WO2017150626A1 - 粒子シミュレーション装置、粒子シミュレーション方法及び粒子シミュレーションプログラム - Google Patents
粒子シミュレーション装置、粒子シミュレーション方法及び粒子シミュレーションプログラム Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
- G06F30/25—Design optimisation, verification or simulation using particle-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2111/00—Details relating to CAD techniques
- G06F2111/10—Numerical modelling
Definitions
- the present invention relates to a particle simulation apparatus, a particle simulation method, and a particle simulation program for simulating the behavior of particles and structures.
- the distance function is handled as one of the following, for example, with respect to the movement of the structure with time.
- the distance function is fixed, and the coordinate system of the particle is translated and rotated corresponding to the movement and rotation of the structure.
- this method is not applicable when there are a plurality of structures, that is, when there are a plurality of moving axes and rotating axes.
- (2) Recreate the distance function each time the structure moves.
- this method requires enormous calculation cost for recreating the distance function, and is not easy to use for actual calculation.
- the advection calculation of the distance function using a differential equation is performed. However, since this method is a lattice method, numerical diffusion occurs and the distance function is lost.
- the present invention has been made in view of the above problems, and accurately calculates the distance between the particle and the structure with a small calculation load, thereby appropriately performing the simulation of the particle and the structure.
- An object is to provide a particle simulation apparatus, a particle simulation method, and a particle simulation program.
- a particle simulation apparatus calculates the position and velocity of a particle based on the interaction force between the particle and the structure in the work space.
- a particle simulation apparatus for simulating the behavior of the particles and the structure the structure initial information acquiring means for acquiring the structure initial information indicating the initial position and shape of the structure, and the structure initial information acquiring means Based on the initial position and shape of the structure indicated by the acquired structure initial information, a plurality of virtual areas are set in the vicinity of the surface of the structure, and for each of the set virtual areas, up to the structure Virtual area setting means for calculating the distance, position information acquisition means for acquiring position information indicating the position of the particles, and position information acquired by the position information acquisition means Based on the distance calculated by the virtual area setting means for the virtual area specifying means for specifying the virtual area within a preset distance from the position of the particle indicated by the virtual area specifying means, A particle distance calculating means for calculating a distance from the particle to the structure, and an interaction force calculating
- the distance between the particle and the structure is calculated based on the distance calculated for a plurality of virtual regions set in the vicinity of the surface of the structure.
- the virtual area is moved while maintaining the positional relationship with the structure. Therefore, it is not necessary to recalculate the distance (distance function) for the virtual region.
- the distance only needs to be calculated only for the virtual region set in the vicinity of the structure.
- the virtual region is set for each structure, it can be applied even when there are a plurality of structures, that is, when there are a plurality of different movement axes and rotation axes.
- the distance between the particle and the structure is accurately calculated with a small calculation load, thereby appropriately performing the simulation of the particle and the structure. be able to.
- the virtual area setting means may set a plurality of virtual areas in the vicinity of the surface of the structure within a range corresponding to a preset distance. According to this configuration, it is possible to set as many virtual regions as necessary, and it is possible to more efficiently simulate particles and structures.
- the time transition means may calculate the position and speed of the structure at the next time step based on the interaction force calculated by the interaction force calculation means. According to this configuration, since the influence of the particles on the structure can also be simulated, more accurate simulation of the particles and the structure can be performed.
- the virtual area may be a particulate area. According to this configuration, the virtual region can be handled appropriately and easily, and the simulation of the particle and the structure can be performed appropriately and easily.
- the present invention can be described as an invention of a particle simulation apparatus as described above, and can also be described as an invention of a particle simulation method and a particle simulation program as follows. This is substantially the same invention only in different categories, and has the same operations and effects.
- the particle simulation method calculates the position and velocity of the particle based on the interaction force between the particle and the structure in the work space, and the particle and the structure.
- a particle simulation method that is an operation method of a particle simulation apparatus that simulates the behavior of a structure, the structure initial information acquisition step for acquiring structure initial information indicating the initial position and shape of the structure, and the structure initial information acquisition step Based on the initial position and shape of the structure indicated by the structure initial information acquired in step 2, a plurality of virtual areas are set in the vicinity of the surface of the structure, and each of the plurality of virtual areas set up to the structure
- a virtual region setting step for calculating the distance of the position a position information acquisition step for acquiring position information indicating the position of the particles,
- a virtual region specifying step that specifies a virtual region within a preset distance from the particle position indicated by the position information acquired in the acquiring step, and the virtual region specified in the virtual region specifying step Based on the calculated distance, a particle distance
- the particle simulation program calculates the position and velocity of the particle based on the interaction force between the particle and the structure in the work space.
- a particle simulation program for functioning as a particle simulation apparatus for simulating the behavior of the structure wherein the computer obtains structure initial information acquisition means for acquiring structure initial information indicating the initial position and shape of the structure, and the structure Based on the initial position and shape of the structure indicated by the initial structure information acquired by the initial information acquisition means, a plurality of virtual areas are set near the surface of the structure, and each of the set virtual areas is set.
- a virtual region setting means for calculating the distance to the structure, and position information indicating the position of the particles Position information acquisition means, virtual area specification means for specifying a virtual area within a preset distance from the position of the particle indicated by the position information acquired by the position information acquisition means, and virtual specified by the virtual area specification means For the region, based on the distance calculated by the virtual region setting unit, a particle distance calculation unit that calculates the distance from the particle to the structure, and based on the distance calculated by the particle distance calculation unit, the particle and the structure
- the interaction force calculation means for calculating the interaction force between the particles, the position and velocity of the particles in the next time step based on the interaction force calculated by the interaction force calculation means, and the structure And function as time transition means for moving the virtual area while maintaining the positional relationship.
- the distance there is no need to recalculate the distance (distance function) for the virtual region.
- the distance unlike the conventional distance function, the distance only needs to be calculated only for the virtual region set in the vicinity of the structure.
- the virtual region since the virtual region is set for each structure, it can be applied even when there are a plurality of structures, that is, when there are a plurality of different movement axes and rotation axes. Further, since the virtual region associated with the distance moves, numerical diffusion due to advection calculation does not occur. That is, according to one embodiment of the present invention, the distance between the particle and the structure can be accurately calculated with a small calculation load, and thereby the simulation of the particle and the structure can be appropriately performed.
- FIG. 1 shows a particle simulation apparatus 10 according to this embodiment.
- the particle simulation device 10 is a device that simulates (analyzes) the behavior of a plurality of spherical particles (a shape having a constant distance from the center to the surface) and a structure in a work space (calculation region). Specifically, the particle simulation apparatus calculates the force acting on each particle based on the position and velocity of each particle and structure at each time step that is a simulation time.
- the force acting on each particle and structure includes, for example, a contact force that is an interaction force due to contact (collision) that is an interaction between particles and the structure and between particles.
- the particle simulation apparatus 10 calculates the position and velocity of each particle and structure in the next time step based on the calculated force.
- the particle simulation in this embodiment is performed based on DEM, you may be performed based on other particle methods, such as SPH and MPS. Further, depending on the type of particle method, the particle diameter and rotation speed may not be retained as information.
- the particles to be simulated by the particle simulation apparatus 10 according to the present embodiment include arbitrary particles that have been targets for conventional particle simulation. For example, earth and sand or powder can be targeted. Or it is good also as a target supposing that fluid and solid consist of a plurality of particles.
- the structure to be simulated by the particle simulation apparatus 10 according to the present embodiment includes an arbitrary object. For example, an apparatus for agitating and mixing powder (a part for agitating and mixing powder (agitating blade)) is an object. There may be a plurality of structures to be simulated.
- the physical problem can be simulated by the simulation by the particle simulation apparatus 10 according to the present embodiment.
- simulation of powder agitation and mixing can be performed.
- it may be used for verification of drilling capacity according to the shape of the drill bit and for the design of construction equipment and heavy machinery such as a bulldozer.
- the simulation by the particle simulation apparatus 10 according to the present embodiment can be applied in industrial fields such as civil engineering and powder. It can also be used for the simulation of natural phenomena such as dikes, buildings, terrain and tsunami and earth and sand, landslides and avalanches.
- the simulation by the particle simulation apparatus 10 according to the present embodiment can be applied in the field of disaster prevention.
- the particle simulation apparatus 10 is configured as a computer including hardware such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a memory, a hard disk, and a display, for example. When these components operate according to a program or the like, a function as a particle simulation apparatus 10 described later is exhibited.
- the particle simulation apparatus 10 operates particularly effectively in an apparatus capable of parallel computation. Note that the particle simulation device 10 does not necessarily include a GPU as an arithmetic device, and may have a configuration including only a CPU.
- the particle simulation apparatus 10 includes a simulation information holding unit 11, a structure initial information acquisition unit 12, a virtual region setting unit 13, a position information acquisition unit 14, a virtual region specification unit 15, and particles.
- the distance calculation unit 16, the interaction force calculation unit 17, and the time transition unit 18 are configured.
- the work area which is an area in which particles move, is, for example, a three-dimensional space, and is divided (segmented) into cubic cells (mesh) in which the size of one side is set in advance.
- the cell may have a shape other than a cube, for example, a rectangular parallelepiped.
- the particle simulation apparatus 10 previously divides a work space into cells before performing simulation processing, and grasps in advance how the work space is divided into cells.
- the size of the one side is set in advance according to, for example, the particle diameter of a plurality of particles to be simulated.
- Each cell in the work area is assigned a cell number that identifies the cell. The cell numbers are given in order according to the position of the cell in the work space, for example.
- the simulation information holding unit 11 is a means for holding information used for simulation. Specifically, the simulation information holding unit 11 holds particle information for each of a plurality of particles in the work area.
- the particle information includes information indicating particle coordinates, particle velocity, and particle radius.
- the coordinate of the particle is a three-dimensional coordinate indicating the position of the particle in the work space.
- Particle speed includes translational and rotational speeds.
- information at the start of the simulation is input in advance by the user of the particle simulation apparatus 10 or the like to the simulation information holding unit 11, and information during the simulation is It is updated by the time transition unit 18 described later.
- the particle radius is previously input to the simulation information holding unit 11 by the user of the particle simulation apparatus 10 or the like.
- the simulation information holding unit 11 holds structure information for each structure in the work area.
- the structure information includes information indicating the coordinates of the structure, the speed of the structure, and the shape of the structure.
- the coordinates of the structure are three-dimensional coordinates indicating the position of the structure in the work space (for example, the position of a specific part of the structure).
- the speed of the structure includes a translation speed and a rotation speed.
- the information (initial information) at the start of the simulation is preliminarily stored in the simulation information holding unit 11 by the user of the particle simulation apparatus 10 or the like.
- the information that has been input and that is being simulated is updated by the time transition unit 18 described later.
- the information indicating the shape of the structure is, for example, CAD (computer-aided design) data that represents the shape of the structure with polygons.
- Information indicating the shape of the structure is input in advance to the simulation information holding unit 11 by the user of the particle simulation apparatus 10 or the like.
- the structure information may include information indicating how the structure moves (for example, a movement axis or a rotation axis). The information is also input in advance to the simulation information holding unit 11 by the user of the particle simulation apparatus 10 or the like.
- the simulation information holding unit 11 holds virtual particle information as will be described later.
- maintenance part 11 may input and hold
- Such information includes a friction coefficient, an elastic coefficient, a viscous damping coefficient, a restitution coefficient, and the like.
- the structure initial information acquisition unit 12 is a structure initial information acquisition unit that acquires structure initial information indicating the initial position and shape of the structure. For example, the structure initial information acquisition unit 12 acquires initial information related to the structure held in the simulation information holding unit 11 and information indicating the shape of the structure as the structure initial information. The structure initial information acquisition unit 12 outputs the acquired structure initial information to the virtual area setting unit 13.
- the virtual region setting unit 13 sets a plurality of virtual regions near the surface of the structure based on the initial position and shape of the structure indicated by the structure initial information acquired by the structure initial information acquisition unit 12
- the virtual area setting means calculates the distance (closest distance) to the structure for each of the set virtual areas.
- the virtual region is a region used for calculating the distance from the particle to be simulated to the structure.
- the virtual region is a spherical region (a shape having a constant distance from the center to the surface) and is called a virtual particle.
- the lengths of the diameters of the plurality of virtual particles are uniform and set in advance.
- the virtual particles may be larger than the simulation target particles in consideration of the calculation load and the like.
- the distance from the particle to be simulated to the structure has been obtained using a signed distance function as shown in Non-Patent Document 1.
- the signed distance function is a function in which a distance from a structure is stored at a lattice point obtained by dividing a work area into cells (by an orthogonal lattice).
- FIG. 2A shows an isoline diagram in which positions of equal distances from the structure 100 generated based on the lattice point-like distance function values are connected by lines.
- a plurality of virtual particles 110 are set in the vicinity of the surface of the structure 100 (the boundary between the structure 100 and other portions).
- the virtual area setting unit 13 first calculates a signed distance function for the structure 100 whose initial position and shape are indicated by the structure initial information. This calculation may be performed using a conventional method as described in Non-Patent Document 2.
- the virtual area setting unit 13 detects the position of the vicinity from the structure 100 in the work area based on the calculated signed distance function. As shown in FIG. 2B, the vicinity from the structure includes the outside, surface, and inside regions of the structure.
- the virtual region setting unit 13 sets a plurality of virtual particles 110 so as to come into contact with each other in the neighboring region.
- the virtual area setting unit 13 sets a lattice point of a simple cubic lattice or a face-centered cubic lattice in the region, and sets (places) the virtual particle 110 at the lattice point.
- the setting of the virtual particles only needs to know the distance from the structure 100, so that it is not always necessary to use a signed distance function, and may be performed by an arbitrary method.
- the part of the surface of the structure 100 where the virtual particle 110 is set is a part where the simulation target particle may come into contact (interact).
- virtual particles 110 are set in the vicinity of the surface over the entire surface of the structure 100 as shown in FIG. .
- the virtual particles 110 need not be set in the vicinity of the portion.
- the virtual area setting unit 13 sets a predetermined distance (predetermined thickness) in the vicinity of the structure in the normal direction of the surface of the structure 100. For example, as shown in FIG. 3, a region having a distance H from the surface of the structure 100 to the outside is formed with the distance d as the center, and from there to the outside and inside (vertical direction in FIG. 3). The region is in the vicinity of the object 100.
- the distance d is a distance between the surface of the structure 100 and the center of the particle 101 where the structure 100 and the particle 101 to be simulated begin to interact.
- the size of the particle 101 to be simulated is not uniform, for example, for dH in FIG. It is also possible to use the maximum value of.
- the distance d is the radius of the particle 101.
- the distance H is a distance for specifying the virtual particle 110 used for calculating the distance from the particle 101 to the structure 100 (details will be described later).
- the distance H is set in advance.
- the virtual region setting unit 13 may set a plurality of virtual particles 110 in the vicinity of the surface of the structure 100 in a range corresponding to the distance H.
- the virtual particles 110 may not be set on the surface and inside of the structure 100.
- the region (distance and thickness in the normal direction) where the virtual particles 110 are set need not be set (calculated) as described above, and may be set in advance.
- the positional relationship between the structure 100 and the set virtual particle 110 is fixed throughout the simulation.
- the virtual region setting unit 13 is a distance from the virtual particle 110 to the structure 100 (related to the surface on which the virtual particle 110 is arranged), for example, the surface of the structure 100 from the center position of the virtual particle 110 The distance to is calculated. For this calculation, any method such as a conventional interpolation method using a signed distance function can be used. The calculation of the distance from the virtual particle 110 to the structure 100 may be performed together with the arrangement of the virtual particle 110.
- the set virtual particle 110 is uniquely identified by assigning a unique number to each virtual particle 110.
- the virtual region setting unit 13 stores and holds the information indicating the set position of the virtual particle 110 and the distance in the simulation information holding unit 11.
- the virtual region setting unit 13 may calculate a normal vector with respect to the surface of the structure 100 when calculating the distance of the virtual particle 110 and associate it with the distance.
- the information on the normal vector can be used in the interpolation process described later.
- the virtual particles 110 may be associated with mechanical properties such as Young's modulus and used for processing described later.
- the processing by the structure initial information acquisition unit 12 and the virtual region setting unit 13 is performed before the calculation related to each time step of the simulation. Subsequent functional units are configured for calculation related to each time step of the simulation.
- the position information acquisition unit 14 is position information acquisition means for acquiring position information indicating the position of the particle 101 to be simulated. Specifically, the position information acquisition unit 14 acquires the particle information of the current time step of each particle 101 held in the simulation information holding unit 11 as the position information of the particle 101. The position information acquisition unit 14 inputs the acquired particle information of the particles 101 to the virtual region specifying unit 15.
- the position information acquisition unit 14 also acquires position information indicating the position of the virtual particle 110.
- the position information acquisition unit 14 acquires information indicating the current time step position of each particle 101 held in the simulation information holding unit 11.
- the position information acquisition unit 14 outputs the acquired position information of the virtual particles 110 to the virtual region specifying unit 15.
- the virtual region specifying unit 15 is a virtual region specifying unit that specifies the virtual particle 110 within a preset distance H from the position of the particle 101 indicated by the position information acquired by the position information acquiring unit 14.
- the virtual particle 110 specified here is used to calculate the distance from the particle 101 to the structure 100 by interpolation. That is, the distance H is a distance indicating a range (interpolation range) in which interpolation is performed, and a value is set in advance so that the distance from the particle 101 to the structure 100 can be appropriately calculated by interpolation.
- the distance H is set when the virtual particles 110 are set in a face-centered cubic lattice so as to satisfy H> D ⁇ n when the virtual particles 110 are set in a simple cubic lattice. Should satisfy H> D.
- D is the diameter of the virtual particle 110 as shown in FIG. 3, and n is the number of dimensions of the work area.
- the virtual region specifying unit 15 determines the position of the particle 101 (particle i) (the position of the center of the particle 101) indicated by the information input from the position information acquisition unit 14 and each virtual A distance P ij between the position of the particle 110 (particle j) (the center position of the virtual particle 110) is calculated.
- the virtual area specifying unit 15 determines whether or not the calculated distance P ij is within the distance H. Based on the determination, the virtual region specifying unit 15 specifies a virtual particle 110 whose distance from the particle 101 is within the distance H for each particle 101. In the example shown in FIG. 4, four virtual particles 110a are specified.
- the virtual region specifying unit 15 outputs information indicating the virtual particles 110 specified for each particle 101 to the particle distance calculating unit 16.
- the identification of the virtual particles 110 within the distance H may be performed efficiently using a method of contact determination between particles (determination of whether the distance between particles is within a threshold) in the conventional particle simulation. For example, based on the cell in which the particle 101 and the virtual particle 110 are located as described in JP-A-2015-115567 (Patent Document 1) and JP-A-2010-238030 (Patent Document 2), the particle 101 And a pair of virtual particles 110 may be set, and a distance may be determined for the pair.
- the particle distance calculation unit 16 calculates the distance (nearest distance) from the particle 101 to the structure 100 based on the distance calculated by the virtual region setting unit 13 for the virtual particle 110 specified by the virtual region specifying unit 15. It is a particle distance calculation means for calculating.
- the particle distance calculation unit 16 acquires information indicating the distance to the structure 100 for the virtual particles 110 specified for each particle 101 and held in the simulation information holding unit 11.
- the particle distance calculation unit 16 determines the distance from the particle 101 to the structure 100 (from the center position of the particle 101 (particle i) shown in FIG. 4 to the surface of the structure 100) based on the distance indicated by the acquired information.
- the distance dis i is calculated, for example, by the conventional interpolation shown in Non-Patent Document 1, or by any other method, such as SPH.
- the kernel approximation used can also be used.
- the particle 101 Does not calculate the distance to the structure 100, assuming that the distance to the structure 100 is not at least the distance at which interaction occurs. In this case, processing using the distance is not performed.
- the particle distance calculation unit 16 outputs information indicating the distance to the structure 100 calculated for each particle 101 to the interaction force calculation unit 17.
- the particle distance calculation unit 16 normally calculates a normal vector from the particle 101 to the surface of the structure 100 when the distance is calculated.
- the interaction force calculated by the interaction force calculation unit 17 can be expressed as a vector quantity.
- the direction represented by the vector quantity represents the direction in which the interaction force acts.
- the normal vector can be obtained by calculating a spatial gradient with respect to the distance (distance function data) to the structure 100 for the virtual particle 110 specified for each particle 101.
- the calculation of the normal vector from the spatial gradient may be performed by a conventional method shown in Non-Patent Document 1, for example.
- the information may be calculated by interpolation. It may be performed by any other method. For example, a gradient calculation method by kernel approximation used in SPH or the like can also be used.
- the particle distance calculation unit 16 outputs information indicating the calculated normal vector together with the information indicating the distance to the interaction force calculation unit 17.
- the interaction force calculator 17 is an interaction force calculator that calculates an interaction force between the particle 101 and the structure 100 based on the distance calculated by the particle distance calculator 16.
- the interaction force calculation unit 17 determines whether or not the distance from the particle 101 to the structure 100 is smaller than a preset threshold value, and an interaction occurs between the particle 101 and the structure 100. It is determined whether or not to obtain (interaction determination).
- the interaction force calculation unit 17 determines that the distance is smaller than the threshold value
- the interaction force calculation unit 17 determines that an interaction occurs between the particle 101 and the structure 100.
- the interaction force calculation unit 17 determines that the distance is not smaller than the threshold value
- the interaction force calculation unit 17 determines that no interaction occurs between the particle 101 and the structure 100.
- the interaction force calculation unit 17 determines whether or not the distance is smaller than the radius d of the particle 101 that is the threshold, and determines that the distance is smaller than the threshold. It is determined that the particle 101 and the structure 100 are in contact with each other and a contact force is generated between them.
- the calculation of the interaction force can be performed by the same method as in the conventional particle simulation or any other method.
- the interaction force calculation unit 17 normally calculates the interaction force as a vector amount based on the normal vector from the particle 101 to the surface of the structure 100 calculated by the particle distance calculation unit 16.
- the interaction force calculation unit 17 may calculate not only the interaction force between the particle 101 and the structure 100 but also the interaction force between the particles 101 and the interaction force between the structures 100. Calculation of the interaction force between the particles 101 can be performed by a method similar to the conventional particle simulation described in Patent Documents 1 and 2 or any other method. Calculation of the interaction force between the structures 100 can also be performed by a method similar to the conventional simulation or any other method. In calculating the interaction force, parameters necessary for calculating the interaction force, which are held in the simulation information holding unit 11, may be acquired and used for calculating the interaction force.
- the interaction force calculation unit 17 calculates the interaction force between the individual particles 101 and the structure 100 calculated as described above, the interaction force between the particles 101, and the interaction force between the structures 100. The sum of interaction forces for the particle 101 and each structure 100 is calculated. The interaction force calculation unit 17 outputs information indicating the calculated total interaction force of each particle 101 and each structure 100 to the time transition unit 18.
- the time transition unit 18 calculates the positions and velocities of the particles 101 and the structure 100 in the next time step based on the interaction force calculated by the interaction force calculation unit 17, and the position with the structure 100. This is time transition means for moving the virtual particles 110 while maintaining the relationship. Specifically, the time transition unit 18 acquires the particle information and the structure information held in the simulation information holding unit 11 for each particle 101 and the structure 100, and the current time step indicated in the particle information and the structure information. The coordinates and speed of the next time step are calculated from the coordinates and speed of the current time and the sum of the interaction forces. This calculation can be performed, for example, by a method similar to the conventional simulation or any other method. The time transition unit 18 updates the particle information and structure information held in the simulation information holding unit 11 for each particle 101 and structure 100 at the calculated position and velocity of the particle 101 and structure 100 in the next time step. To do.
- the time transition unit 18 calculates the position of the next time step for the structure 100
- the virtual particle 110 set for the structure 100 is maintained in the positional relationship with the structure 100 (the structure Move (similar to the movement of the object 100).
- the time transition unit 18 updates the information indicating the virtual particle 110 held in the simulation information holding unit 11 with information indicating the position of the moved virtual particle 110 (the information is updated with the virtual particle 110 in the next time step).
- the information is stored in the simulation information holding unit 11 as information indicating the position).
- the position and speed of the structure 100 need not be calculated based on the interaction force. For example, when the influence of the particle 101 on the structure 100 is extremely small and no interaction between the structures 100 occurs, the calculation may not be performed. In this case, for example, information indicating structure 100 in advance how it works is, is stored in the simulation information holding unit 11, the time transition 18, the movement (the next time step structures 100 accordingly (Position and speed) may be calculated. Further, the time transition unit 18 moves the virtual particles 110 according to the movement of the structure 100 (according to a predetermined trajectory of the surface of the structure 100).
- the particle simulation apparatus 10 it is determined whether or not the simulation end condition is satisfied every time the calculation in one time step is completed. For example, when the calculation for the preset number of times (time step) is completed, it is determined that the termination condition is satisfied. When it is determined that the end condition is satisfied, the particle simulation apparatus 10 ends the simulation. In this case, for example, output of calculation results to a display device or another device is performed. If it is determined that the end condition is not satisfied, the calculation of the next time step is repeated.
- the above is the configuration of the particle simulation apparatus 10.
- particle simulation method executed by the particle simulation apparatus 10, which is an operation method of the particle simulation apparatus 10 according to the present embodiment, will be described with reference to the flowchart of FIG. This process is started, for example, when the user of the particle simulation apparatus 10 performs an operation for starting the simulation on the particle simulation apparatus 10.
- the structure initial information acquisition unit 12 acquires structure initial information indicating the initial position and shape of the structure 100 held in the simulation information holding unit 11 (S01, structure initial information). Acquisition step). An example of the shape of the structure 100 is shown in FIG.
- the acquired structure initial information is output from the structure initial information acquisition unit 12 to the virtual region setting unit 13.
- the signed distance function of the structure 100 related to the structure initial information is calculated by the virtual area setting unit 13 (S02, virtual area setting step).
- the virtual region setting unit 13 uses the signed distance function to place (set) a plurality of virtual particles 110 in the vicinity of the surface of the structure 100 (S03, virtual region setting step).
- An example of the virtual particle 110 arranged in the vicinity of the surface of the structure 100 is shown in FIG.
- the distance from the virtual particle 110 to the structure 100 is calculated for the virtual particle 110 by the virtual region setting unit 13 (S04, virtual region setting step).
- Information indicating the position and distance of the virtual particle 110 is held in the simulation information holding unit 11. The above is the process performed before the calculation related to each time step of the simulation.
- the position information acquisition unit 14 acquires the position information indicating the positions of the particles 101 and the virtual particles 110 to be simulated, which are held in the simulation information holding unit 11 (S05, position information acquisition step).
- the acquired position information is output from the position information acquiring unit 14 to the virtual area specifying unit 15.
- the virtual particle 110 within the distance H is specified from the position of the particle 101 indicated by the position information by the virtual region specifying unit 15 (S06, virtual region specifying step).
- Information indicating the virtual particle 110 specified for each particle 101 is output from the virtual region specifying unit 15 to the particle distance calculating unit 16.
- the distance from the particle 101 to the structure 100 is calculated by the particle distance calculation unit 16 based on the distance from the particle 101 to the structure 100 for the virtual particle 110 specified for each particle 101 (S07, particle distance). Calculation step). This calculation is performed by interpolation, for example, as described above. Information indicating the distance to the structure 100 calculated for each particle 101 is output from the particle distance calculation unit 16 to the interaction force calculation unit 17.
- the interaction force calculation unit 17 calculates the interaction force between the particle 101 and the structure 100 based on the distance to the structure 100 calculated for each particle 101 (S08, interaction). Force calculation step). At this time, the interaction force between the particles 101 and the interaction force between the structures 100 may be calculated. Subsequently, the interaction force calculation unit 17 calculates the sum of interaction forces for each particle 101 and each structure 100 from the calculated interaction force. Information indicating the sum of the interaction forces of the calculated particles 101 and the structures 100 is output from the interaction force calculation unit 17 to the time transition unit 18.
- the time transition unit 18 calculates the positions and velocities of the particle 101 and the structure 100 in the next time step based on the calculated interaction force, and maintains the positional relationship with the structure 100.
- the virtual particle 110 is moved as it is (S09, time transition step). Based on the above calculation, the particle information, the structure information, and the information indicating the position of the virtual particle 110 held in the simulation information holding unit 11 are updated to the information of the next time step.
- the particle simulation apparatus 10 it is determined whether or not a simulation end condition is satisfied (S10). If it is determined that the termination condition is satisfied (YES in S10), the process (simulation) is terminated. If it is determined that the termination condition is not satisfied (NO in S10), the time step is advanced by one, and the above-described processing (S05 to S10) in the next time step is performed.
- FIG. 6 (c) to FIG. 6 (f) show examples of states at each time step.
- the time step advances from FIG. 6 (c) to FIG. 6 (f).
- two rotating structures (stirring blades) for stirring the powder are provided inside the container, and the powder falls into the container from above and is stirred by the structure.
- Each structure can be given different stirring speeds.
- the above is the processing executed by the particle simulation apparatus 10 according to the present embodiment.
- the distance between the particle 101 and the structure 100 is calculated based on the distance calculated for the plurality of virtual particles 110 set near the surface of the structure 100. Is called.
- the virtual particle 110 is moved while maintaining the positional relationship with the structure 100. Therefore, it is not necessary to recalculate the distance (distance function) for the virtual particle 110.
- each virtual particle 110 is set for each structure 100 and can be moved independently along with the movement of each structure 100. That is, the present invention can be applied even when there are a plurality of structures 100, that is, when there are a plurality of different movement axes and rotation axes.
- the calculation load is very simple and less than the advection calculation. That is, according to the present embodiment, the distance between the particle 101 and the structure 100 can be accurately calculated with a small calculation load, and thereby the simulation of the particle 101 and the structure 100 can be appropriately performed.
- the amount of data to be stored (memory) compared to the conventional distance function
- the amount used can also be reduced primarily.
- An example of memory usage is shown below.
- An example in which the size of the work space is 160D ⁇ 200D ⁇ 100D, the interpolation range H is 3.5d, the diameter (lattice size) of the virtual particle 110 is D, and the interaction distance d is 0.5D is shown.
- the number of particles required for the distance calculation is 85,336, and the total memory usage is 2,730,752 (Byte) (85,336 ⁇ 4 ⁇ 8: a variable of 8 bytes per particle. 4 (x, y, z coordinates and distance function values are required).
- the number of grids required for the distance calculation is 3,200,000, and the total memory usage is 102,400,000 (Bytes) (3,200,000 ⁇ 4 ⁇ 8: Four variables of 8 bytes per grid (requires x, y, z coordinates and distance function values).
- the memory usage can be reduced to about 1/40 to 1/100 of the conventional one.
- the range in which the virtual particles 110 are set (arranged) corresponds to the range (interpolation range) that specifies the virtual particles 110 used to calculate the distance from the particle 101 to the structure 100. It may be a thing. According to this configuration, the required number of virtual particles 110 can be set, and the simulation of the particles 101 and the structure 100 can be performed more efficiently.
- the structure 100 may receive an interaction force from the particles 101. According to this configuration, since the influence of the particle 101 on the structure 100 can also be simulated, a more accurate simulation of the particle 101 and the structure 100 can be performed.
- the virtual region may be the virtual particle 110.
- the virtual area can be handled appropriately and easily.
- the conventional particle-based simulation method can be easily applied, and the method according to the present embodiment can be speeded up. That is, the simulation of the particle 101 and the structure 100 can be performed appropriately and easily.
- the virtual region does not necessarily have to be a particulate region, and may have an arbitrary shape.
- the work area is a three-dimensional space, but may be a space other than three-dimensional, for example, a two-dimensional space.
- the particle simulation program 30 is inserted into a computer and accessed, or stored in a program storage area 21 formed on a recording medium 20 provided in the computer.
- the particle simulation program 30 includes a simulation information holding module 31, a structure initial information acquisition module 32, a virtual region setting module 33, a position information acquisition module 34, a virtual region identification module 35, a particle distance calculation module 36, An interaction force calculation module 37 and a time transition module 38 are provided.
- the function realized by executing the time transition module 38 include the simulation information holding unit 11, the structure initial information acquisition unit 12, the virtual region setting unit 13, and the position information of the particle simulation device 10 described above.
- the acquisition unit 14, the virtual region specification unit 15, the particle distance calculation unit 16, the interaction force calculation unit 17, and the time transition unit 18 are the same.
- a part or all of the particle simulation program 30 may be transmitted via a transmission medium such as a communication line and received and recorded (including installation) by another device. Further, each module of the particle simulation program 30 may be installed in any one of a plurality of computers instead of one computer. In that case, the series of particle simulation programs 30 described above is performed by the computer system of the plurality of computers.
- DESCRIPTION OF SYMBOLS 10 Particle simulation apparatus, 11 ... Simulation information holding part, 12 ... Structure initial information acquisition part, 13 ... Virtual area setting part, 14 ... Position information acquisition part, 15 ... Virtual area specific
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Abstract
Description
Claims (6)
- 作業空間内の粒子と構造物との間の相互作用力に基づいて、当該粒子の位置及び速度を算出し、当該粒子及び当該構造物の挙動をシミュレーションする粒子シミュレーション装置であって、
構造物の初期位置及び形状を示す構造物初期情報を取得する構造物初期情報取得手段と、
前記構造物初期情報取得手段によって取得された構造物初期情報によって示される構造物の初期位置及び形状に基づいて、当該構造物の表面の近傍に複数の仮想領域を設定し、設定した複数の仮想領域それぞれについて、構造物までの距離を算出する仮想領域設定手段と、
粒子の位置を示す位置情報を取得する位置情報取得手段と、
前記位置情報取得手段によって取得された位置情報によって示される粒子の位置から、予め設定した距離内の仮想領域を特定する仮想領域特定手段と、
前記仮想領域特定手段によって特定された仮想領域について、前記仮想領域設定手段によって算出された距離に基づいて、粒子から構造物までの距離を算出する粒子距離算出手段と、
前記粒子距離算出手段によって算出された距離に基づいて、粒子と構造物との間の相互作用力を算出する相互作用力算出手段と、
前記相互作用力算出手段によって算出された相互作用力に基づいて、次の時間ステップの粒子の位置及び速度を算出すると共に、当該構造物との位置関係を維持したまま前記仮想領域を移動させる時間遷移手段と、
を備える粒子シミュレーション装置。 - 前記仮想領域設定手段は、前記予め設定した距離に応じた範囲の前記構造物の表面の近傍に複数の仮想領域を設定する請求項1に記載の粒子シミュレーション装置。
- 前記時間遷移手段は、前記相互作用力算出手段によって算出された相互作用力に基づいて、次の時間ステップの構造物の位置及び速度を算出する請求項1又は2に記載の粒子シミュレーション装置。
- 前記仮想領域は、粒子状の領域である請求項1又は2に記載の粒子シミュレーション装置。
- 作業空間内の粒子と構造物との間の相互作用力に基づいて、当該粒子の位置及び速度を算出し、当該粒子及び当該構造物の挙動をシミュレーションする粒子シミュレーション装置の動作方法である粒子シミュレーション方法であって、
構造物の初期位置及び形状を示す構造物初期情報を取得する構造物初期情報取得ステップと、
前記構造物初期情報取得ステップにおいて取得された構造物初期情報によって示される構造物の初期位置及び形状に基づいて、当該構造物の表面の近傍に複数の仮想領域を設定し、設定した複数の仮想領域それぞれについて、構造物までの距離を算出する仮想領域設定ステップと、
粒子の位置を示す位置情報を取得する位置情報取得ステップと、
前記位置情報取得ステップにおいて取得された位置情報によって示される粒子の位置から、予め設定した距離内の仮想領域を特定する仮想領域特定ステップと、
前記仮想領域特定ステップにおいて特定された仮想領域について、前記仮想領域設定ステップにおいて算出された距離に基づいて、粒子から構造物までの距離を算出する粒子距離算出ステップと、
前記粒子距離算出ステップにおいて算出された距離に基づいて、粒子と構造物との間の相互作用力を算出する相互作用力算出ステップと、
前記相互作用力算出ステップにおいて算出された相互作用力に基づいて、次の時間ステップの粒子の位置及び速度を算出すると共に、当該構造物との位置関係を維持したまま前記仮想領域を移動させる時間遷移ステップと、
を含む粒子シミュレーション方法。 - コンピュータを、作業空間内の粒子と構造物との間の相互作用力に基づいて、当該粒子の位置及び速度を算出し、当該粒子及び当該構造物の挙動をシミュレーションする粒子シミュレーション装置として機能させる粒子シミュレーションプログラムであって、
前記コンピュータを、
構造物の初期位置及び形状を示す構造物初期情報を取得する構造物初期情報取得手段と、
前記構造物初期情報取得手段によって取得された構造物初期情報によって示される構造物の初期位置及び形状に基づいて、当該構造物の表面の近傍に複数の仮想領域を設定し、設定した複数の仮想領域それぞれについて、構造物までの距離を算出する仮想領域設定手段と、
粒子の位置を示す位置情報を取得する位置情報取得手段と、
前記位置情報取得手段によって取得された位置情報によって示される粒子の位置から、予め設定した距離内の仮想領域を特定する仮想領域特定手段と、
前記仮想領域特定手段によって特定された仮想領域について、前記仮想領域設定手段によって算出された距離に基づいて、粒子から構造物までの距離を算出する粒子距離算出手段と、
前記粒子距離算出手段によって算出された距離に基づいて、粒子と構造物との間の相互作用力を算出する相互作用力算出手段と、
前記相互作用力算出手段によって算出された相互作用力に基づいて、次の時間ステップの粒子の位置及び速度を算出すると共に、当該構造物との位置関係を維持したまま前記仮想領域を移動させる時間遷移手段と、
として機能させる粒子シミュレーションプログラム。
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