CN117610144A - Simulation evaluation method and system for airborne separation rule of missile-borne patrol vehicle - Google Patents
Simulation evaluation method and system for airborne separation rule of missile-borne patrol vehicle Download PDFInfo
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Abstract
The invention provides a simulation evaluation method and a system for an airborne separation rule of a missile-borne patrol vehicle, wherein the simulation evaluation method comprises the following steps: constructing a multi-rigid-body dynamics model of the cruise ship, the load cabin and the separation device; constructing an elastomer model; constructing a nonlinear contact model among the patrol device, the load cabin and the separation device; constructing an air power model for separating the patrol device from the load cabin, and calculating an air power coefficient; constructing a traction stable umbrella rope system model; constructing a separating spring force model between the patrol device and the load cabin; comprehensively constructing an aerial separation parameterized numerical simulation platform of the modification variable configuration of the missile-borne patrol aircraft on the model; different separation boundary conditions are given to simulate the separation process, so that a separation rule is obtained and evaluated. The invention realizes the analysis of the influence of multiple factors on the aerial separation characteristic of the missile-borne patrol aircraft, provides a theoretical basis for the optimal design of a separation device of the missile-borne patrol aircraft, solves the technical problems of the field on the evaluation of the aerial separation rule and the process control of the missile-borne patrol aircraft, and has important engineering value.
Description
Technical Field
The invention relates to the technical field of overall design of aircraft separation devices, in particular to a simulation method and a simulation system for an airborne separation rule of an airborne cruise aircraft. In particular to a simulation evaluation method and a platform for an airborne separation rule of an airborne cruise ship in a complex mechanical environment.
Background
The missile-borne patrol aircraft is a new concept ammunition for filling the patrol aircraft in a missile loading cabin, transporting the patrol aircraft to a preset separation point in the air through a missile, separating the patrol aircraft from the missile loading cabin through a separation device, and carrying out 'patrol flight', 'standby', and executing various combat tasks. The missile-borne patrol vehicle has the characteristics of long reserved time, large combat range, strong outburst prevention capability, flexible tactical use, capability of quickly responding to time-sensitive targets and the like, can be applied to various military weapons, and is relatively promising weapon equipment and is valued by countries of the world.
When the missile-borne patrol vehicle is separated in the air, the patrol vehicle is generally pulled out of the missile load cabin in a traction stable umbrella mode. When the patrol aircraft part leaves the missile loading cabin, the motion track and the gesture of the patrol aircraft are constrained and linked by a separation device in the loading cabin, and are in a semi-constrained state, so that the separation dynamics is difficult to simulate. The method is characterized in that: (1) multidisciplinary coupling. High degree of coupling between aerodynamics, aerodynamics and multi-body dynamics. (2) variable configuration variable mass. In the separation process, time-varying phenomena exist in the topological structure, the mass center, the rotational inertia and the like of the combined system of the patrol aircraft, the load cabin and the separation device. (3) contact discontinuity. The separation device is in discontinuous contact with a multi-body system formed between the patrol device and the load cabin. (4) the disturbance of the separation process is large. The separation device generates elastic deformation in the separation process to generate elastic force between the aircraft patrol and the load cabin, the mass ratio of the load cabin to the aircraft patrol is small (compared with the mass ratio of the aircraft missile is one order of magnitude smaller), and the aircraft patrol has great disturbance to the load cabin in the separation process. (5) separation gestures are difficult to determine. In the separation process, the load cabin is unpowered, a driver is not required to perform stable control on the loop, the height, the speed, the gesture and the like are difficult to maintain, and the cruise and the load cabin do dragging movement, so that the separation gesture of the cruise is dispersed greatly, and the uncertainty is larger than that of the plane projectile. Therefore, the airborne patrol aircraft has very complex air separation process and great potential safety hazard. In the separation process, the problems of jamming of a rear separation device, interference between the patrol vehicle and a load cabin, overlarge initial disturbance after the patrol vehicle is separated and the like can occur. In order to provide important theoretical support basis for the design of an aerial separation system of the missile-borne patrol aircraft and ensure the safe separation of the missile-borne patrol aircraft, an aerial separation parameterized numerical simulation platform of the missile-borne patrol aircraft needs to be constructed to evaluate the safety of the missile-borne patrol aircraft separation process.
Patent document CN113761653a discloses a method and a system for evaluating the separation safety of a mother and child and a mother and child separation simulation platform, comprising: calculating aerodynamic coefficients of each characteristic point of the separation of the primary and secondary bullets; constructing a primary-secondary bullet separation variable configuration aerodynamic response surface model according to aerodynamic coefficients; constructing a variable configuration variable mass combination multi-body dynamics model in the separation process of the mother and child; constructing a primary-secondary-bullet separation fluid-solid coupling dynamics model by a multi-body dynamics model and aerodynamic response surface model coupling simulation method; and carrying out simulation calculation on different initial boundary conditions of the primary and secondary bullet separation fluid-solid coupling dynamic model to obtain a safety envelope of the primary and secondary bullet separation process, and carrying out dynamic evaluation on the primary and secondary bullet separation safety to obtain an optimal primary boundary condition of primary and secondary bullet separation.
However, the aerodynamic response surface model in the patent document is complex in construction and is not beneficial to engineering; the simulation platform cannot model the elastomer; the traction stability umbrella cannot be modeled; failure to model the split spring force; therefore, the dynamic modeling and simulation work of the separation process of the missile-borne patrol aircraft cannot be completed. Meanwhile, the platform in the patent document is not parameterized, the parameters cannot be quickly modified for the scheme evaluation, and a detailed calculation method of the collision contact force is lacking.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a simulation evaluation method and a system for an airborne separation rule of an airborne cruise ship.
The invention provides a simulation evaluation method for an airborne separation rule of a missile-borne patrol vehicle, which comprises the following steps:
step S1: constructing a multi-rigid-body dynamics model of the cruise ship, the load cabin and the separating device;
step S2: constructing an elastomer model;
step S3: constructing a nonlinear contact collision model among the patrol device, the load cabin and the separation device;
step S4: constructing an air power model for separating the patrol device from the load cabin, and calculating an air power coefficient;
step S5: constructing a traction stable umbrella rope system model;
step S6: constructing a separation spring force model between the patrol device and the load cabin;
step S7: combining the multi-rigid-body dynamics model, the elastomer model, the nonlinear contact collision model, the aircraft and load cabin separation aerodynamic model, the traction stability parachute rope system model and the separation spring force model to construct a variable-configuration and variable-mass combined multi-body dynamics model in the separation process, thereby obtaining an airborne aircraft modification-volume configuration air separation parameterized numerical simulation platform;
step S8: and endowing the airborne patrol aircraft metamorphic variable configuration aerial separation parameterized numerical simulation platform with different separation boundary conditions in the airborne patrol aircraft aerial separation process for simulation calculation, obtaining a separation rule and carrying out a security evaluation result.
Preferably, the step S1 includes rigid body modeling of the cruise ship, the load cabin, the double-sided guide rod-roller separation mechanism, and the like, and the substeps include:
step S1.1: establishing a three-dimensional entity model corresponding to each component of the missile-borne patrol aircraft separation device by using a modeling tool;
step S1.2: according to the connection relation among the components, assembling the three-dimensional entity models corresponding to the components into a three-dimensional entity assembly model of the missile-borne patrol vehicle separating device;
step S1.3: and importing the three-dimensional entity assembly model into a virtual prototype modeling platform in a neutral file format through an interface program, and defining corresponding constraint and force in the virtual prototype modeling platform according to the topological structure relation of the missile-borne patrol aircraft separation device so as to construct a multi-rigid-body dynamics model of the missile-borne patrol aircraft separation device.
Preferably, the step S2 comprises elastomer modeling a plurality of components, the components comprising a plurality of brackets between the guide bar and the roller, the substeps comprising;
step S2.1: grid discretization and related definition are carried out on the components to generate a finite element model input file;
step S2.2: the finite element model input file is sent to a finite element solver to perform modal calculation to automatically generate a modal neutral file; the modal neutral file comprises modal frequencies, modal shapes and modal masses;
step S2.3: reading the modal neutral file definition elastomer model in a virtual prototype modeling platform;
the generation of the modal neutral file comprises the following substeps:
step S2.2.1: dividing the structure into a plurality of substructures, any point displacement inside the substructures being represented as follows:
where u represents the displacement vector of each node within the substructure, u B Represents the degree of freedom of the boundary, u I Representing the internal degree of freedom, I and 0 representing the corresponding unit matrix, the corresponding zero matrix, phi IC Representing the physical displacement of the internal degrees of freedom in a constrained mode, Φ IN Representing the physical displacement of the internal degrees of freedom in the principal mode, q C Modal coordinates, q, representing a constrained modality N Representing the modal coordinates of the main mode of the fixed interface;
step S2.2.2: according to any point displacement in the substructure, a modal shape matrix is obtained, and the calculation formula is as follows:
u＝Φq
wherein phi represents a mode shape matrix, and q represents a mode participation factor;
step S2.2.3: the generalized stiffness matrix of the finite element model can be obtained through modal transformationGeneralized quality matrixThe formula is as follows:
wherein phi is T Representing a transpose of the mode shape matrix Φ, subscripts I, B, N and C represent the internal degrees of freedom, the boundary degrees of freedom, the regular mode and the constraint mode, respectively.
Preferably, the step S3 includes: detecting contact collision based on a hierarchical bounding box method, determining simulation of a non-instantaneous contact collision process by using a continuous analysis method, and further constructing a non-linear contact collision model in the aerial separation process of the missile-borne patrol aircraft, wherein the simulation comprises the steps of using non-linear spring damping;
the simulation of the nonlinear spring damping includes simulating a collision force caused by elastic deformation with a nonlinear spring force in a collision region and simulating a loss of energy during a collision with a damper;
the collision force is calculated as follows:
wherein F is Ni And F Ti Respectively represent the normal collision force and the tangential collision force corresponding to the collision point i, f Ni And f Ti Respectively the normal elastic characteristic and the tangential elastic characteristic at the collision point i,and->Represents the normal damping characteristic and the tangential damping characteristic, delta, respectively at the contact point i Ni And delta Ti Respectively representing normal deformation quantity and tangential deformation quantity corresponding to collision point i, < >>And->Respectively representing the normal deformation rate and tangential deformation rate corresponding to the collision point i, < >>And->The superscript e denotes the elastic force nonlinear coefficient, and s denotes the number of collision points.
Preferably, the step S4 includes:
step S4.1: calculating aerodynamic coefficients of all characteristic points in the aerial separation process of the carrier aircraft by using a hydrodynamic calculation tool;
step S4.2: according to the aerodynamic coefficient, aerodynamic modeling is carried out on the patrol aircraft and the load cabin, and a separation aerodynamic model of the patrol aircraft and the load cabin is obtained, wherein the formula is as follows:
wherein F is A 、F N 、F Z Representing the aerodynamic axial, normal, lateral forces acting on the aircraft or load cell, respectively, C A 、C N 、C Z The pneumatic axial force coefficient, the normal force coefficient and the lateral force coefficient on the cruise ship or the load cabin are respectively represented, v represents the speed of the cruise ship or the load cabin, S represents the reference area of the cruise ship or the load cabin, ρ represents the air density and M represents the air density l 、M n 、M m Representing aerodynamic roll, pitch, yaw moments acting on the cruise vessel or load cell, respectively, C l 、C n 、C m The reference length of the cruise ship or the load cabin is represented by the aerodynamic roll moment coefficient, the pitch moment coefficient and the yaw moment coefficient on the cruise ship or the load cabin respectively.
Preferably, the traction stability umbrella used for separating the missile-borne patrol aircraft in the air comprises a canopy and an umbrella rope, and the step S5 comprises the following steps:
building a rope tension model: the umbrella rope is discretized into a plurality of mass points through the mass point spring-damping model, and two adjacent mass points are connected by spring damping force, and the formula is as follows:
wherein F represents rope tension, k represents rope section rigidity coefficient, c represents rope section damping coefficient, deltal represents rope section elongation, v represents relative speed of rope section end point connecting line direction, l 0 Represents the original length of the rope section, n represents the number of parallel ropes, F b Represents the breaking strength of the rope, delta represents the breaking elongation of the rope, xi represents the damping ratio, m p Representing the mass of the traction stability umbrella;
constructing a traction stability umbrella aerodynamic model: the aerodynamic force calculation formula on the traction stability umbrella is as follows:
wherein ρ is air density, v is airspeed of the traction stabilizer umbrella, C s The drag characteristic of the traction stability umbrella is that S is the reference area of the traction stability umbrella;
and assembling the rope tension model and the traction stability parachute aerodynamic model in a separation device virtual prototype modeling platform, thereby obtaining a traction stability parachute system model.
Preferably, the guide rod in the separating device is connected with the patrol aircraft through a torsion spring, and when the patrol aircraft is not completely separated from the load cabin, the torsion spring gives a certain pressing force to the guide rod, so that the guide wheel is ensured to keep contact with the guide rail of the load cabin; when the patrol device is separated from the load cabin, the torsion spring force pushes the guide rod to two sides so as to separate the guide rod; the thrust generated by the torsion spring acts on the direction vertical to the surface of the aircraft, and the magnitude of the thrust is reduced along with the reduction of the compression angle;
the step S6 includes modeling the separation force between the pilot lever and the cruise control by the piecewise nonlinear spring force as follows:
wherein K represents justDegree, ΔX represents the compression angle variation, L 0 Represents the initial compression angle, F 0 Representing the preload force.
Preferably, the step S7 includes: constructing a variable configuration and variable mass combination multi-body dynamics model in the separation process of the missile-borne patrol aircraft by adopting a second Lagrangian equation, so as to construct an aerial separation parameterized numerical simulation platform of the variable mass configuration of the missile-borne patrol aircraft;
the separation device is a non-conservative system with energy consumption functions, and the second type of Lagrangian equation is described as:
wherein l=t-U, is a lagrangian function, L is a lagrangian operator, representing the difference between kinetic energy and potential energy, T is a kinetic energy function of the system, U is a potential energy function of the system, q i 、Respectively represents generalized coordinates and generalized speed of the system, Q i Is a generalized force corresponding to generalized coordinates;
for the convenience of solving, the Lagrange equation separated by the variable-configuration variable-mass missile-borne patrol is converted into a multi-body dynamics differential-algebraic equation under the complete constraint condition:
wherein q is,Respectively representing generalized coordinates of the multi-body system, first-order inverse of the generalized coordinates with respect to time and second-order derivative of the generalized coordinates with respect to time, M (q, t) represents generalized mass matrix of the multi-body system, phi (t) and phi q (, t) represents constraint function vector of multi-body system and Jacobian matrix of generalized coordinate q of constraint function vector of multi-body system, respectively, and lambda represents constraint BraggLangmuir multiplier, jersey>Representing a generalized external force vector;
the generalized external force vectors include aerodynamic forces, impact forces, spring forces, and traction forces.
Preferably, the evaluation includes confirming a stuck in the separation process, a collision between the load compartment and the outer envelope of the cruise ship, and a posture change after the cruise ship is separated;
and obtaining an airborne separation rule of the missile-borne patrol aircraft according to the evaluation result, and providing a theoretical basis for the overall design of the separation device.
The invention provides an aerial separation rule simulation evaluation system of a missile-borne patrol vehicle, which comprises the following components:
module M1: constructing a multi-rigid-body dynamics model of the cruise ship, the load cabin and the separating device;
module M2: constructing an elastomer model;
module M3: constructing a nonlinear contact model among the patrol device, the load cabin and the separation device;
module M4: constructing an air power model for separating the patrol device from the load cabin, and calculating an air power coefficient;
module M5: constructing a traction stable umbrella rope system model;
module M6: constructing a separation spring force model between the patrol device and the load cabin;
module M7: combining the multi-rigid-body dynamics model, the elastomer model, the nonlinear contact model, the aircraft and load cabin separation aerodynamic model, the traction stability parachute rope system model and the separation spring force model to construct a variable-configuration and variable-mass combined multi-body dynamics model in the separation process, thereby obtaining an airborne aircraft metamorphic variable-configuration air separation parameterized numerical simulation platform;
module M8: and endowing the airborne patrol aircraft metamorphic variable configuration aerial separation parameterized numerical simulation platform with different separation boundary conditions in the airborne patrol aircraft aerial separation process for simulation calculation, obtaining a separation rule and carrying out a security evaluation result.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention can realize the analysis of the influence of factors such as the attitude change of the load cabin, the length of the rope, the atmospheric disturbance and the like on the aerial separation characteristic of the missile-borne patrol aircraft, and the research on the aerial separation influence factors of the missile-borne patrol aircraft is more comprehensive.
2. The invention solves the technical problems of the field of evaluation of the airborne separation rule and process control of the missile-borne patrol aircraft. Meanwhile, a quantized design basis is provided for formulating technical measures which are beneficial to improving the aerial separation safety of the missile-borne patrol aircraft, and the method has important engineering value.
3. The parameterized platform constructed in the invention can rapidly evaluate the design scheme of the missile-borne patrol aircraft, reduce the number of physical tests in the later period, reduce the labor cost and the technical cost, and has important economic value.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
fig. 1 is a flow chart of the airborne cruise control evaluation method of the present invention.
Fig. 2 is a mass characteristic input interface of an airborne cruise control parameterized numerical simulation platform according to an embodiment of the present invention.
Fig. 3 is an initial separation condition input interface of an airborne cruise control parameterized numerical simulation platform in an embodiment of the present invention.
Fig. 4 is a schematic diagram of an airborne separation process of an airborne cruise ship in an embodiment of the invention.
Fig. 5 is a graph showing displacement curves of the cruise ship and the load compartment during airborne separation of the missile-borne cruise ship in an embodiment of the present invention.
Fig. 6 is a velocity profile of the cruise ship and load compartment during airborne separation of the airborne cruise ship in accordance with an embodiment of the present invention.
Fig. 7 is an angular velocity profile of an aircraft and a load cell during airborne separation of an airborne aircraft in an embodiment of the invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
Example 1
According to the invention, as shown in fig. 1, the simulation evaluation method for the airborne separation rule of the missile-borne patrol vehicle comprises the following steps:
step S1: and constructing a multi-rigid-body dynamics model of the cruise ship, the load cabin and the separating device. Specifically, step S1 includes rigid body modeling such as a cruise ship, a load cabin, a double-sided guide rod-roller separation mechanism, and the like, and the substeps include:
step S1.1: and establishing a three-dimensional entity model corresponding to each component of the missile-borne patrol aircraft separation device by using a modeling tool. Wherein the modeling tool comprises CAD modeling tool software.
Step S1.2: and according to the connection relation among the components, assembling the three-dimensional entity models corresponding to the components into a three-dimensional entity assembly model of the missile-borne patrol vehicle separating device.
Step S1.3: and importing the three-dimensional entity assembly model into a virtual prototype modeling platform in a neutral file format through an interface program, and defining corresponding constraint and force in the virtual prototype modeling platform according to the topological structure relation of the missile-borne patrol aircraft separation device so as to construct a multi-rigid-body dynamics model of the missile-borne patrol aircraft separation device.
Step S2: an elastomer model is constructed. Specifically, step S2 includes elastomer modeling a plurality of components including a plurality of brackets between a guide bar and a roller, the substeps including;
step S2.1: grid discretization and related definition are performed on the components to generate a finite element model input file.
Step S2.2: and sending the finite element model input file to a finite element solver for modal calculation to automatically generate a modal neutral file. The modal neutral file includes modal frequencies, modal shapes, and modal masses. The method for constructing the elastomer in the virtual prototype modeling platform comprises a mode synthesis method, and the mode synthesis method is a particularly effective method for reducing the degree of freedom. The vibration deformation of the linear elastic structure at any moment under free or forced vibration can be approximately represented as a linear combination of simple modes, namely:
u＝Φq
wherein: array u represents the displacement vector of each node; the matrix q represents the modal participation factor, i.e., the modal coordinates; Φ represents the mode shape matrix, i.e. the matrix of feature vectors combined. An elastomer model was constructed using the Craig-Bampton modal synthesis method, which is a Ritz-based construction of structures based on a kinematic perspective.
Further, the generation of the modal neutral file comprises the following sub-steps:
step S2.2.1: dividing the structure into a plurality of substructures, any point displacement inside the substructures being represented as follows:
where u represents the displacement vector of each node within the substructure, u B Represents the degree of freedom of the boundary, u I Representing the internal degree of freedom, I and 0 representing the corresponding unit matrix, the corresponding zero matrix, phi IC Representing the physical displacement of the internal degrees of freedom in a constrained mode, Φ IN Representing the physical displacement of the internal degrees of freedom in the principal mode, q C Modal coordinates, q, representing a constrained modality N Representing the modal coordinates of the fixed interface primary modality.
Step S2.2.2: according to any point displacement in the substructure, a modal shape matrix is obtained, and the calculation formula is as follows:
u＝Φq
where Φ represents the mode shape matrix and q represents the mode participation factor.
Step S2.2.3: the generalized stiffness matrix of the finite element model can be obtained through modal transformationGeneralized quality matrixThe formula is as follows:
wherein phi is T Representing a transpose of the mode shape matrix Φ, subscripts I, B, N and C represent the internal degrees of freedom, the boundary degrees of freedom, the regular mode and the constraint mode, respectively.
Step S2.3: reading the modal neutral file definition elastomer model in a virtual prototype modeling platform.
Step S3: and constructing a nonlinear contact collision model among the patrol device, the load cabin and the separation device. Specifically, step S3 includes: the method is characterized in that contact collision is detected based on a hierarchical bounding box method, a continuous analysis method is utilized to determine simulation of a non-instantaneous contact collision process, and a non-linear contact collision model in the airborne separation process of the missile-borne patrol aircraft is built, wherein the simulation is carried out by using non-linear spring damping. The equivalent spring damping method is similar to the actual collision process, and the collision force is a function of the collision process. It should be noted that the nonlinear spring damping model assumes that the collision process between objects is not instantaneously completed, so that the change in collision force with the time of collision can be accurately studied. The simulation of the nonlinear spring damping includes simulating impact forces caused by elastic deformation with nonlinear spring forces and simulating energy loss during an impact with a damper in the impact region. The collision force is calculated as follows:
wherein F is Ni And F Ti Respectively represent the normal collision force and the tangential collision force corresponding to the collision point i, f Ni And f Ti Respectively the normal elastic characteristic and the tangential elastic characteristic at the collision point i,and->Represents the normal damping characteristic and the tangential damping characteristic, delta, respectively at the contact point i Ni And delta Ti Respectively representing normal deformation quantity and tangential deformation quantity corresponding to collision point i, < >>And->Respectively representing the normal deformation rate and tangential deformation rate corresponding to the collision point i, < >>And->The superscript e denotes the elastic force nonlinear coefficient, and s denotes the number of collision points.
Step S4: and constructing an air power model for separating the patrol device from the load cabin, and calculating an air power coefficient. Specifically, step S4 includes:
step S4.1: and calculating aerodynamic coefficients of all characteristic points in the aerial separation process of the carrier aircraft by using a hydrodynamic calculation tool. When the missile-borne patrol aircraft is separated, the surrounding flow field is a three-dimensional viscous unsteady turbulence flow field, the turbulence flow field is simulated by adopting a separation vortex simulation method, and the transportation equation form of the control equation is as follows:
wherein ρ is the air density,for flow field flux, t is time, div () is the divergence, u is the velocity vector, div (grad ()) represents the divergence of the gradient, Γ is the diffusion coefficient, and S is the source term. According to the separation vortex simulation method, a Random Access Network (RANS) turbulence model is used for the separation vortex simulation in a thin boundary layer, and the RANS is simulated in the Reynolds time; the LES method is used in the non-thin boundary layer area, the separation vortex simulation method combines the respective advantages of the two models in different areas, and the LES is a large vortex simulation method.
Step S4.2: according to the aerodynamic coefficient, aerodynamic modeling is carried out on the patrol aircraft and the load cabin, and a separation aerodynamic model of the patrol aircraft and the load cabin is obtained, wherein the formula is as follows:
wherein F is A 、F N 、F Z Representing the aerodynamic axial, normal, lateral forces acting on the aircraft or load cell, respectively, C A 、C N 、C Z The pneumatic axial force coefficient, the normal force coefficient and the lateral force coefficient on the cruise ship or the load cabin are respectively represented, v represents the speed of the cruise ship or the load cabin, S represents the reference area of the cruise ship or the load cabin, ρ represents the air density and M represents the air density l 、M n 、M m Representing aerodynamic roll, pitch, yaw moments acting on the cruise vessel or load cell, respectively, C l 、C n 、C m Respectively representing pneumatic roll moment coefficient, pitch moment coefficient and yaw moment coefficient on the cruise ship or the load cabin, and L represents parameters of the cruise ship or the load cabinAnd (5) checking the length.
Step S5: and constructing a traction stable umbrella rope system model. Specifically, the traction stability umbrella used for separating the missile-borne patrol aircraft in the air comprises an umbrella canopy and an umbrella rope, wherein the connecting rope and the hanging belt are flexible ropes, and the step S5 comprises the following steps:
building a rope tension model: the umbrella rope is discretized into a plurality of mass points through the mass point spring-damping model, and two adjacent mass points are connected by spring damping force, and the formula is as follows:
wherein F represents rope tension, k represents rope section rigidity coefficient, c represents rope section damping coefficient, deltal represents rope section elongation, v represents relative speed of rope section end point connecting line direction, l 0 Represents the original length of the rope section, n represents the number of parallel ropes, F b Represents the breaking strength of the rope, delta represents the breaking elongation of the rope, xi represents the damping ratio, m p Representing the mass of the traction stability umbrella;
constructing a traction stability umbrella aerodynamic model: the aerodynamic force calculation formula on the traction stability umbrella is as follows:
wherein ρ is air density, v is airspeed of the traction stabilizer umbrella, C s The drag characteristic of the traction stability umbrella is that S is the reference area of the traction stability umbrella;
and assembling the rope tension model and the traction stability parachute aerodynamic model in a separation device virtual prototype modeling platform, thereby obtaining a traction stability parachute system model.
Step S6: and constructing a separation spring force model between the patrol device and the load cabin. The guide rod in the separating device is connected with the patrol aircraft through a torsion spring, and when the patrol aircraft is not completely separated from the load cabin, the torsion spring gives a certain pressing force to the guide rod, so that the guide wheel is ensured to keep contact with the guide rail of the load cabin; when the patrol device is separated from the load cabin, the torsion spring force pushes the guide rod to two sides so as to separate the guide rod; the thrust generated by the torsion spring acts on the direction vertical to the surface of the patrol aircraft, and the magnitude of the thrust is reduced along with the reduction of the compression angle. Specifically, step S6 includes modeling the separation force between the pilot lever and the cruise control by the piecewise nonlinear spring force as follows:
wherein K represents rigidity, deltaX represents compression angle variation, L 0 Represents the initial compression angle, F 0 Representing the preload force.
Step S7: and constructing a variable-configuration and variable-mass combined multi-body dynamics model in the separation process by combining the multi-rigid-body dynamics model, the elastomer model, the nonlinear contact collision model, the aircraft and load cabin separation aerodynamic model, the traction stability parachute rope system model and the separation spring force model, so as to obtain an airborne aircraft metamorphic variable-configuration air separation parameterized numerical simulation platform. Specifically, step S7 includes: and constructing a variable configuration and variable mass combination multi-body dynamics model in the separation process of the missile-borne patrol aircraft by adopting a second Lagrangian equation, so as to construct an aerial separation parameterized numerical simulation platform of the variable mass configuration of the missile-borne patrol aircraft.
The separation device is a non-conservative system with energy consumption functions, and the second type of Lagrangian equation is described as:
wherein l=t-U, is a lagrangian function, L is a lagrangian operator, representing the difference between kinetic and potential energy, T is a kinetic function of the system, and U is a systemPotential energy function of system, q i 、Respectively represents generalized coordinates and generalized speed of the system, Q i Is a generalized force corresponding to the generalized coordinates.
For the convenience of solving, the Lagrange equation separated by the variable-configuration variable-mass missile-borne patrol is converted into a multi-body dynamics differential-algebraic equation under the complete constraint condition:
wherein q is,Respectively representing generalized coordinates of the multi-body system, first-order reciprocal of the generalized coordinates with respect to time and second-order derivative of the generalized coordinates with respect to time, M (q, t) represents generalized mass matrix of the multi-body system, phi (q, t) and phi q (q, t) represents the constraint function vector of the multi-body system and the Jacobian matrix of the constraint function vector of the multi-body system to the generalized coordinate q, respectively, lambda represents the Lagrangian multiplier of the constraint,>representing a generalized external force vector. The generalized external force vectors include aerodynamic forces, impact forces, spring forces, and traction forces.
Step S8: and endowing the airborne patrol aircraft metamorphic variable configuration aerial separation parameterized numerical simulation platform with different separation boundary conditions in the airborne patrol aircraft aerial separation process for simulation calculation, obtaining a separation rule and carrying out a security evaluation result. Specifically, the evaluation includes confirming a stuck in the separation process, a collision between the load compartment and the exterior envelope of the cruise vehicle, and a change in attitude after the cruise vehicle is separated. As shown in fig. 2 and fig. 3, the quality characteristic input interface and the initial separation condition input interface of the airborne separation parameterized numerical simulation platform of the airborne cruise aircraft are respectively provided. And obtaining an airborne separation rule of the missile-borne patrol aircraft according to the evaluation result, and providing a theoretical basis for the overall design of the separation device.
Furthermore, according to the simulation evaluation method for the airborne separation rule of the airborne aircraft under the complex mechanical environment, provided by the invention, the separation process of the airborne aircraft under different boundary conditions such as mass eccentricity, tension eccentricity, initial separation gesture and the like is simulated by adopting the method for evaluating the airborne aircraft separation rule, so that a simulation result of the separation rule is obtained and displayed to a user. Fig. 2 and fig. 3 are input setting interfaces of an airborne cruise control parameterized numerical simulation platform in an embodiment of the present invention. Fig. 4 is a schematic diagram of an airborne separation process of an airborne cruise ship in an embodiment of the invention. The simulation results obtained are shown in fig. 5, which are graphs of displacement of the aircraft and the load cabin in the airborne separation process of the missile-borne aircraft in the embodiment of the invention. Fig. 6 is a graph of cruise vehicle and load cell velocity during airborne separation of a missile-borne cruise vehicle in accordance with an embodiment of the present invention. Fig. 7 is an angular velocity profile of the cruise vehicle and load compartment during airborne separation of an airborne cruise vehicle in an embodiment of the invention.
The invention also provides a simulation evaluation system for the airborne separation law of the missile-borne patrol aircraft, which can be realized by a person skilled in the art through executing the step flow of the simulation evaluation method for the airborne separation law of the missile-borne patrol aircraft, namely, the simulation evaluation method for the airborne separation law of the missile-borne patrol aircraft can be understood as a preferred implementation mode of the simulation evaluation system for the airborne separation law of the missile-borne patrol aircraft.
The invention provides an aerial separation rule simulation evaluation system of a missile-borne patrol vehicle, which comprises the following components:
module M1: and constructing a multi-rigid-body dynamics model of the cruise ship, the load cabin and the separating device. Module M2: an elastomer model is constructed. Module M3: and constructing a nonlinear contact model among the patrol device, the load cabin and the separation device. Module M4: and constructing an air power model for separating the patrol device from the load cabin, and calculating an air power coefficient. Module M5: and constructing a traction stable umbrella rope system model. Module M6: and constructing a separation spring force model between the patrol device and the load cabin. Module M7: and constructing a variable-configuration and variable-mass combined multi-body dynamics model in the separation process by combining the multi-rigid-body dynamics model, the elastomer model, the nonlinear contact model, the aircraft and load cabin separation aerodynamic model, the traction stability parachute rope system model and the separation spring force model, so as to obtain the airborne aircraft metamorphic variable-configuration air separation parameterized numerical simulation platform. Module M8: and endowing the airborne patrol aircraft metamorphic variable configuration aerial separation parameterized numerical simulation platform with different separation boundary conditions in the airborne patrol aircraft aerial separation process for simulation calculation, obtaining a separation rule and carrying out a security evaluation result.
Those skilled in the art will appreciate that the systems, apparatus, and their respective modules provided herein may be implemented entirely by logic programming of method steps such that the systems, apparatus, and their respective modules are implemented as logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc., in addition to the systems, apparatus, and their respective modules being implemented as pure computer readable program code. Therefore, the system, the apparatus, and the respective modules thereof provided by the present invention may be regarded as one hardware component, and the modules included therein for implementing various programs may also be regarded as structures within the hardware component; modules for implementing various functions may also be regarded as being either software programs for implementing the methods or structures within hardware components.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (10)
1. The aerial separation rule simulation evaluation method of the missile-borne patrol aircraft is characterized by comprising the following steps of:
step S1: constructing a multi-rigid-body dynamics model of the cruise ship, the load cabin and the separating device;
step S2: constructing an elastomer model;
step S3: constructing a nonlinear contact collision model among the patrol device, the load cabin and the separation device;
step S4: constructing an air power model for separating the patrol device from the load cabin, and calculating an air power coefficient;
step S5: constructing a traction stable umbrella rope system model;
step S6: constructing a separation spring force model between the patrol device and the load cabin;
step S7: combining the multi-rigid-body dynamics model, the elastomer model, the nonlinear contact collision model, the aircraft and load cabin separation aerodynamic model, the traction stability parachute rope system model and the separation spring force model to construct a variable-configuration and variable-mass combined multi-body dynamics model in the separation process, thereby obtaining an airborne aircraft modification-volume configuration air separation parameterized numerical simulation platform;
step S8: and endowing the airborne patrol aircraft metamorphic variable configuration aerial separation parameterized numerical simulation platform with different separation boundary conditions in the airborne patrol aircraft aerial separation process for simulation calculation, obtaining a separation rule and carrying out a security evaluation result.
2. The method for simulating and evaluating the airborne separation law of an airborne aircraft according to claim 1, wherein the step S1 includes rigid body modeling of the aircraft, the load cabin, the double-sided guide rod-roller separation mechanism, and the like, and the substep includes:
step S1.1: establishing a three-dimensional entity model corresponding to each component of the missile-borne patrol aircraft separation device by using a modeling tool;
step S1.2: according to the connection relation among the components, assembling the three-dimensional entity models corresponding to the components into a three-dimensional entity assembly model of the missile-borne patrol vehicle separating device;
step S1.3: and importing the three-dimensional entity assembly model into a virtual prototype modeling platform in a neutral file format through an interface program, and defining corresponding constraint and force in the virtual prototype modeling platform according to the topological structure relation of the missile-borne patrol aircraft separation device so as to construct a multi-rigid-body dynamics model of the missile-borne patrol aircraft separation device.
3. The method according to claim 1, wherein the step S2 comprises elastomer modeling a plurality of members including a plurality of brackets between a guide bar and a roller, and the substep comprises;
step S2.1: grid discretization and related definition are carried out on the components to generate a finite element model input file;
step S2.2: the finite element model input file is sent to a finite element solver to perform modal calculation to automatically generate a modal neutral file; the modal neutral file comprises modal frequencies, modal shapes and modal masses;
step S2.3: reading the modal neutral file definition elastomer model in a virtual prototype modeling platform;
the generation of the modal neutral file comprises the following substeps:
step S2.2.1: dividing the structure into a plurality of substructures, any point displacement inside the substructures being represented as follows:
where u represents the displacement vector of each node within the substructure, u B Represents the degree of freedom of the boundary, u I Representing the internal degree of freedom, I and 0 representing the corresponding unit matrix, the corresponding zero matrix, phi IC Representing the physical displacement of the internal degrees of freedom in a constrained mode, Φ IN Representing the physical displacement of the internal degrees of freedom in the principal mode, q C Modal coordinates, q, representing a constrained modality N Representing the modal coordinates of the main mode of the fixed interface;
step S2.2.2: according to any point displacement in the substructure, a modal shape matrix is obtained, and the calculation formula is as follows:
u＝Φq
wherein phi represents a mode shape matrix, and q represents a mode participation factor;
step S2.2.3: the generalized stiffness matrix K and the generalized mass matrix M of the finite element model can be obtained through modal transformation, and the formula is as follows:
wherein phi is T Representing a transpose of the mode shape matrix Φ, subscripts I, B, N and C represent the internal degrees of freedom, the boundary degrees of freedom, the regular mode and the constraint mode, respectively.
4. The method for simulating and evaluating the airborne separation law of an airborne cruise ship according to claim 1, wherein the step S3 comprises: detecting contact collision based on a hierarchical bounding box method, determining simulation of a non-instantaneous contact collision process by using a continuous analysis method, and further constructing a non-linear contact collision model in the aerial separation process of the missile-borne patrol aircraft, wherein the simulation comprises the steps of using non-linear spring damping;
the simulation of the nonlinear spring damping includes simulating a collision force caused by elastic deformation with a nonlinear spring force in a collision region and simulating a loss of energy during a collision with a damper;
the collision force is calculated as follows:
wherein F is Ni And F Ti Respectively represent the normal collision force and the tangential collision force corresponding to the collision point i, f Ni And f Ti Respectively the normal elastic characteristic and the tangential elastic characteristic at the collision point i,and->Represents the normal damping characteristic and the tangential damping characteristic, delta, respectively at the contact point i Ni And delta Ti Respectively representing normal deformation quantity and tangential deformation quantity corresponding to collision point i, < >>And->Respectively representing the normal deformation rate and tangential deformation rate corresponding to the collision point i, < >>And->The superscript e denotes the elastic force nonlinear coefficient, and s denotes the number of collision points.
5. The method for simulating and evaluating the airborne separation law of an airborne cruise ship according to claim 1, wherein the step S4 comprises:
step S4.1: calculating aerodynamic coefficients of all characteristic points in the aerial separation process of the carrier aircraft by using a hydrodynamic calculation tool;
step S4.2: according to the aerodynamic coefficient, aerodynamic modeling is carried out on the patrol aircraft and the load cabin, and a separation aerodynamic model of the patrol aircraft and the load cabin is obtained, wherein the formula is as follows:
wherein F is A 、F N 、F Z Representing the aerodynamic axial, normal, lateral forces acting on the aircraft or load cell, respectively, C A 、C N 、C Z The pneumatic axial force coefficient, the normal force coefficient and the lateral force coefficient on the cruise ship or the load cabin are respectively represented, v represents the speed of the cruise ship or the load cabin, S represents the reference area of the cruise ship or the load cabin, ρ represents the air density and M represents the air density l 、M n 、M m Representing aerodynamic roll, pitch, yaw moments acting on the cruise vessel or load cell, respectively, C l 、C n 、C m The reference length of the cruise ship or the load cabin is represented by the aerodynamic roll moment coefficient, the pitch moment coefficient and the yaw moment coefficient on the cruise ship or the load cabin respectively.
6. The simulation evaluation method for the airborne separation law of the airborne cruise ship according to claim 1, wherein the traction stability umbrella used for the airborne cruise ship in the air comprises a canopy and an umbrella rope, and the step S5 comprises:
building a rope tension model: the umbrella rope is discretized into a plurality of mass points through the mass point spring-damping model, and two adjacent mass points are connected by spring damping force, and the formula is as follows:
wherein F represents rope tension, k represents rope section rigidity coefficient, c represents rope section damping coefficient, deltal represents rope section elongation, v represents relative speed of rope section end point connecting line direction, l 0 Represents the original length of the rope section, n represents the number of parallel ropes, F b Indicating ropeBreaking strength, delta represents elongation at break of rope, xi represents damping ratio, m p Representing the mass of the traction stability umbrella;
constructing a traction stability umbrella aerodynamic model: the aerodynamic force calculation formula on the traction stability umbrella is as follows:
wherein ρ is air density, v is airspeed of the traction stabilizer umbrella, C s The drag characteristic of the traction stability umbrella is that S is the reference area of the traction stability umbrella;
and assembling the rope tension model and the traction stability parachute aerodynamic model in a separation device virtual prototype modeling platform, thereby obtaining a traction stability parachute system model.
7. The simulation evaluation method for the airborne separation law of the missile-borne aircraft according to claim 1, wherein a guide rod in the separation device is connected with the aircraft through a torsion spring, and when the aircraft is not completely separated from a load cabin, the torsion spring gives a certain pressing force to the guide rod so as to ensure that the guide wheel is kept in contact with a guide rail of the load cabin; when the patrol device is separated from the load cabin, the torsion spring force pushes the guide rod to two sides so as to separate the guide rod; the thrust generated by the torsion spring acts on the direction vertical to the surface of the aircraft, and the magnitude of the thrust is reduced along with the reduction of the compression angle;
the step S6 includes modeling the separation force between the pilot lever and the cruise control by the piecewise nonlinear spring force as follows:
wherein K represents rigidity, deltaX represents compression angle variation, L 0 Represents the initial compression angle, F 0 Representing the preload force.
8. The method for simulating and evaluating the airborne separation law of an airborne cruise ship according to claim 1, wherein the step S7 comprises: constructing a variable configuration and variable mass combination multi-body dynamics model in the separation process of the missile-borne patrol aircraft by adopting a second Lagrangian equation, so as to construct an aerial separation parameterized numerical simulation platform of the variable mass configuration of the missile-borne patrol aircraft;
the separation device is a non-conservative system with energy consumption functions, and the second type of Lagrangian equation is described as:
wherein l=t-U, is a lagrangian function, L is a lagrangian operator, representing the difference between kinetic energy and potential energy, T is a kinetic energy function of the system, U is a potential energy function of the system, q i 、Respectively represents generalized coordinates and generalized speed of the system, Q i Is a generalized force corresponding to generalized coordinates;
for the convenience of solving, the Lagrange equation separated by the variable-configuration variable-mass missile-borne patrol is converted into a multi-body dynamics differential-algebraic equation under the complete constraint condition:
wherein q is,Respectively representing generalized coordinates of the multi-body system, first-order inverse of the generalized coordinates with respect to time and second-order derivative of the generalized coordinates with respect to time, M (q, t) represents generalized mass matrix of the multi-body system, phi (t) and phi q (, t) represents a constraint function vector of the multi-body system and a Jacobian matrix of the constraint function vector of the multi-body system to generalized coordinates q, respectively, lambda represents a Lagrangian multiplier of the constraint,/>representing a generalized external force vector;
the generalized external force vectors include aerodynamic forces, impact forces, spring forces, and traction forces.
9. The method for simulating and evaluating the airborne separation law of an airborne cruise ship according to claim 8, wherein the evaluation comprises the steps of confirming clamping stagnation in the separation process, collision between a load cabin and an outer envelope of the cruise ship and posture change after the separation of the cruise ship;
and obtaining an airborne separation rule of the missile-borne patrol aircraft according to the evaluation result, and providing a theoretical basis for the overall design of the separation device.
10. An airborne cruise control simulation evaluation system, which is characterized by comprising:
module M1: constructing a multi-rigid-body dynamics model of the cruise ship, the load cabin and the separating device;
module M2: constructing an elastomer model;
module M3: constructing a nonlinear contact model among the patrol device, the load cabin and the separation device;
module M4: constructing an air power model for separating the patrol device from the load cabin, and calculating an air power coefficient;
module M5: constructing a traction stable umbrella rope system model;
module M6: constructing a separation spring force model between the patrol device and the load cabin;
module M7: combining the multi-rigid-body dynamics model, the elastomer model, the nonlinear contact model, the aircraft and load cabin separation aerodynamic model, the traction stability parachute rope system model and the separation spring force model to construct a variable-configuration and variable-mass combined multi-body dynamics model in the separation process, thereby obtaining an airborne aircraft metamorphic variable-configuration air separation parameterized numerical simulation platform;
module M8: and endowing the airborne patrol aircraft metamorphic variable configuration aerial separation parameterized numerical simulation platform with different separation boundary conditions in the airborne patrol aircraft aerial separation process for simulation calculation, obtaining a separation rule and carrying out a security evaluation result.
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