CN115455790A - A finite element intelligent post-processing method for launch vehicle dynamics - Google Patents
A finite element intelligent post-processing method for launch vehicle dynamicsDownload PDFInfo
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明属于发射动力学后处理技术领域，具体涉及一种运载火箭发射动力学有限元智能后处理方法。The invention belongs to the technical field of post-processing of launch dynamics, and in particular relates to a finite element intelligent post-processing method of launch dynamics of a launch vehicle.
背景技术Background technique
运载火箭发射系统涉及运载火箭、发射架、起竖装置、发射平台等相关要素，涉及机械、液压、控制、动力学等诸多学科，具有多种工作剖面、多种发射环境等工况组合。运载火箭发射系统涉及要素多、专业广、系统技术状态新、使用状态多，属于强非线性复杂耦合系统问题。因而设计新型号运载火箭时，往往需要通过大量仿真工况计算，综合考察运载火箭发射动力学特性。The carrier rocket launch system involves related elements such as carrier rocket, launcher, erection device, launch platform, etc., involves many disciplines such as machinery, hydraulic pressure, control, dynamics, etc., and has a combination of working conditions such as various working profiles and multiple launch environments. The launch system of a launch vehicle involves many elements, a wide range of specialties, a new technical state of the system, and many usage states, which is a problem of a strongly nonlinear complex coupled system. Therefore, when designing a new type of launch vehicle, it is often necessary to conduct a large number of simulation calculations to comprehensively examine the launch dynamics of the launch vehicle.
运载火箭发射动力学特性分析通常需要关注运载火箭三方向位移、速度、角速度、加速度、角加速度分量、适配器/滑块与导轨接触力以及离架时刻间隙等多条曲线参数。在运载火箭发射过程中，存在运载火箭发动机点火时刻、运载火箭开始运动时刻、特征点离架时刻、适配器离架时刻、箭底离架等特殊时刻，上述时刻为运载火箭发射过程中约束状态发生突变时刻或动力学关注特征时刻。上述特征时刻参数往往影响运载火箭发射动力学特性，需要对此进行分析。除此之外，发射动力学仿真分析通常需要对大量不同发射工况中的动力学特性进行分析，存在提取数据量大、提取慢、数据非线性强的特点。The analysis of the launch dynamics of the launch vehicle usually needs to pay attention to multiple curve parameters such as the displacement in three directions of the launch vehicle, velocity, angular velocity, acceleration, angular acceleration component, contact force between the adapter/slider and the guide rail, and the gap at the time of departure. In the launch process of the launch vehicle, there are special moments such as the moment when the launch vehicle engine is ignited, the moment when the launch vehicle starts to move, the moment when the feature point is off the shelf, the moment when the adapter is off the shelf, and the bottom of the arrow is off the shelf. Moments of mutation or dynamics focus on characteristic moments. The above characteristic time parameters often affect the launch dynamics of the launch vehicle, which needs to be analyzed. In addition, the launch dynamics simulation analysis usually needs to analyze the dynamic characteristics in a large number of different launch conditions, which has the characteristics of large amount of extracted data, slow extraction, and strong nonlinear data.
现有的发射动力学批量后处理方法，主要依靠手动逐个导出数据并查看、人工识别特殊时刻，进而对仿真计算结果进行分析，存在数据导出量大、人工成本高、分析难的特点，人工批量处理大量发射动力学工况数据并进行分析工作量大、处理效率低下、容易出现人为错误。The existing batch post-processing method of launch dynamics mainly relies on manually exporting and viewing data one by one, manually identifying special moments, and then analyzing the simulation calculation results, which has the characteristics of large amount of data export, high labor cost, and difficult analysis. Processing and analyzing a large amount of launch dynamics data is heavy workload, low processing efficiency, and prone to human error.
发明内容Contents of the invention
有鉴于此，本发明提供了一种运载火箭发射动力学有限元智能后处理方法，能够提高数据后处理效率，减小工作量，同时降低错误。In view of this, the present invention provides a finite element intelligent post-processing method of launch vehicle launch dynamics, which can improve data post-processing efficiency, reduce workload, and reduce errors at the same time.
本发明是通过下述技术方案实现的：The present invention is achieved through the following technical solutions:
一种运载火箭发射动力学有限元智能后处理方法，该方法的具体步骤如下：A finite element intelligent post-processing method for launch vehicle dynamics, the specific steps of the method are as follows:
步骤S1，在计算机程序中自动生成数据处理命令和控制命令；Step S1, automatically generating data processing commands and control commands in a computer program;
步骤S2，在有限元后处理软件中调用控制命令并自动批量处理数据；Step S2, call the control command in the finite element post-processing software and automatically process the data in batches;
步骤S3，在计算机程序中智能识别特殊时刻，自动标注绘图。Step S3, intelligently identify the special moment in the computer program, and automatically mark the drawing.
进一步的，步骤S1的具体过程为：Further, the specific process of step S1 is:
S101：确定要输出的数据，即在运载火箭发射系统的计算结果中选择要生成的运动学参数和力学参数：在有限元后处理软件中导入运载火箭发射系统上的预设观测点的ID，选择预设观测点的空间信息、火箭质心点的运动学参数及运载火箭发射系统内的接触部件的接触力的力学参数；其中，所述空间信息包括时间参数和坐标数据，所述运动学参数包括位移、速度、角位移及角速度；S101: Determine the data to be output, that is, select the kinematic parameters and mechanical parameters to be generated in the calculation results of the launch vehicle launch system: import the ID of the preset observation point on the launch vehicle launch system into the finite element post-processing software, Select the spatial information of the preset observation point, the kinematic parameters of the center of mass of the rocket and the mechanical parameters of the contact force of the contact parts in the launch vehicle launch system; wherein, the spatial information includes time parameters and coordinate data, and the kinematic parameters Including displacement, velocity, angular displacement and angular velocity;
S102：在计算机程序中预先生成打开计算结果的命令，依据步骤S101选择的运动学参数和力学参数，自动生成数据处理命令，数据处理命令用于自动输出所需数据，并根据数据处理命令自动生成有限元后处理软件可识别的控制命令，控制命令用于控制数据处理命令的运行，进而自动输出所需数据，即步骤S101中的空间信息、运动学参数和力学参数，并生成控制命令文件，且所述控制命令文件保存为有限元后处理软件可识别的文件格式。S102: Pre-generate a command to open the calculation result in the computer program, automatically generate a data processing command according to the kinematic parameters and mechanical parameters selected in step S101, the data processing command is used to automatically output the required data, and automatically generate according to the data processing command A control command recognizable by the finite element post-processing software, the control command is used to control the operation of the data processing command, and then automatically output the required data, that is, the spatial information, kinematic parameters and mechanical parameters in step S101, and generate a control command file, And the control command file is saved in a file format recognizable by the finite element post-processing software.
进一步的，步骤S2的具体过程为：Further, the specific process of step S2 is:
S201：调用有限元后处理软件；S201: calling finite element post-processing software;
S202：在有限元后处理软件环境下，优先打开计算结果文件，运行步骤S1生成的控制命令，控制数据处理命令的运行，自动输出所需数据，即步骤S101中的空间信息、运动学参数和力学参数，并将所述空间信息、运动学参数和力学参数保存至指定路径。S202: Under the finite element post-processing software environment, open the calculation result file first, run the control command generated in step S1, control the operation of the data processing command, and automatically output the required data, that is, the spatial information, kinematic parameters and Mechanical parameters, and save the spatial information, kinematic parameters and mechanical parameters to the specified path.
进一步的，步骤S3的具体过程为：Further, the specific process of step S3 is:
S301：导入步骤S2指定路径下的空间信息、运动学参数和力学参数；将数据导入到计算机程序中提前预设的矩阵中；S301: Import the spatial information, kinematic parameters and mechanical parameters under the path specified in step S2; import the data into a matrix preset in advance in the computer program;
S302：根据空间信息、运动学参数和力学参数识别运载火箭发射系统的发射过程中的各个特殊时刻tsi及各个特殊时刻tsi对应的特殊时刻标记线Li以及特殊时刻对应点Pi；S302: According to the spatial information, kinematic parameters and mechanical parameters, identify each special time ts i during the launch process of the launch vehicle launch system, the special time marking line Li corresponding to each special time tsi and the corresponding pointP iat the special time;
S303：根据特殊时刻标记线Li以及特殊时刻对应数据点Pi自动绘制运动学参数的图像，并在图中自动标注特殊时刻标记线Li以及特殊时刻对应数据点Pi；S303: Automatically draw an image of kinematic parameters according to the marking line Li at the special time and the data point Pi corresponding to the special time, and automatically mark the marking line Li at the special time and the data point Pi corresponding to the special time in the figure;
S304：保存步骤S303生成的图片。S304: Save the picture generated in step S303.
进一步的，步骤S302的具体步骤为：Further, the specific steps of step S302 are:
S3021：根据已有时间参数、坐标数据及力学参数判定各个特殊时刻tsi，i为特殊时刻的个数；S3021: Determine each special moment tsi according to the existing time parameters, coordinate data and mechanical parameters, where i is the number of special moments;
S3022：寻找特殊时刻tsi对应矩阵的时间列的行数Ni，并存储；S3022: Find and store the row number Ni of the time column of the matrix corresponding to the special moment tsi ;
S3023：通过行数Ni对应的数据值定位到特征时刻tsi，并提取该特征时刻tsi对应的运动学参数；提取各运动学参数在行数Ni对应的数据值，生成特殊时刻标记线Li以及特殊时刻对应数据点Pi，并存储数据。S3023: locate the characteristic time tsi through the data value corresponding to the row number Ni , and extract the kinematic parameters corresponding to the characteristic time tsi ; extract the data value corresponding to the row number Ni of each kinematic parameter, and generate a special time mark The line Li and the special moment correspond to the data point Pi , and store the data.
进一步的，判定特殊时刻tsi的方法为：根据已有的闭锁器解锁时间确定运载火箭发射系统的弹动时刻，当运载火箭发射系统的适配器的观测点坐标第一次大于或等于发射筒的观测点坐标且适配器与发射筒的接触力为零时，确定适配器出筒时刻，当运载火箭发射系统的尾部的观测点坐标第一次大于或等于筒口的观测点坐标且尾部与筒口的接触力为零时，确定尾部出筒时刻。Further, the method for judging the special momenttsi is: determine the bouncing moment of the launch vehicle launch system according to the existing unlocking time of the lock, when the coordinates of the observation point of the adapter of the launch vehicle launch system are greater than or equal to the coordinates of the launch tube for the first time When the coordinates of the observation point and the contact force between the adapter and the launch tube are zero, determine the moment when the adapter comes out of the tube. When it is zero, determine the time when the tail comes out of the cylinder.
进一步的，寻找特殊时刻tsi对应矩阵的时间列的行数Ni的方法为：自动查找各个特征时刻tsi的时间值，直到运动学参数在所述矩阵的时间列第一次大于或等于特殊时刻tsi的时间值时，确定此时间值所在的行数Ni即为特征时刻tsi所在的行数Ni。Further, the method of finding the number of rows Ni of the time column of the matrix corresponding to the special time tsi is: automatically find the time values of each characteristic time tsi until the kinematic parameters are greater than or equal to for the first time in the time column of the matrix When the time value of the special moment tsi is determined, the row number Ni where this time value is determined is the row number Ni where the characteristic moment tsi is located.
进一步的，所述计算机程序采用MATLAB，C语言或Python。Further, the computer program adopts MATLAB, C language or Python.
有益效果：Beneficial effect:
(1)本发明基于计算机程序设计和有限元后处理软件，实现高效率、智能化的数据后处理，批量自动提取动力学特性曲线，精准识别并标注特征时刻，自动绘图并标注特征时刻标记线和特征时刻标记点，极大提高发射动力学后处理及分析效率。(1) Based on computer program design and finite element post-processing software, the present invention realizes high-efficiency and intelligent data post-processing, automatically extracts dynamic characteristic curves in batches, accurately identifies and marks characteristic moments, and automatically draws and marks characteristic moment marking lines And characteristic time mark points, greatly improving the post-processing and analysis efficiency of launch dynamics.
(2)本发明的步骤S1的在计算机程序中预先生成打开计算结果的命令，依据选择的运动学参数和力学参数，自动生成数据处理命令，并根据数据处理命令生成有限元后处理软件可识别的控制命令，实现了命令流快速准确的生成。(2) Step S1 of the present invention pre-generates the command to open the calculation result in the computer program, automatically generates the data processing command according to the selected kinematic parameters and mechanical parameters, and generates the finite element post-processing software according to the data processing command to be identifiable The control command realizes the fast and accurate generation of the command stream.
(3)本发明的步骤S2在有限元后处理软件环境下，优先打开计算结果文件，运行控制命令，控制数据处理命令的运行，自动输出所需数据，即利用控制命令批量导出运载火箭发射动力学特性参数(包括运动学参数和力学参数)，通过调用命令并自动批量处理数据，提高了数据处理速度。(3) Step S2 of the present invention, under the finite element post-processing software environment, preferentially open the calculation result file, run the control command, control the operation of the data processing command, and automatically output the required data, that is, utilize the control command to derive the launching power of the launch vehicle in batches The parameters of physical characteristics (including kinematic parameters and mechanical parameters), and the speed of data processing is improved by calling commands and automatically batch processing data.
(4)本发明的步骤S3中根据特殊时刻标记线Li以及特殊时刻对应数据点Pi自动绘制运动学参数的图像，即批量绘制运载火箭发射动力学特性曲线，并在发射动力学特性曲线中绘制特征时刻线并标注特征时刻点，通过绘制的运动学参数的图像能够更加直观地研究分析火箭动力学特性，大大加快多工况快速分析能力，提高设计效率。(4) In the step S3 of the present invention, the image of the kinematic parameters is automatically drawn according to the special time marking line Li and the corresponding data point Pi at the special time, that is, the launching dynamic characteristic curve of the launch vehicle is drawn in batches, and the launching dynamic characteristic curve Draw the characteristic time line and mark the characteristic time points in the middle, and the image of the drawn kinematic parameters can be used to study and analyze the dynamic characteristics of the rocket more intuitively, greatly speed up the rapid analysis ability of multiple working conditions, and improve the design efficiency.
(5)本发明通过行数Ni对应的数据值定位到特征时刻tsi，并提取该特征时刻tsi对应的运动学参数；提取各运动学参数在行数Ni对应的数据值，生成特殊时刻标记线Li以及特殊时刻对应数据点Pi；能够自动识别分析运载火箭特征时刻，特殊时刻的智能识别实现了图像快速识别标注，提升了数据处理效率和识别准确率。(5) The present invention locates the characteristic moment tsi through the data value corresponding to the row number Ni , and extracts the kinematic parameters corresponding to the characteristic moment tsi ; extracts the data value corresponding to the row number Ni of each kinematic parameter, and generates Marking line Li at special time and corresponding data point Pi at special time; it can automatically identify and analyze the characteristic time of launch vehicle, and the intelligent recognition of special time realizes rapid identification and labeling of images, which improves data processing efficiency and recognition accuracy.
附图说明Description of drawings
图1为本发明自动生成数据处理命令和控制命令的流程图；Fig. 1 is the flow chart that the present invention automatically generates data processing command and control command;
图2为本发明智能识别特殊时刻的流程图；Fig. 2 is the flowchart of the present invention's intelligent identification of special moments;
图3为本发明绘图、标注特殊时刻标记线和特殊时刻点的流程图；Fig. 3 is the flow chart of the present invention drawing, labeling special time mark line and special time point;
图4为用此方法绘制的某型沿y向加速度分量特性曲线。Figure 4 is a characteristic curve of a certain type of acceleration component along the y direction drawn by this method.
具体实施方式detailed description
下面结合附图并举实施例，对本发明进行详细描述。The present invention will be described in detail below with reference to the accompanying drawings and examples.
本实施例提供了一种运载火箭发射动力学有限元智能后处理方法，该方法的具体步骤如下：This embodiment provides a finite element intelligent post-processing method for launch vehicle dynamics. The specific steps of the method are as follows:
步骤S1，在计算机程序(如MATLAB，C语言或Python)中自动生成数据处理命令和控制命令，参见附图1，具体过程为：Step S1, automatically generate data processing commands and control commands in a computer program (such as MATLAB, C language or Python), see accompanying
S101：确定要输出的数据，即在运载火箭发射系统的计算结果中选择要生成的运动学参数和力学参数：在有限元后处理软件中导入运载火箭发射系统上的预设观测点的ID(即节点编号)，选择预设观测点的空间信息(包括时间参数和坐标数据)、火箭质心点的运动学参数(包括位移、速度、角位移及角速度)及运载火箭发射系统内的接触部件的接触力等力学参数；S101: Determine the data to be output, that is, select the kinematic parameters and mechanical parameters to be generated in the calculation results of the launch vehicle launch system: import the ID of the preset observation point on the launch vehicle launch system into the finite element post-processing software ( That is, the node number), select the spatial information of the preset observation point (including time parameters and coordinate data), the kinematic parameters of the center of mass of the rocket (including displacement, velocity, angular displacement and angular velocity) and the contact components in the launch vehicle launch system. Mechanical parameters such as contact force;
S102：在计算机程序中预先生成打开计算结果的命令，依据步骤S101选择的运动学参数和力学参数，自动生成数据处理命令，数据处理命令用于自动输出所需数据，并根据数据处理命令自动生成有限元后处理软件可识别的控制命令，控制命令用于控制数据处理命令的运行，进而自动输出所需数据(即步骤S101中的空间信息、运动学参数和力学参数)，并生成控制命令文件，且所述控制命令文件保存为特定的(即有限元后处理软件可识别的)文件格式；S102: Pre-generate a command to open the calculation result in the computer program, automatically generate a data processing command according to the kinematic parameters and mechanical parameters selected in step S101, the data processing command is used to automatically output the required data, and automatically generate according to the data processing command A control command recognizable by the finite element post-processing software, the control command is used to control the operation of the data processing command, and then automatically output the required data (that is, the spatial information, kinematic parameters and mechanical parameters in step S101), and generate a control command file , and the control command file is saved as a specific (that is, recognizable by finite element post-processing software) file format;
步骤S2，在有限元后处理软件中调用控制命令并自动批量处理数据，具体过程为：Step S2, call the control command in the finite element post-processing software and automatically process the data in batches, the specific process is:
S201：调用有限元后处理软件，后续命令需要在有限元后处理软件的环境下运行；S201: call the finite element post-processing software, and the subsequent commands need to be run in the environment of the finite element post-processing software;
S202：在有限元后处理软件环境下，优先打开计算结果文件，运行步骤S1生成的控制命令，控制数据处理命令的运行，自动输出所需数据，即步骤S101中的空间信息、运动学参数和力学参数，并将所述空间信息、运动学参数和力学参数保存至指定路径；S202: Under the finite element post-processing software environment, open the calculation result file first, run the control command generated in step S1, control the operation of the data processing command, and automatically output the required data, that is, the spatial information, kinematic parameters and Mechanical parameters, and save the spatial information, kinematic parameters and mechanical parameters to a specified path;
步骤S3，在计算机程序(如MATLAB，C语言或Python)中智能识别特殊时刻，自动标注绘图，参见附图2-3，具体过程为：Step S3, intelligently identify special moments in a computer program (such as MATLAB, C language or Python), and automatically mark the drawing, see accompanying drawings 2-3, the specific process is:
S301：导入步骤S2指定路径下的空间信息、运动学参数和力学参数；将数据导入到计算机程序中提前预设的矩阵中；S301: Import the spatial information, kinematic parameters and mechanical parameters under the path specified in step S2; import the data into a matrix preset in advance in the computer program;
S302：根据空间信息、运动学参数和力学参数识别运载火箭发射系统的发射过程中的各个特殊时刻tsi及各个特殊时刻tsi对应的特殊时刻标记线Li以及特殊时刻对应点Pi，具体过程为：S302: According to the space information, kinematic parameters and mechanical parameters, identify each special time ts i during the launch process of the launch vehicle launch system and the special time marking line Li corresponding to each special time tsi and the corresponding point Pi at the special time, specifically The process is:
S3021：根据已有时间参数、坐标数据及力学参数判定各个特殊时刻tsi，i为特殊时刻的个数，具体为：根据已有的闭锁器解锁时间确定运载火箭发射系统的弹动时刻，当运载火箭发射系统的适配器的观测点坐标第一次大于或等于发射筒的观测点坐标且适配器与发射筒的接触力为零时，确定适配器出筒时刻，当运载火箭发射系统的尾部的观测点坐标第一次大于或等于筒口的观测点坐标且尾部与筒口的接触力为零时，确定尾部出筒时刻；S3021: Determine each special moment tsi according to the existing time parameters, coordinate data and mechanical parameters, i is the number of special moments, specifically: determine the bouncing moment of the launch vehicle launch system according to the existing unlocking time of the locker, when When the coordinates of the observation point of the adapter of the launch vehicle launch system are greater than or equal to the coordinates of the observation point of the launch tube for the first time and the contact force between the adapter and the launch tube is zero, determine the moment when the adapter comes out of the tube. When the observation point at the tail of the launch vehicle launch system When the coordinates are greater than or equal to the coordinates of the observation point of the barrel mouth for the first time and the contact force between the tail and the barrel mouth is zero, determine the moment when the tail is out of the barrel;
S3022：寻找特殊时刻tsi对应矩阵的时间列的行数Ni，并存储，具体为：自动查找上述各个特征时刻tsi的时间值，直到运动学参数在所述矩阵的时间列第一次大于或等于特殊时刻tsi的时间值时，确定此时间值所在的行数Ni即为特征时刻tsi所在的行数Ni；S3022: Find the row number Ni of the time column of the matrix corresponding to the special moment tsi , and store it, specifically: automatically search for the time values of the above-mentioned characteristic moments tsi until the kinematic parameters are in the time column of the matrix for the first time When it is greater than or equal to the time value of the special moment tsi , determine the number of rows Ni where this time value is located is the number of rows Ni where the characteristic moment tsi is located;
S3023：通过行数Ni对应的数据值定位到特征时刻tsi，并提取该特征时刻tsi对应的运动学参数；提取各运动学参数在行数Ni对应的数据值，生成特殊时刻标记线Li以及特殊时刻对应数据点Pi，并存储数据；S3023: locate the characteristic time tsi through the data value corresponding to the row number Ni , and extract the kinematic parameters corresponding to the characteristic time tsi ; extract the data value corresponding to the row number Ni of each kinematic parameter, and generate a special time mark The line Li and the special moment correspond to the data point Pi , and store the data;
S303：根据特殊时刻标记线Li以及特殊时刻对应数据点Pi自动绘制运动学参数的图像，并在图中自动标注特殊时刻标记线Li以及特殊时刻对应数据点Pi；如图4为用此方法绘制的某型沿y向加速度分量特性曲线。S303: Automatically draw the image of the kinematic parameters according to the special time marking line Li and the corresponding data point Pi at the special time, and automatically mark the special time marking line Li and the special time corresponding data point Pi in the figure; as shown in Figure 4 A certain type of acceleration component characteristic curve along the y direction drawn by this method.
S304：保存步骤S303生成的图片；选择图像保存路径，保存图片。S304: Save the picture generated in step S303; select an image saving path, and save the picture.
综上所述，以上仅为本发明的较佳实施例而已，并非用于限定本发明的保护范围。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。To sum up, the above are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.
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