation result, the feedback optimization module 105 is controlled to send a corresponding control instruction to the physical entity of the cross-medium aircraft so as to adjust the speed and the gesture of the cross-medium aircraft until the stress strain distribution state and the load distribution state of the structural body accord with the target state, thereby improving the navigation efficiency and the safety of the cross-medium aircraft to the greatest extent.
According to the simulation system of the cross-medium aircraft, the motion state parameters of the cross-medium aircraft after the standardization processing are taken as initial conditions, the environment parameters of the cross-medium aircraft after the standardization processing are taken as working conditions, and simulation iterative computation is carried out on the cross-medium aircraft through the multi-physical field coupling model. Because the multi-physical field coupling model is a digital twin model of the cross-medium aircraft and is obtained by coupling a plurality of digital twin sub-models corresponding to the cross-medium aircraft under different target physical fields, the embodiment of the application not only combines the digital twin technology, but also considers the influence of the coupling effect among the multi-physical fields on the cross-medium aircraft when the cross-medium aircraft is subjected to simulation iterative computation. Therefore, the embodiment of the application can improve the accuracy of the simulation calculation result and is beneficial to simulating the behavior of the cross-medium aircraft in the multi-physical field coupling environment.
Fig. 2 is a schematic flow chart of a simulation method of a cross-medium aircraft according to an embodiment of the present application. As shown in fig. 2, the method may include the following steps S201 to S203:
s201, acquiring motion state parameters of the cross-medium aircraft acquired by sensors arranged on the cross-medium aircraft and environment parameters of the cross-medium aircraft acquired by the sensors arranged in the environment of the cross-medium aircraft.
S202, carrying out standardization processing on the motion state parameters and the environment parameters to obtain the motion state parameters and the environment parameters after the standardization processing.
S203, taking the motion state parameters after the standardization processing as initial conditions, taking the environment parameters after the standardization processing as working conditions, and performing simulation iterative computation on the cross-medium aircraft through the multi-physical-field coupling model to obtain a simulation computation result.
The specific implementation of each of the above steps will be described in detail below.
According to the simulation method of the cross-medium aircraft, the motion state parameters of the cross-medium aircraft after the standardization processing are used as initial conditions, the environment parameters of the cross-medium aircraft after the standardization processing are used as working conditions, and simulation iterative computation is carried out on the cross-medium aircraft through the multi-physical field coupling model. Because the multi-physical field coupling model is a digital twin model of the cross-medium aircraft and is obtained by coupling a plurality of digital twin sub-models corresponding to the cross-medium aircraft under different target physical fields, the embodiment of the application not only combines the digital twin technology, but also considers the influence of the coupling effect among the multi-physical fields on the cross-medium aircraft when the cross-medium aircraft is subjected to simulation iterative computation. Therefore, the embodiment of the application can improve the accuracy of the simulation calculation result and is beneficial to simulating the behavior of the cross-medium aircraft in the multi-physical field coupling environment. A specific implementation of each of the above steps is described below.
In S201, the motion state parameters of the cross-medium vehicle acquired by the sensors disposed on the cross-medium vehicle and the environmental parameters of the cross-medium vehicle acquired by the sensors disposed in the environment of the cross-medium vehicle may be acquired by the parameter acquisition module 101.
By way of example, the motion state parameters of the cross-medium vehicle may include speed parameters and position parameters of the cross-medium vehicle acquired by the GPS tracking locator, attitude parameters of the cross-medium vehicle acquired by the attitude sensor, and depth parameters of the cross-medium vehicle acquired by the depth gauge, wherein the attitude parameters may be, for example, pitch angle, roll angle, and yaw angle; the environmental parameters of the cross-medium vehicle may include wind speed parameters, fluid flow speed parameters, and wave height parameters of the environment of the cross-medium vehicle acquired by the anemometer, the flow meter, and the wave height meter, respectively. In addition, the environmental parameters of the cross-medium vehicle may also include vacuum parameters and temperature and humidity parameters of the internal environment of the cross-medium vehicle acquired by sensors disposed on the cross-medium vehicle, such as environmental sensors.
In S202, the motion state parameters and the environmental parameters of the cross-medium craft are normalized by the multi-physical-field-coupling simulation module 103, so as to obtain the motion state parameters that can be used as initial conditions for multi-physical-field-coupling simulation calculation and the environmental parameters that can be used as working conditions for multi-physical-field-coupling simulation calculation after the normalization.
In S203, the multi-physical field coupling simulation module 103 may be a multi-physical field coupling simulation computing platform integrated in a simulation system of a cross-medium aircraft, such as a COMSOL Multiphysics software platform, which is not limited by the embodiment of the present application. And taking the motion state parameter after the standardization processing as an initial condition, taking the environment parameter after the standardization processing as a working condition, inputting the environment parameter into a multi-physical-field coupling simulation calculation platform, and performing simulation iterative calculation on the cross-medium aircraft through the multi-physical-field coupling model to obtain a simulation calculation result comprising speed distribution data, stress strain distribution data and load distribution data of the cross-medium aircraft in the environment.
As another implementation manner of the simulation method of the cross-medium vehicle of the present application, as shown in fig. 3, the simulation method of the cross-medium vehicle may further include the following steps S301 to S304 before S203.
S301, acquiring overall dimension parameters and material attribute parameters of the cross-medium aircraft.
The physical entity model of the cross-medium aircraft can be constructed based on the actual geometric shape of the cross-medium aircraft by acquiring the overall dimension parameter and the material attribute parameter of the cross-medium aircraft.
S302, constructing a physical entity model of the cross-medium aircraft according to the overall dimension parameters and the material attribute parameters of the cross-medium aircraft.
The physical entity model of the cross-medium aircraft can be built through auxiliary design software such as SOLIDOORKS or CATIA or other geometric modeling tools, and the built physical entity model is imported to a digital twin model building module 102 of a simulation system of the cross-medium aircraft, so as to build a plurality of digital twin sub-models and a plurality of digital twin sub-model coupling multi-physical field coupling models, which are obtained by coupling the physical entity model under different target physical fields.
S303, constructing a plurality of digital twin sub-models corresponding to the physical entity model under different target physical fields according to a plurality of target physical fields of the cross-medium aircraft.
Firstly, determining simulated targets and application scenes, such as evaluating performance of a cross-medium aircraft, optimizing structural design of the cross-medium aircraft, verifying a control algorithm for controlling motion state of the cross-medium aircraft and the like; and determining the physical field which needs to be considered by the coupling simulation, namely, the target physical field, and defining parameters and boundary conditions of the target physical field, such as air density, pressure or speed.
By way of example, the target physical fields may be at least two of a pressure field, a velocity field, a vorticity field, and a turbulent kinetic energy field, which are related to physical fields of structural dynamics and hydrodynamics, each having a corresponding equation describing the behavior of the cross-medium vehicle at the physical field, e.g., a state of motion description of the cross-medium vehicle, a state of stress strain description of the cross-medium vehicle structure, and a state of load distribution description of the cross-medium vehicle structure.
And analyzing interaction and coupling relations among different target physical fields, such as the influence of gas and water dynamic loads on structural stress, and constructing a digital twin sub-model corresponding to each target physical field respectively by using an appropriate mathematical equation based on the determined interaction and coupling relations among the target physical fields and the different target physical fields.
The digital twin submodel may include at least two of a stress analysis submodel, a structural mechanics submodel, an aerodynamic submodel, and a hydrodynamic submodel, which may be used to characterize a state of motion of the cross-medium craft under a corresponding target physical field, a state of stress strain of the structure, and/or a state of load distribution of the structure. Illustratively, the stress analysis submodel may be used to characterize stress-strain states of a cross-medium aircraft structure, such as stress distribution and stress response of the structure under external loading; the structural mechanics submodel may be used to characterize the load distribution state of a cross-medium craft structure, such as the mechanical properties and response of the structure under external load; both aerodynamic and hydrodynamic submodels can be considered flow field submodels, both of which can be used to characterize the flow characteristics and response of a cross-medium craft in a fluid environment across different mediums (e.g., air and water).
S304, coupling the plurality of digital twin sub-models according to interaction among the plurality of target physical fields to obtain a coupled multi-physical field coupling model.
And according to the determined interaction and coupling relation between different target physical fields, coupling a plurality of digital twin sub-models to obtain a coupled multi-physical field coupling model, wherein the coupled multi-physical field coupling model needs to ensure consistency and continuity between the physical fields.
For example, according to the characteristics of different cross-medium craft, different coupling methods may be used to couple the digital twin sub-models corresponding to the target physical fields, such as a relaxation iteration method or an iteration correction method, which is not limited by the embodiment of the present application.
As an implementation manner of S203, S203 may specifically include: dividing the physical entity model into a plurality of structured and/or unstructured numerical grids based on the calculation requirement of simulation iterative calculation of the cross-medium aircraft and the complexity of the physical entity model; based on a target numerical value solving method, carrying out simulation iterative computation on the numerical grids through a multi-physical field coupling model to obtain simulation computation results respectively corresponding to different numerical grids.
Before performing simulation iterative computation on the cross-medium aircraft, dividing the physical entity model into a plurality of structured and/or unstructured numerical grids according to the computation requirement of the simulation iterative computation and the complexity of the physical entity model, so as to independently compute and solve different numerical grids in the process of the simulation iterative computation. By dividing the numerical grids, the efficiency of simulation iterative computation and the accuracy of simulation computation results can be improved.
For example, according to the characteristics of the multiple physical field coupling models and the solving requirement of the simulation iterative computation, a proper numerical method or algorithm can be selected to perform simulation computation and solving, namely a target numerical solving method. The target numerical solving method may include a finite difference method, a finite element method and a boundary element method, and for a multi-physical field coupling model obtained by coupling digital twin sub-models of different target physical fields, different target numerical solving methods may be adaptively used, which is not limited by the embodiment of the present application.
As an implementation manner of S203, S203 may specifically include: taking the motion state parameters after the standardization processing as initial conditions, taking the environment parameters after the standardization processing as working conditions, and carrying out simulation iterative computation on the cross-medium aircraft through a multi-physical field coupling model to obtain a computation result of the iterative computation; and under the condition that the calculation result does not meet the preset convergence condition, taking the calculation result as a new initial condition, returning to execute simulation iterative calculation on the cross-medium aircraft through the multi-physical field coupling model until the calculation result meets the preset convergence condition, and taking the calculation result meeting the preset convergence condition as a simulation calculation result.
In the process of carrying out simulation iterative computation on the cross-medium aircraft, a computation result of one iteration computation is obtained in each iteration, but the computation result of the iteration computation can be output as a simulation computation result only when the computation result of the iteration computation reaches a preset convergence condition. Therefore, under the condition that the calculation result of the iterative calculation does not meet the preset convergence condition, taking the calculation result as a new initial condition, taking the environment parameter of the cross-medium aircraft actually acquired by the sensor as a working condition, and returning to execute the simulation iterative calculation on the cross-medium aircraft through the multi-physical field coupling model until the calculation result of the iterative calculation meets the preset convergence condition. In the iterative calculation process, interaction and coupling relations among different target physical fields are updated in real time according to the change of the physical fields.
As still another implementation manner of the simulation method of the cross-medium vehicle of the present application, as shown in fig. 4, after S203, the simulation method of the cross-medium vehicle may further include the following steps S401 to S404.
S401, performing data visualization display on simulation calculation results to obtain a stress strain distribution state and a load distribution state of the structure body of the cross-medium aircraft in the environment.
After the simulation calculation result of the cross-medium aircraft is obtained, the simulation calculation result is stored to obtain data of the cross-medium aircraft in different physical fields, and the data are subjected to data visualization display to obtain the stress strain distribution state and the load distribution state of the structural body of the cross-medium aircraft in the environment. Illustratively, the structure of the cross-medium craft may be an aerial propeller, an aerial wing, and a hydrofoil, to which embodiments of the present application are not limited.
As an implementation manner of S401, S401 may specifically include: and drawing field quantity distribution diagrams of different target physical fields, stress-strain distribution diagrams of the cross-medium aircraft and load distribution diagrams of the cross-medium aircraft according to simulation calculation results, and calculating performance indexes of the cross-medium aircraft.
Illustratively, performance metrics of a cross-medium vehicle may include drag, lift, maneuverability, and stability of the cross-medium vehicle, which embodiments of the application are not limited in this regard.
S402, under the condition that the stress-strain distribution state and the load distribution state of the structural body do not accord with the target state, analyzing the structural body of the cross-medium aircraft according to the stress-strain distribution state and the load distribution state to obtain an analysis result.
The target state may be, for example, an optimal state that can be achieved by the stress strain distribution state and the load distribution state of the structure. In the case that the stress-strain distribution state and the load distribution state of the structure do not conform to the target states, analyzing interactions between different target physical fields, for example, by observing coupling conditions of a flow field and a structural deformation field, analyzing load influence of flow on the structure, and generating mechanisms of resistance and lift force; and parameter sensitivity analysis is also needed to be carried out on the simulation calculation result, so that the influence degree of different parameters on the simulation calculation result is analyzed, for example, the change condition of the simulation calculation result can be observed by adjusting parameters such as the motion state parameter, the outline dimension parameter, the material property and the like of the cross-medium aircraft, and further, the analysis result of the influence degree of different parameters on the stress-strain distribution state and the load distribution state of the structural body is obtained.
S403, according to the analysis result, evaluating the performance index of the cross-medium aircraft to obtain an evaluation result.
According to the analysis result, performance indexes such as resistance, lift, operability and stability of the cross-medium aircraft can be evaluated, so that engineers of the cross-medium aircraft can further adjust design parameters of the cross-medium aircraft according to the evaluation result, and the performance and the sailing efficiency of the cross-medium aircraft are improved better.
S404, adjusting the speed and the gesture of the cross-medium aircraft according to the evaluation result, and returning to execute the step S201 until the stress strain distribution state and the load distribution state of the structural body meet the target state.
According to the evaluation result, the feedback optimization module 105 can be controlled to send a corresponding control instruction to the physical entity of the cross-medium aircraft, and the control instruction can include adjustment of the speed and the gesture of the physical entity of the cross-medium aircraft, so that damage to the external structure or material of the cross-medium aircraft caused by stress concentration can be avoided to the greatest extent. After the speed and the attitude of the cross-medium aircraft are adjusted, the step S201 is performed again until the stress-strain distribution state and the load distribution state of the structure body conform to the target state.
According to the embodiment of the application, simulation iterative computation can be carried out on the cross-medium aircraft through the multi-physical field coupling model in the whole motion process of the cross-medium aircraft, and corresponding structural design optimization suggestions or fault diagnosis suggestions are provided for engineers of the cross-medium aircraft through analysis and evaluation of simulation computation results, so that the engineers can better know the performance and the behavior of the cross-medium aircraft, and the structure and the control strategy of the cross-medium aircraft are further optimized. Meanwhile, the development time and cost of a simulation system of the cross-medium aircraft can be effectively reduced, and the safety problem possibly occurring in the test process is avoided to the greatest extent.
Based on the simulation method of the cross-medium aircraft provided by the embodiment, correspondingly, the application further provides a specific implementation mode of the simulation device of the cross-medium aircraft. Please refer to the following examples.
Referring first to fig. 5, a simulation apparatus 500 for a cross-medium aircraft according to an embodiment of the present application includes the following modules:
an obtaining module 501, configured to obtain a motion state parameter of a cross-medium vehicle collected by a sensor disposed on the cross-medium vehicle, and an environmental parameter of the cross-medium vehicle collected by a sensor disposed in an environment where the cross-medium vehicle is located;
the processing module 502 is configured to perform standardization processing on the motion state parameter and the environmental parameter to obtain the motion state parameter and the environmental parameter after the standardization processing;
the calculation module 503 is configured to perform simulation iterative computation on the cross-medium aircraft through the multi-physical-field coupling model with the motion state parameter after the normalization process as an initial condition and the environmental parameter after the normalization process as a working condition, so as to obtain a simulation computation result, where the simulation computation result includes speed distribution data, stress-strain distribution data and load distribution data of the cross-medium aircraft in the environment; the multi-physical field coupling model is a digital twin model of the cross-medium aircraft, and is obtained by coupling a plurality of digital twin sub-models corresponding to the cross-medium aircraft under different target physical fields.
According to the simulation device of the cross-medium aircraft, the motion state parameters of the cross-medium aircraft after the standardization processing are used as initial conditions, the environment parameters of the cross-medium aircraft after the standardization processing are used as working conditions, and simulation iterative computation is carried out on the cross-medium aircraft through the multi-physical field coupling model. Because the multi-physical field coupling model is a digital twin model of the cross-medium aircraft and is obtained by coupling a plurality of digital twin sub-models corresponding to the cross-medium aircraft under different target physical fields, the embodiment of the application not only combines the digital twin technology, but also considers the influence of the coupling effect among the multi-physical fields on the cross-medium aircraft when the cross-medium aircraft is subjected to simulation iterative computation. Therefore, the embodiment of the application can improve the accuracy of the simulation calculation result and is beneficial to simulating the behavior of the cross-medium aircraft in the multi-physical field coupling environment.
In some embodiments, the above-mentioned simulation device 500 of a cross-medium aircraft may further include: the construction module is used for acquiring the overall dimension parameters and the material attribute parameters of the cross-medium aircraft; constructing a physical entity model of the cross-medium aircraft according to the outline dimension parameter and the material attribute parameter of the cross-medium aircraft; constructing a plurality of digital twin sub-models corresponding to the physical entity model under different target physical fields according to a plurality of target physical fields of the cross-medium aircraft; the target physical field comprises at least two of a pressure field, a speed field, a vortex quantity field and a turbulence kinetic energy field, the digital twin submodel comprises at least two of a stress analysis submodel, a structural mechanics submodel, an aerodynamic submodel and a hydrodynamic submodel, and the digital twin submodel is used for representing the motion state of the cross-medium aircraft under the corresponding target physical field, the stress strain state of the structure and/or the load distribution state of the structure; and coupling the plurality of digital twin sub-models according to the interaction among the plurality of target physical fields to obtain a coupled multi-physical field coupling model.
In some embodiments, the calculation module 503 may be further configured to divide the physical entity model into a plurality of structured and/or unstructured numerical grids based on the calculation requirements for performing the simulation iterative calculation on the cross-medium craft and the complexity of the physical entity model; based on a target numerical value solving method, carrying out simulation iterative computation on the numerical grids through a multi-physical field coupling model to obtain simulation computation results respectively corresponding to different numerical grids; the target numerical solving method includes any one of a finite difference method, a finite element method, and a boundary element method.
In some embodiments, the calculation module 503 may be further configured to perform simulation iterative computation on the cross-medium aircraft through the multi-physical field coupling model with the motion state parameter after the normalization as an initial condition and the environmental parameter after the normalization as a working condition, to obtain a computation result of the iterative computation; and under the condition that the calculation result does not meet the preset convergence condition, taking the calculation result as a new initial condition, returning to execute simulation iterative calculation on the cross-medium aircraft through the multi-physical field coupling model until the calculation result meets the preset convergence condition, and taking the calculation result meeting the preset convergence condition as a simulation calculation result.
In some embodiments, the above-mentioned simulation device 500 of a cross-medium aircraft may further include: the analysis module is used for carrying out data visualization display on the simulation calculation result to obtain a stress strain distribution state and a load distribution state of the structure body of the cross-medium aircraft in the environment; under the condition that the stress-strain distribution state and the load distribution state of the structural body do not accord with the target state, analyzing the structural body of the cross-medium aircraft according to the stress-strain distribution state and the load distribution state to obtain analysis results, wherein the analysis results comprise interaction among different target physical fields and influence degrees of the motion state parameters, the outline dimension parameters and the material property parameters of the cross-medium aircraft on the stress-strain distribution state and the load distribution state of the structural body; according to the analysis result, evaluating performance indexes of the cross-medium aircraft to obtain an evaluation result, wherein the performance indexes comprise resistance, lift force, operability and stability of the cross-medium aircraft; and according to the evaluation result, adjusting the speed and the gesture of the cross-medium aircraft, and returning to execute the acquisition of the motion state parameters of the cross-medium aircraft acquired by the sensors arranged on the cross-medium aircraft and the environment parameters of the cross-medium aircraft acquired by the sensors arranged in the environment of the cross-medium aircraft until the stress strain distribution state and the load distribution state of the structural body meet the target state.
In some embodiments, the analysis module may be further configured to draw a field quantity distribution map of different target physical fields, a stress-strain distribution map of the across-medium vehicle, a load distribution map of the across-medium vehicle, and calculate a performance index of the across-medium vehicle according to the simulation calculation result.
Each module in the apparatus shown in fig. 5 has a function of implementing each step in fig. 2, and can achieve a corresponding technical effect, which is not described herein for brevity.
Based on the simulation method of the cross-medium aircraft provided by the embodiment, correspondingly, the application further provides a specific implementation mode of the electronic equipment. Please refer to the following examples.
Fig. 6 shows a schematic hardware structure of an electronic device according to an embodiment of the present application.
The electronic device may include a processor 601 and a memory 602 storing computer program instructions.
In particular, the processor 601 may include a central processing unit (Central Processing Unit, CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured as one or more integrated circuits implementing embodiments of the present application.
Memory 602 may include mass storage for parameters or instructions. By way of example, and not limitation, memory 602 may include a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, magnetic tape, or universal serial bus (Universal Serial Bus, USB) Drive, or a combination of two or more of the above. In one example, the memory 602 may include removable or non-removable (or fixed) media, or the memory 602 is a non-volatile solid state memory. Memory 602 may be internal or external to the integrated gateway disaster recovery device.
In one example, memory 602 may be Read Only Memory (ROM). In one example, the ROM may be mask-programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically Erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.
The memory 602 may include Read Only Memory (ROM), random Access Memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical/tangible memory storage devices. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software comprising computer-executable instructions and when the software is executed (e.g., by one or more processors) it is operable to perform the operations described with reference to a method in accordance with an aspect of the application.
The processor 601 reads and executes the computer program instructions stored in the memory 602 to implement the methods/steps S201 to S203 in the embodiment shown in fig. 2, and achieve the corresponding technical effects achieved by executing the methods/steps in the embodiment shown in fig. 2, which are not described herein for brevity.
In one example, the electronic device may also include a communication interface 603 and a bus 610. As shown in fig. 6, the processor 601, the memory 602, and the communication interface 603 are connected to each other through a bus 610 and perform communication with each other.
The communication interface 603 is mainly used for implementing communication between each module, apparatus, unit and/or device in the embodiment of the present application.
Bus 610 includes hardware, software, or both, that couple components of the electronic device to one another. By way of example, and not limitation, the buses may include an accelerated graphics port (Accelerated Graphics Port, AGP) or other graphics Bus, an enhanced industry standard architecture (Extended Industry Standard Architecture, EISA) Bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an industry standard architecture (Industry Standard Architecture, ISA) Bus, an infiniband interconnect, a Low Pin Count (LPC) Bus, a memory Bus, a micro channel architecture (MCa) Bus, a Peripheral Component Interconnect (PCI) Bus, a PCI-Express (PCI-X) Bus, a Serial Advanced Technology Attachment (SATA) Bus, a video electronics standards association local (VLB) Bus, or other suitable Bus, or a combination of two or more of the above. Bus 610 may include one or more buses, where appropriate. Although embodiments of the application have been described and illustrated with respect to a particular bus, the application contemplates any suitable bus or interconnect.
In addition, in combination with the simulation method of the cross-medium aircraft in the above embodiment, the embodiment of the application can be implemented by providing a computer readable storage medium. The computer readable storage medium has stored thereon computer program instructions; the computer program instructions, when executed by a processor, implement a simulation method of any of the above embodiments for a cross-medium craft. Examples of computer readable storage media include non-transitory computer readable storage media such as electronic circuits, semiconductor memory devices, ROMs, random access memories, flash memories, erasable ROMs (EROM), floppy disks, CD-ROMs, optical disks, hard disks.
It should be understood that the application is not limited to the particular arrangements and instrumentality described above and shown in the drawings. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between steps, after appreciating the spirit of the present application.
The functional blocks shown in the above-described structural block diagrams may be implemented in hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), suitable firmware, a plug-in, a function card, or the like. When implemented in software, the elements of the application are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine readable medium or transmitted over a transmission medium or a communication link by a parameter signal carried in a carrier wave. A "machine-readable medium" may include any medium that can store or transfer information. Examples of machine-readable media include electronic circuitry, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and the like. The code segments may be downloaded via computer networks such as the internet, intranets, etc.
It should also be noted that the exemplary embodiments mentioned in this disclosure describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, or may be performed in a different order from the order in the embodiments, or several steps may be performed simultaneously.
Aspects of the present application are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable parameter processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable parameter processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to being, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware which performs the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In the foregoing, only the specific embodiments of the present application are described, and it will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the systems, modules and units described above may refer to the corresponding processes in the foregoing method embodiments, which are not repeated herein. It should be understood that the scope of the present application is not limited thereto, and any equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the present application, and they should be included in the scope of the present application.
Claims (11)
1. A method of simulating a cross-medium vehicle, the method comprising:
acquiring motion state parameters of the cross-medium aircraft acquired by a sensor arranged on the cross-medium aircraft and environment parameters of the cross-medium aircraft acquired by a sensor arranged in the environment of the cross-medium aircraft;
carrying out standardization processing on the motion state parameters and the environment parameters to obtain the motion state parameters and the environment parameters after the standardization processing;
taking the motion state parameter after the standardization processing as an initial condition, taking the environment parameter after the standardization processing as a working condition, and carrying out simulation iterative computation on the cross-medium aircraft through a multi-physical field coupling model to obtain a simulation computation result, wherein the simulation computation result comprises speed distribution data, stress strain distribution data and load distribution data of the cross-medium aircraft in the environment;
the multi-physical field coupling model is a digital twin model of the cross-medium aircraft, and is obtained by coupling a plurality of digital twin sub-models corresponding to the cross-medium aircraft under different target physical fields.
2. The method of claim 1, wherein prior to said performing a simulated iterative computation on said cross-medium craft via a multi-physical field coupling model, said method further comprises:
acquiring the overall dimension parameters and the material attribute parameters of the cross-medium aircraft;
constructing a physical entity model of the cross-medium aircraft according to the overall dimension parameter and the material attribute parameter of the cross-medium aircraft;
constructing a plurality of digital twin sub-models corresponding to the physical entity model under different target physical fields according to a plurality of target physical fields of the cross-medium aircraft;
the target physical field comprises at least two of a pressure field, a speed field, a vortex quantity field and a turbulence kinetic energy field, the digital twin submodel comprises at least two of a stress analysis submodel, a structural mechanics submodel, an aerodynamic submodel and a hydrodynamic submodel, and the digital twin submodel is used for representing the motion state of the cross-medium aircraft under the corresponding target physical field, the stress strain state of a structure body and/or the load distribution state of the structure body;
and coupling the plurality of digital twin sub-models according to the interaction among the plurality of target physical fields to obtain the coupled multi-physical field coupling model.
3. The method according to claim 2, wherein the performing simulation iterative computation on the cross-medium craft through the multi-physical field coupling model to obtain a simulation computation result includes:
dividing the physical entity model into a plurality of structured and/or unstructured numerical grids based on the calculation requirement of simulation iterative calculation on the cross-medium aircraft and the complexity of the physical entity model;
based on a target numerical value solving method, carrying out simulation iterative computation on the numerical grids through a multi-physical field coupling model to obtain simulation computation results respectively corresponding to different numerical grids;
the target numerical solving method comprises any one of a finite difference method, a finite element method and a boundary element method.
4. The method of claim 2, wherein the performing simulation iterative computation on the cross-medium aircraft through the multi-physical field coupling model with the normalized motion state parameter as an initial condition and the normalized environmental parameter as a working condition to obtain a simulation computation result includes:
taking the motion state parameters after the standardization processing as initial conditions, taking the environment parameters after the standardization processing as working conditions, and carrying out simulation iterative computation on the cross-medium aircraft through a multi-physical field coupling model to obtain a computation result of the iterative computation;
And under the condition that the calculation result does not meet the preset convergence condition, taking the calculation result as a new initial condition, and returning to execute the simulation iterative calculation on the cross-medium aircraft through the multi-physical field coupling model until the calculation result meets the preset convergence condition, and taking the calculation result meeting the preset convergence condition as the simulation calculation result.
5. The method of claim 2, wherein after performing a simulation iterative calculation on the cross-medium craft by the multi-physical field coupling model to obtain a simulation calculation result, the method further comprises:
performing data visualization display on the simulation calculation result to obtain a stress strain distribution state and a load distribution state of the structure body of the cross-medium aircraft in the environment;
under the condition that the stress strain distribution state and the load distribution state of the structural body do not accord with the target state, analyzing the structural body of the cross-medium aircraft according to the stress strain distribution state and the load distribution state to obtain an analysis result, wherein the analysis result comprises interaction among different target physical fields and the influence degree of the motion state parameter, the outline dimension parameter and the material attribute parameter of the cross-medium aircraft on the stress strain distribution state and the load distribution state of the structural body;
According to the analysis result, evaluating performance indexes of the cross-medium aircraft to obtain an evaluation result, wherein the performance indexes comprise resistance, lift force, operability and stability of the cross-medium aircraft;
and according to the evaluation result, adjusting the speed and the gesture of the cross-medium aircraft, and returning to execute the acquisition of the motion state parameters of the cross-medium aircraft acquired by the sensors arranged on the cross-medium aircraft and the environment parameters of the cross-medium aircraft acquired by the sensors arranged in the environment of the cross-medium aircraft until the stress strain distribution state and the load distribution state of the structural body accord with the target state.
6. The method of claim 5, wherein the data visualization of the simulation calculation result comprises:
and according to the simulation calculation result, drawing field quantity distribution diagrams of different target physical fields, stress-strain distribution diagrams of the cross-medium aircraft and load distribution diagrams of the cross-medium aircraft, and calculating performance indexes of the cross-medium aircraft.
7. A simulation system for a cross-medium vehicle, the system comprising:
The parameter acquisition module is respectively in communication connection with a sensor arranged on the cross-medium aircraft and a sensor arranged in the environment where the cross-medium aircraft is positioned, and is used for acquiring the motion state parameters of the cross-medium aircraft acquired by the sensor arranged on the cross-medium aircraft and the environment parameters of the cross-medium aircraft acquired by the sensor arranged in the environment where the cross-medium aircraft is positioned;
the digital twin model construction module is used for constructing a multi-physical field coupling model, wherein the multi-physical field coupling model is a digital twin model of the cross-medium aircraft, and the multi-physical field coupling model is obtained by coupling a plurality of digital twin sub-models corresponding to the cross-medium aircraft under different target physical fields;
the multi-physical field coupling simulation module is used for carrying out standardization processing on the motion state parameters and the environment parameters to obtain the motion state parameters and the environment parameters after the standardization processing;
the multi-physical field coupling simulation module is further used for taking the motion state parameter after the standardization processing as an initial condition and the environment parameter after the standardization processing as a working condition, performing simulation iterative computation on the cross-medium aircraft through the multi-physical field coupling model to obtain a simulation computation result, wherein the simulation computation result comprises speed distribution data, stress strain distribution data and load distribution data of the cross-medium aircraft in the environment.
8. The system of claim 7, wherein the system further comprises:
the simulation result analysis module is used for carrying out data visualization display on the simulation calculation result to obtain a stress strain distribution state and a load distribution state of the structure body of the cross-medium aircraft in the environment;
the simulation result analysis module is further configured to analyze the structural body of the cross-medium aircraft according to the stress-strain distribution state and the load distribution state when the stress-strain distribution state and the load distribution state of the structural body do not conform to the target state, so as to obtain an analysis result, where the analysis result includes interactions between different target physical fields, and influence degrees of motion state parameters, outline dimension parameters and material attribute parameters of the cross-medium aircraft on the stress-strain distribution state and the load distribution state of the structural body;
the simulation result analysis module is further used for evaluating performance indexes of the cross-medium aircraft according to the analysis result to obtain an evaluation result, wherein the performance indexes comprise resistance, lift force, operability and stability of the cross-medium aircraft;
And the control feedback optimization module is used for adjusting the speed and the gesture of the cross-medium aircraft according to the evaluation result until the stress-strain distribution state and the load distribution state of the structural body accord with the target state.
9. A simulation apparatus for a cross-medium vehicle, the apparatus comprising:
the acquisition module is used for acquiring the motion state parameters of the cross-medium aircraft acquired by the sensors arranged on the cross-medium aircraft and the environment parameters of the cross-medium aircraft acquired by the sensors arranged in the environment of the cross-medium aircraft;
the processing module is used for carrying out standardized processing on the motion state parameters and the environment parameters to obtain the motion state parameters and the environment parameters after standardized processing;
the calculation module is used for carrying out simulation iterative calculation on the cross-medium aircraft through the multi-physical field coupling model by taking the standardized motion state parameter as an initial condition and the standardized environment parameter as a working condition to obtain a simulation calculation result, wherein the simulation calculation result comprises speed distribution data, stress strain distribution data and load distribution data of the cross-medium aircraft in the environment;
The multi-physical field coupling model is a digital twin model of the cross-medium aircraft, and is obtained by coupling a plurality of digital twin sub-models corresponding to the cross-medium aircraft under different target physical fields.
10. An electronic device, the electronic device comprising: a processor, a memory and a computer program stored on the memory and executable on the processor, which when executed by the processor, performs the steps of the simulation method of a cross-medium craft as claimed in any one of claims 1 to 6.
11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, implements the steps of the simulation method of a cross-medium craft according to any one of claims 1 to 6.
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| CN117289723A (en) * | 2023-11-24 | 2023-12-26 | 北京大学 | Method, device, equipment and medium for controlling movement state of cross-medium aircraft |
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