Hybrid modeling and simulation method for multi-physical property mechanism model and state process model

Abstract

The invention provides a hybrid modeling and simulation method for a multi-physical-property mechanism model and a state process model, and relates to the technical field of ship load equipment digital modeling. The hybrid modeling and simulation method for the multi-physical-property mechanism model and the state process model comprises the following steps: step 1, carrying out model decomposition based on the physical principle of load equipment; step 2, modeling a multi-physical property mechanism model of the load equipment; step 3, system operation process carding and model construction; 4, integrating the mechanism model and the process model; and step 5, protocol-based communication interface intercommunication and joint simulation. According to the method, the operation principle of the load equipment is expressed through the mechanism model, performance calculation of the load equipment is carried out, and the operation process of the load equipment in the system is rapidly expressed through the state process model, so that the load model is rapidly connected into the system in series, and verification of the whole process of the system is supported.

Description

Technical Field

[0001] The present invention relates to the technical field of digital modeling of ship load equipment, and in particular to a hybrid modeling and simulation method of a multi-physical characteristic mechanism model and a state process model. Background Art

[0002] my country has a vast territorial sea area, which contains rich marine resources. Building a "maritime power" has become a national development strategy. Especially since the 21st century, with the rapid development of science and technology, a large number of marine development activities have emerged, and the development of ship technology has gradually diversified. The addition of various ship mission load equipment has enabled ships to play an important role in civil and military fields such as maritime search and rescue, salvage, warning detection, and anti-submarine. However, the increase in various types of equipment has also increased the complexity of ship systems, greatly increasing the research and development cycle and research and development costs of new ship models.

[0003] In order to reduce R&D costs and shorten the R&D cycle, simulators are often built for relevant equipment on the ship before the sea trial to verify the correctness of the communication and process connection between the various equipment on the ship, shorten the physical test cycle at sea, and reduce costs. However, the simulator function is relatively simple, only expressing the reception and feedback of the input and output messages of the corresponding interface, and cannot express the physical principles of complex load equipment. In addition, the simulator is heavily bound to a specific model, and the results are difficult to be effectively reused for different models.

[0004] In order to improve the current situation, a hybrid modeling method of multi-physical characteristic mechanism model and state process model is proposed for ship load devices with fixed operation processes. This method uses the mechanism model to express the operation principle of the load equipment and carry out the performance calculation of the load equipment. The state process model is used to express the operation process of the load equipment in the system, so that the load model can be quickly connected in series to the system to support the verification of the overall task process of the system. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the shortcomings of the prior art, the present invention provides a hybrid modeling and simulation method of a multi-physical property mechanism model and a state process model. The method uses a mechanism model to express the operating principle of the load equipment, carries out performance calculations of the load equipment, and uses a state process model to quickly express the operating process of the load equipment in the system, thereby quickly connecting the load model in series to the system and supporting the verification of the overall system process.

[0007] (II) Technical solution

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0009] A hybrid modeling and simulation method of a multi-physical property mechanism model and a state process model comprises the following steps:

[0010] Step 1. Model decomposition based on the physical principles of the payload equipment;

[0011] Step 2. Modeling of multi-physical characteristic mechanism model of payload equipment;

[0012] Step 3. System operation process sorting and model building;

[0013] Step 4. Integration of mechanism model and process model;

[0014] Step 5. Protocol-based communication interface interoperability and joint simulation.

[0015] Furthermore, in the step 1, the model decomposition based on the physical principles of the payload equipment specifically includes: before constructing the payload equipment model, it is necessary to understand the composition and operation principle of the payload equipment, carry out system decomposition according to the topological composition and working principle of the payload equipment system, based on the hierarchical structure principle, and in accordance with the equipment composition and functional principles, determine the interface and logical relationship between each device, use the multi-domain unified modeling software MWORKS.Sysplorer, and establish a subsystem model based on the multi-physics modeling language Modelica to form a system model library.

[0016] Furthermore, the hierarchical structure, that is, the model library structure should be reasonably designed, with clear hierarchy and logic, so as to provide a hierarchical structure for subsequent model management.

[0017] Furthermore, in step 2, the modeling of the multi-physical characteristic mechanism model of the payload equipment specifically includes: after completing the construction of the payload equipment subsystem model and the system model library, according to the payload equipment topology principle and the connection relationship between each component, the payload equipment mechanism model is quickly built from the system model library by dragging and connecting, and the components are connected by connectors, so as to carry out performance calculations of the payload equipment in different states, and support responding to commands and state feedback in this state.

[0018] Furthermore, the connector can realize interactive communication between components or subsystems by connecting between components or subsystems. For the connector of the physical component model, it must be able to physically connect the components. The connector can be specifically divided into fluid connectors, thermal connectors, mechanical connectors and electrical connectors, etc. The communication of the connector is realized through connector variables. The variables of the connector are divided into two types, namely flow variables and potential variables. Connectors of the same type can be freely connected as needed. The flow variables and potential variables obey the generalized Kirchhoff's laws. The connection will generate non-causal connection equations, and there is no need to specify the solution order.

[0019] Furthermore, in step 3, the system operation process sorting and model building specifically include: sorting out the process relationship of different states of the load equipment according to the actual operation process of the load equipment in the large system, clarifying the input logic of the switching control commands between the states of the load equipment, and building a load equipment state operation process model. Through the operation process model, the switching and maintenance of the load equipment in different process states are expressed.

[0020] Furthermore, in step 4, the integration of the mechanism model and the process model specifically includes: hybrid integration of the established load equipment state process model and its own multi-physics mechanism model.

[0021] Furthermore, in step 5, the protocol-based communication interface intercommunication and joint simulation specifically include: connecting the model with other control devices through the communication protocol to perform data interaction.

[0022] (III) Beneficial effects

[0023] The present invention provides a hybrid modeling and simulation method of a multi-physical property mechanism model and a state process model. It has the following beneficial effects:

[0024] 1. The present invention provides a hybrid modeling and simulation method of a multi-physical property mechanism model and a state process model. The method uses a mechanism model to express the operating principle of the load equipment, performs performance calculations on the load equipment, and uses a state process model to quickly express the operating process of the load equipment in the system, thereby quickly connecting the load model to the system and supporting verification of the overall system process.

[0025] 2. The present invention provides a hybrid modeling and simulation method of a multi-physical property mechanism model and a state process model. This method can quickly apply the newly established load model to the process verification of the system model, and can more intuitively and conveniently express the command response of the load equipment and the transfer process of the process state, thereby improving the modeling convenience and ease of use of the model, thereby reducing the actual ship debugging cost and shortening the test cycle.

[0026] 3. The present invention provides a hybrid modeling and simulation method of a multi-physical characteristic mechanism model and a state process model, which can be used in the construction and integration of ship load models. The multi-physical characteristic mechanism model of ship load equipment is constructed by Modelica language, and the performance calculation of ship load equipment can be quickly carried out. At the same time, for the integration of the load model in the ship system, the load equipment operation process is analyzed, the load model state process modeling is introduced, and a hybrid modeling is formed with the multi-physical characteristic mechanism model, so that the constructed load model can be quickly integrated into the ship system for experimental verification of the ship system process tasks. Compared with the existing method, this method simplifies the coupling relationship between the load equipment and the ship control system, omits the modeling of some unnecessary connection equipment, can greatly shorten the R&D cycle, and reduce R&D costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A flowchart of specific implementation steps provided for an example of the present invention;

[0028] Figure 2 A schematic diagram of hybrid modeling simulation provided for an example of the present invention. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the specific embodiments of the present invention to clearly and completely describe the technical solutions in the specific embodiments of the present invention. Obviously, the specific embodiments described are only part of the specific embodiments of the present invention, not all of the specific embodiments. Based on the specific embodiments of the present invention, all other specific embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Specific implementation method:

[0031] The specific embodiment of the present invention provides a hybrid modeling and simulation method of a multi-physical property mechanism model and a state process model, comprising the following steps:

[0032] Step 1. Model decomposition based on the physical principles of the payload

[0033] Before building the payload equipment model, it is necessary to understand the composition and operating principle of the payload equipment. According to the topological composition and working principle of the payload equipment system, based on the hierarchical structure principle, the system decomposition is carried out according to the equipment composition and functional principle, and the interface and logical relationship between each device are determined. The multi-domain unified modeling software MWORKS.Sysplorer is used to establish the subsystem model based on the multi-physics modeling language Modelica to form a system model library.

[0034] The hierarchical structure mentioned above means that the model library structure should be reasonably designed, with clear hierarchy and logic, so as to provide a hierarchical structure for subsequent model management;

[0035] Step 2. Modeling of multi-physics mechanism model of payload equipment

[0036] The modeling of the multi-physical characteristic mechanism model of the payload equipment specifically includes: after completing the construction of the payload equipment subsystem model and the system model library, according to the payload equipment topology principle and the connection relationship of each component, the payload equipment mechanism model is quickly built from the system model library by dragging and connecting, and the components are connected by connectors, so as to carry out the performance calculation of the payload equipment in different states, and support the response to the command and state feedback in the state;

[0037] The connector can realize interactive communication between components or subsystems by connecting between components or subsystems. For the connector of the physical component model, it must be able to physically connect the components. The connector can be specifically divided into fluid connectors, thermal connectors, mechanical connectors and electrical connectors, etc. The communication of the connector is realized through connector variables. The variables of the connector are divided into two types, namely flow variables and potential variables. Connectors of the same type can be freely connected as needed. The flow variables and potential variables obey the generalized Kirchhoff's laws. The connection will generate non-causal connection equations without specifying the solution order.

[0038] Step 3. System operation process sorting and model building

[0039] According to the actual operation process of the load equipment in the large system, the process relationship of different states of the load equipment is sorted out, and the input logic of the control command switching between the states of the load equipment is clarified. The load equipment state operation process model is built, and the switching and maintenance of the load equipment in different process states are expressed through the operation process model;

[0040] Step 4. Integration of mechanism model and process model

[0041] Hybrid integration of the established load equipment state process model and its own multi-physics mechanism model;

[0042] Step 5. Protocol-based communication interface interoperability and joint simulation

[0043] Data interaction is carried out between the model and other control devices through the communication protocol connection model, and the established payload equipment state process model is mixed and integrated with its own multi-physical mechanism model, so that different states in the process model correspond to the mechanism model, thereby outputting the entire payload equipment system process state and equipment operation state results through the agreed communication protocol, and completing the response closed loop of the payload equipment model by receiving commands, transferring states, calculating performance and feedback states.

[0044] The present invention will be described in detail below with reference to the accompanying drawings and in combination with examples, taking the construction and integration of a ship towed sonar model as an example.

[0045] Step 1) Model decomposition based on the physical principles of payload equipment

[0046] Taking towed sonar as an example, the working principle of towed sonar is mainly to tow the towed body at the stern of the ship through a cable. The sound source in the towed body transmits sound signals with specific information into the sea water, captures the echo signal of the target, converts it into an electrical signal, and after the judgment of the judge, indicates the physical properties of the target such as distance, direction and motion parameters. Therefore, the focus of this load model is on modeling the sonar towed body. The towed body is usually composed of signal source, transmitter, receiver and other equipment.

[0047] Step 2) Modeling of multi-physical characteristics mechanism model of payload equipment

[0048] According to the equipment topology composition and system operation principle, the multi-domain unified modeling software MWORKS.Sysplorer is used to model the various equipment models of the towed sonar. The emission and echo reception process of the sonar sound source are expressed by the active sonar equation, as shown in the following formula:

[0049]

[0050] Where:

[0051] SL stands for sound source level, which is the ratio of the transmitter sound intensity to the reference sound intensity;

[0052] TL represents the propagation loss from the sound source to the target, usually the underwater sound propagation loss, and the attenuation degree is related to the propagation distance;

[0053] TS represents the target intensity, which is related to the target type and the irradiation angle;

[0054] NL stands for noise level, which characterizes the interfering background noise of the sonar;

[0055] DT represents the detection threshold; DI represents the receiving directivity index; RL represents the reverberation level, and each parameter in the formula can be calculated through related factors.

[0056] Step 3) System operation process sorting and model building

[0057] Take the ship towed sonar equipment as an example. When the equipment is running in the overall system of the ship, the initial state is that it is stored in the retractable device. After receiving the deployment command, the cable is released through the retractable device to release the sonar towed body to a suitable underwater position. Then, it receives the command to wait for power-on. After completing the work task, it receives the ship recovery command, the sonar towed body is powered off and stops working, the retractable device recovers the cable, and the sonar towed body is recovered to complete a task process operation.

[0058] This process can be abstracted into multiple states, namely sonar storage, sonar releasing, sonar releasing completed, sonar working, sonar stopped working, sonar recovering, and sonar recovering completed. By connecting the above states in series and parallel and inputting corresponding control commands, the overall operation process model of the payload equipment is composed, thereby simplifying the coupling and connection relationship between the sonar towed body model and the large process of ship mission operation, and completing the process connection and command response between the sonar and system model without models such as retractable devices and cables.

[0059] Step 4) Integration of mechanism model and process model

[0060] This step requires the hybrid integration of the established load equipment state process model and its own multi-physics mechanism model, such as Figure 1 As shown, the process state of the towed sonar model is the input and judgment basis of the multi-physics mechanism model, and the performance calculation of the load equipment mechanism model under this state is carried out. The performance calculation result is used as the assignment of the external interface output of the entire sonar model.

[0061] Step 5) Protocol-based communication interface interoperability and joint simulation

[0062] The communication protocol is used to connect the model and other control devices for data exchange. Taking the towed sonar as an example, the control signal protocol receives commands such as deployment, recovery and power-on from the sonar control software, and feedbacks such as the sonar status, transmission frequency, whether the target is found, target direction and target distance, to achieve joint simulation of the towed sonar payload model in the mission process.

[0063] Although specific embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the specific embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A hybrid modeling and simulation method of a multi-physical property mechanism model and a state process model, characterized in that: The following steps are involved: Step 1. Model decomposition based on the physical principles of the payload equipment; Step 2. Modeling of multi-physical characteristic mechanism model of payload equipment; Step 3. System operation process sorting and model building; Step 4. Integration of mechanism model and process model; Step 5. Protocol-based communication interface interoperability and joint simulation.

2. The hybrid modeling and simulation method of a multi-physical property mechanism model and a state process model according to claim 1, characterized in that: In the step 1, the model decomposition based on the physical principles of the payload equipment specifically includes: before constructing the payload equipment model, it is necessary to understand the composition and operating principle of the payload equipment, carry out system decomposition according to the topological composition and working principle of the payload equipment system, based on the hierarchical structure principle, and in accordance with the equipment composition and functional principles, determine the interface and logical relationship between each device, use the multi-domain unified modeling software MWORKS.Sysplorer, and establish a subsystem model based on the multi-physics modeling language Modelica to form a system model library.

3. The hybrid modeling and simulation method of a multi-physical property mechanism model and a state process model according to claim 2, characterized in that: The hierarchical structure means that the model library structure should be reasonably designed, with clear hierarchy and logic, so as to provide a hierarchical structure for subsequent model management.

4. The hybrid modeling and simulation method of a multi-physical property mechanism model and a state process model according to claim 1, characterized in that: In the step 2, the modeling of the multi-physical characteristic mechanism model of the payload equipment specifically includes: after completing the construction of the payload equipment subsystem model and the system model library, according to the payload equipment topology principle and the connection relationship between each component, the payload equipment mechanism model is quickly built from the system model library by dragging and connecting, and the components are connected by connectors, so as to carry out performance calculations of the payload equipment under different states, and support responding to commands and state feedback in this state.

5. The hybrid modeling and simulation method of a multi-physical property mechanism model and a state process model according to claim 4, characterized in that: The connector can realize interactive communication between components or subsystems by connecting between components or subsystems. For the connector of the physical component model, it must be able to physically connect the components. The connector can be specifically divided into fluid connectors, thermal connectors, mechanical connectors and electrical connectors, etc. The communication of the connector is realized through connector variables. The variables of the connector are divided into two types, namely flow variables and potential variables. Connectors of the same type can be freely connected as needed. The flow variables and potential variables obey the generalized Kirchhoff's law. The connection will generate non-causal connection equations, and there is no need to specify the solution order.

6. The hybrid modeling and simulation method of a multi-physical property mechanism model and a state process model according to claim 1, characterized in that: In step 3, the system operation process sorting and model building specifically include: sorting out the process relationship of different states of the load equipment according to the actual operation process of the load equipment in the large system, clarifying the input logic of the control command switching between the states of the load equipment, and building a load equipment state operation process model. Through the operation process model, the switching and maintenance of the load equipment in different process states are expressed.

7. The hybrid modeling and simulation method of a multi-physical property mechanism model and a state process model according to claim 1, characterized in that: In step 4, the integration of the mechanism model and the process model specifically includes: hybrid integration of the established load equipment state process model and its own multi-physics mechanism model.

8. The hybrid modeling and simulation method of a multi-physical property mechanism model and a state process model according to claim 1, characterized in that: In step 5, the protocol-based communication interface intercommunication and joint simulation specifically include: connecting the model with other control devices through the communication protocol for data interaction, hybrid integration of the established payload device state process model with its own multi-physical mechanism model, so that different states in the process model correspond to the mechanism model, thereby outputting the entire payload device system process state and equipment operation state results through the agreed communication protocol, and completing the response closed loop of the payload device model by receiving commands, transferring states, calculating performance and feedback states.

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