CN106383969B - A kind of carrier rocket multi-simulation data interactive method - Google Patents
A kind of carrier rocket multi-simulation data interactive method Download PDFInfo
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Abstract
The present invention relates to a kind of carrier rocket multi-simulation data interactive method, including (1), establish carrier rocket finite element model；(2), the shutdown analysis for carrying out carrier rocket, updates or obtains the current timing time；(3), it is directed to each component of carrier rocket, by timing time and preset deviant, string parsing when progress obtains each component status of carrier rocket；(4), for each component configuration status parameter of carrier rocket, interaction data card between each component is established simultaneously, output parameter under each component current state is filled into interaction data card, (5), utilize lagrange equations of the first kind, the discrete external force that each component generates in the finite element model and step (4) that step (1) is established is differential-algebraic equation group, and solve system of equation, obtain the displacement and load of each node in rocket finite element model, the present invention realizes the emulation of carrier rocket general dynamic, realize carrier rocket flight track, the calculating of posture and load.
Description
Technical field
The Dynamics Simulation method with instruction action that the present invention relates to a kind of, especially a kind of more bodies of carrier rocket
Data interactive method is emulated, Launch Vehicle mechanics emulation field is belonged to.
Background technique
In carrier rocket flight, each component chronologically when string instruction switching state after, control rocket by new state work.Such as
Engine starts after being connected to power-on instruction and generates thrust, and propellant consumes therewith in tank, and rocket body track profile etc. continues
Variation.Similar component includes solid mouse, cut spring, blasting bolt, computer, aerodynamic force etc. on arrow.These components
State switching there is connection in time, while there are complex data exchange between component, simulated program establishment, debugging are difficult easily
Error studies a kind of emulation mode that each model is general and is of great significance.
Summary of the invention
The invention proposes a kind of carrier rocket multi-simulation data interactive methods, and rocket motion is expressed as more body power
The emulation under virtual prototype is learned, the effect of each component actuation is considered as external force suffered by model machine.String and interaction number when devising timing
According to management method, the emulation of carrier rocket general dynamic is realized.
What above-mentioned purpose of the invention was mainly achieved by following technical solution:
A kind of carrier rocket multi-simulation data interactive method, includes the following steps:
(1), carrier rocket finite element model is established；
(2), the shutdown analysis for carrying out carrier rocket, updates or obtains the current timing time；
(3), it is directed to each component of carrier rocket, by the timing time and preset deviant, string point when progress
Analysis obtains each component status of carrier rocket；
(4), it is each component configuration status parameter of carrier rocket, while establishes interaction data card between each component, by each component
Output parameter under current state is filled into interaction data card, and wherein output parameter includes external force that each component generates and each
Interaction parameter between component；
(5), using lagrange equations of the first kind, by each component in the finite element model of step (1) foundation and step (4)
The discrete external force of generation is differential-algebraic equation group, and solve system of equation obtains each node in carrier rocket finite element model
Displacement and load.
In above-mentioned carrier rocket multi-simulation data interactive method, the shutdown analysis of carrier rocket is carried out in step (2),
Obtaining the current timing time, the specific method is as follows:
(2.1), timing array da_TK is established, each timing TKX expression in the timing array da_TK can not shift to an earlier date
Each float command of precognition；
(2.2), each timing of the timing array da_TK is initialized, initialization value INF, indicates default
All timing do not issue；
(2.3), moment Tstep is currently being calculated, for each timing in the timing array da_TK, by predefined
Shutdown rule judge whether to trigger；(2.4) are then entered step if there is triggering occurs for timing, otherwise enter step (2.5)；
(2.4), the correspondence array value for the timing that change triggers is Tstep, and the other timing of da_TK array are arranged
Corresponding array value is INF, indicates that other timing will not issue；
(2.5), the timing array da_TK is traversed, is searched before currently calculating moment Tstep, timing array da_TK
The interior corresponding position closest to Tstep, the timing TKX of this corresponding position are the current timing time.
In above-mentioned carrier rocket multi-simulation data interactive method, predefined shutdown rule in the step (2.3)
Comprising timing shutdown, range shutdown, depleted shutdown, semi-major axis shutdown or it is small overload shutdown one of form or they
Logical combination form.
In above-mentioned carrier rocket multi-simulation data interactive method, each component of carrier rocket is obtained in the step (3)
The specific method is as follows for status:
(3.1), the state name of all parts is set；
(3.2), it is directed to each state name, the data structure of " timing pointer "+" deviant " is set.Wherein, timing pointer
The timing TKX being directed toward in the timing array da_TK, deviant PY are fixed numbers；
(3.3), for each component, its stateful, stateful TKX+PY value of calculating, composition array are traversed
TKPY is searched before currently calculating moment Tstep, and closest to the corresponding position of Tstep in the array TKPY, this corresponds to position
The state set is the component status.
In above-mentioned carrier rocket multi-simulation data interactive method, deviant PY is double in the step (3.2)
Type numerical value.
In above-mentioned carrier rocket multi-simulation data interactive method, each component packet of carrier rocket in the step (3)
The actual part and virtual component of carrier rocket are included, wherein actual part includes engine, blasting bolt, solid mouse and is used to
Property device, the virtual component includes mission program in aerodynamic force and rrow machine.
In above-mentioned carrier rocket multi-simulation data interactive method, data card indicates carrier rocket in the step (4)
The number of segment group that each component has, indicates the interactive information of the component Yu other components, and data card carries out unified scheduling and divides
Hair.
In above-mentioned carrier rocket multi-simulation data interactive method, established in the step (1) by finite element software
Carrier rocket finite element model, and by the correctness of two modal testing results verifying finite element model, enter after verifying correctly and walks
Suddenly (2).
Compared with prior art, the present invention has the following advantages:
(1), rocket motion is expressed as the emulation under many-body dynamics virtual prototype by the present invention, by the effect of each component actuation
Fruit is considered as external force suffered by model machine, and string and interaction data management method, realize carrier rocket general dynamic when devising timing
Emulation, realizes the calculating of carrier rocket flight track, posture and load；
(2), the present invention instruction action that voluntarily manages the original each component of carrier rocket, be changed to unified Time-Series analysis and
When string parsing, instruction action management realizes versatility, and more easy-to-use；
(3), the present invention is acted on by the way that finite element model to be directly configured to many-body dynamics virtual prototype, and by each component
Effect is converted into the external force under model machine, to be various carrier rocket independent of structure types such as rocket series, boosting numbers
General dynamics simulation platform；
(4), for the component in the present invention more close to carrier rocket particular hardware, interface represents the particular row of real hardware
For and interface formats it is unified, have the ability of nature access HWIL simulation model machine.
Detailed description of the invention
Fig. 1 is timing array schematic diagram of the present invention；
Fig. 2 is the state exemplary diagram of each component of carrier rocket of the present invention.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments:
The present invention establishes flexible multibody dynamics virtual prototype, after currently widely used mathematical model, carries out fortune
Rocket dynamics emulation is carried, specific carrier rocket multi-simulation data interactive method includes the following steps:
(1), rocket limited element calculation model is established by finite element software, and verifies finite element by two modal testing results
The correctness of model enters step (2) after verifying is correct, and the finite element software used in the present invention is Patran.
(2), the shutdown analysis for carrying out carrier rocket, updates or obtains the current timing time, realized by timing generator,
Concrete methods of realizing is as follows:
(2.1), timing array da_TK is established, each timing TKX expression in the timing array da_TK can not shift to an earlier date
Each float command of precognition.
(2.2), each timing of the timing array da_TK is initialized, initialization value is that INF is (predefined
One biggish numerical value, such as be 1E100 in the present embodiment), indicate that defaulting all timing does not issue.
(2.3), moment Tstep is currently being calculated, for each timing in the timing array da_TK, by predefined
Shutdown rule judge whether to trigger, if there is timing occur triggering then enter step (2.4), otherwise, if without timing send out
Raw triggering, then enter step (2.5).
Wherein predefined shutdown rule includes timing shutdown, range shutdown, depleted shutdown, semi-major axis shutdown or small overload
One of shutdown form or their logical combination form.The 0s that for example takes off can be set as the timing shutdown of 0s；
(2.4), the correspondence array value for the timing that change triggers is Tstep, and the other timing of da_TK array are arranged
Corresponding array value is INF, indicates that other timing will not issue.
(2.5), the timing array da_TK is traversed, is searched before currently calculating moment Tstep, timing array da_TK
The interior corresponding position closest to Tstep, the timing TKX of this corresponding position are the current timing time.It is as shown in Figure 1 this hair
Bright timing array schematic diagram, current timing are TK1.
(3), it is directed to each component of carrier rocket, by timing time and preset deviant, string parsing when progress is obtained
Take each component status, by when string generator realize, wherein each component of carrier rocket can be rocket actual part, such as start
Machine, blasting bolt, solid mouse, inertia device etc., or mission program in virtual component, such as aerodynamic force, rrow machine.
Concrete methods of realizing is as follows:
(3.1), the state name of all parts is set；Such as level-one III engine includes starting, shutdown, failure state name.
Each component can have any number of state, and form of Definition can be flexible and changeable, for example aerodynamic force component, can set below 0.2Ma number
It is another state in 0.2Ma or more for a kind of state.
(3.2), it is directed to each state name, the data structure of " timing pointer "+" deviant " is set.Wherein, timing pointer
The timing TKX being directed toward in the timing array da_TK, deviant PY are fixed numbers.For example engine start state can correspond to
TK1+0.3s, off-mode correspond to TK2+0.0s, activate starting state after indicating TK1 timing 0.3s, activate and close after TK2 timing 0s
Machine state.Such as simulate the decline of 123s motor power, it is only necessary to add a new malfunction, and be arranged and touch in TK0+123s
Send out this malfunction；Deviant PY is double type numerical value,
(3.3), for each component, its stateful, stateful TKX+PY value of calculating, composition array are traversed
TKPY is searched before currently calculating moment Tstep, and closest to the corresponding position of Tstep in the array TKPY, this corresponds to position
The state set is the component status.
(4), component each for carrier rocket, configuration status parameter, while establishing interaction data card between each component, Jiang Gebu
Output parameter under part current state is filled into data card, in output parameter include component generate external force and with other portions
Part interaction parameter, concrete methods of realizing are as follows:
(4.1), in each state of component, state parameter needed for configuring this state indicates entry into this state computation
The parameter of Shi Suoxu, for example the little deviation equation or the thrust curve under off-mode of engine start state.
(4.2), each component has a number of segment group, indicates the interactive information of this component Yu other components, referred to as " data
Card ", when data card initialization, are tied on the memory headroom that many-body dynamics solver is opened up, and complete to adjust by management program is unified
Degree and distribution.If every engine components have a number of segment group, the 1st element of array is thrust, and 2-6 is each propellant stream
Amount, 7-11 are boosted flow, and 12-13 is attitude control pivot angle.
(4.3), this state configuration parameter is read, is calculated according to the state that step (2) and (3) obtain for each component
The correlation output parameter of this component is simultaneously filled into data card.
It is illustrated in figure 2 each component of the present invention and its state, each component can define any more state and data card interaction
Parameter.The configuration parameter of string configuration and state when each state defines timing.Such as starting state in Fig. 2, issued in TK0
0.3s is activated afterwards, according to preconfigured parameter, executes calculating, motor power, propellant flow rate etc. after output calculating.
In Fig. 2, string configuration, state configuration parameter can carry out configuration in outside when state name, timing, so as to not change program,
Conveniently realize model generalization configuration, modification, addition of fault condition etc..
(5), using lagrange equations of the first kind, under absolute node coordinate, by the finite element model of step (1) foundation
Discrete with the external force in step (4) is differential-algebraic equation group, and solve system of equation obtains in carrier rocket finite element model
The displacement and load of each node.
The above, optimal specific embodiment only of the invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (7)
1. a kind of carrier rocket multi-simulation data interactive method, characterized by the following steps:
(1), carrier rocket finite element model is established；
(2), the shutdown analysis for carrying out carrier rocket, updates or obtains the current timing time；
(3), it is directed to each component of carrier rocket, by the timing time and preset deviant, string parsing when progress is obtained
Take each component status of carrier rocket；
(4), it is each component configuration status parameter of carrier rocket, while establishes interaction data card between each component, each component is current
Output parameter under state is filled into interaction data card, and wherein output parameter includes the external force and each component that each component generates
Between interaction parameter；
(5), using lagrange equations of the first kind, each component in the finite element model of step (1) foundation and step (4) is generated
External force it is discrete be differential-algebraic equation group, and solve system of equation obtains the displacement of each node in carrier rocket finite element model
And load；
The shutdown analysis of carrier rocket is carried out in the step (2), obtaining the current timing time, the specific method is as follows:
(2.1), timing array da_TK is established, each timing TKX expression in the timing array da_TK can not be predicted in advance
Each float command；
(2.2), each timing of the timing array da_TK is initialized, initialization value INF, indicates that default is all
Timing does not issue；
(2.3), moment Tstep is currently being calculated, for each timing in the timing array da_TK, by predefined pass
Machine rule judges whether to trigger；(2.4) are then entered step if there is triggering occurs for timing, otherwise enter step (2.5)；
(2.4), the correspondence array value for the timing that change triggers is Tstep, and the correspondence of the other timing of da_TK array is arranged
Array value is INF, indicates that other timing will not issue；
(2.5), the timing array da_TK is traversed, is searched before currently calculating moment Tstep, in timing array da_TK most
Close to the corresponding position of Tstep, the timing TKX of this corresponding position is the current timing time.
2. a kind of carrier rocket multi-simulation data interactive method according to claim 1, it is characterised in that: the step
(2.3) predefined shutdown rule includes timing shutdown, range shutdown, depleted shutdown, semi-major axis shutdown or the shutdown of small overload in
One of form or their logical combination form.
3. a kind of carrier rocket multi-simulation data interactive method according to claim 1, it is characterised in that: the step
(3) each component status of carrier rocket is obtained in, and the specific method is as follows:
(3.1), the state name of all parts is set；
(3.2), it is directed to each state name, the data structure of " timing pointer "+" deviant " is set；Wherein, timing pointer is directed toward
Timing TKX in the timing array da_TK, deviant PY are fixed numbers；
(3.3), for each component, its stateful, stateful TKX+PY value of calculating is traversed, composition array TKPY is looked into
It looks for before currently calculating moment Tstep, closest to the corresponding position of Tstep, the shape of this corresponding position in the array TKPY
State is the component status.
4. a kind of carrier rocket multi-simulation data interactive method according to claim 3, it is characterised in that: the step
(3.2) deviant PY is double type numerical value in.
5. a kind of carrier rocket multi-simulation data interactive method according to claim 1, it is characterised in that: the step
(3) each component of carrier rocket includes the actual part and virtual component of carrier rocket in, wherein actual part include engine,
Blasting bolt, solid mouse and inertia device, the virtual component include mission program in aerodynamic force and rrow machine.
6. a kind of carrier rocket multi-simulation data interactive method according to claim 1, it is characterised in that: the step
(4) data card indicates the number of segment group that each component of carrier rocket has in, indicates the interactive information of the component Yu other components, number
Unified scheduling and distribution are carried out according to card.
7. a kind of carrier rocket multi-simulation data interactive method according to claim 1, it is characterised in that: the step
(1) carrier rocket finite element model is established by finite element software in, and verifies finite element model by two modal testing results
Correctness enters step (2) after verifying is correct.
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| CN107063244B (en) * | 2017-04-14 | 2019-07-12 | 北京航天自动控制研究所 | A kind of aircraft flight process analogy method |
| CN109491266B (en) * | 2018-11-28 | 2022-04-12 | 北京宇航***工程研究所 | Carrier rocket flight simulation method based on multi-body virtual prototype |
| CN109858189B (en) * | 2019-01-09 | 2023-03-31 | 蓝箭航天空间科技股份有限公司 | Carrier rocket load analysis method |
| CN113591202A (en) * | 2021-06-22 | 2021-11-02 | 北京宇航***工程研究所 | Method for determining engine shutdown staggered time |
| CN113704881B (en) * | 2021-08-07 | 2023-08-04 | 中国航空工业集团公司沈阳飞机设计研究所 | Inertial load application method for finite element model of structure |
| CN115077308A (en) * | 2022-05-18 | 2022-09-20 | 中国人民解放军61191部队 | Rocket space-time position simulation method and device based on rocket launching time sequence |
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