Load dynamic balancing method, device, equipment and medium in aircraft dynamics analysis under non-inertial system

Abstract

The present application discloses a method, device, equipment and medium for dynamic load balance in aircraft dynamics analysis under a non-inertial system, and relates to the field of structural dynamics analysis, including: determining the inertial parameters of the aircraft finite element model, and calculating the position vector of the unit integration point based on the coordinates of the unit node; solving the rigid body motion based on the inertial parameters and the external load of the finite element model, obtaining the target vector, and determining the acceleration vector of each unit integration point according to the position vector and the target vector; determining the inertial load of the unit integration point based on the acceleration vector, generating an equivalent node inertial load through the inertial load, accumulating each equivalent node inertial load and the non-inertial system external load vector, and obtaining the node load vector of the non-inertial system; determining the unbalanced force and unbalanced moment according to the node load vector and the non-inertial system coordinate origin, and correcting the equivalent node inertial load to complete the load balance. The present application realizes the dynamic balance of the load in the non-inertial system.

Description

Technical Field

[0001] The present invention relates to the field of structural dynamics analysis, and in particular to a load dynamic balancing method, device, equipment and medium in aircraft dynamics analysis under a non-inertial system. Background Art

[0002] In recent years, due to the rapid development of computer hardware technology and computing methods, computational structural dynamics (CSD) based on the finite element method (FEM) has played an increasingly important role in structural design, strength verification and scientific research, and has been widely used in the numerical simulation of various complex structures. Especially in the field of aerospace, CSD has become an important tool for aircraft performance analysis and design. With the widespread application of systems such as flexible attachments, multi-segment satellite antennas and flexible robotic arms, the demand for the analysis of such large-scale motion structures in engineering has gradually increased. However, due to the strong coupling characteristics between the rigid body motion and the flexible deformation of such structures, their dynamic characteristics have changed significantly, and the dynamic solution is more difficult.

[0003] At present, the main methods for solving such structures are divided into two categories: absolute coordinate method and relative coordinate method. The former is solved in the inertial system, and the slope vector is used to replace the node rotation coordinates in the traditional finite element method. It can accurately calculate the structural deformation under large rotation angle and large deformation, but the calculation amount is large. For the latter, its rigid body motion is calculated in the inertial system, and the deformation of the structure is calculated in the non-inertial system that moves with the rigid body by adding the inertial load method. The structural motion with large rotation angle and small deformation can be accurately calculated, and the calculation amount is small. When the relative coordinate method is used for dynamic analysis, since the strain description method of small deformation is used, it is necessary to ensure that the structure does not produce large rigid body displacement in the non-inertial coordinate system. This requires that the load on the structure in the non-inertial system is balanced to avoid the accumulation of rigid body displacement. For flexible structures in non-inertial systems, the inertial force they are subjected to can theoretically reach dynamic equilibrium with the external load, but due to the discrete error in the numerical solution process, the structure still has unbalanced loads after the inertial load is applied. At present, the commonly used load dynamic balance method is mainly to apply inertial loads to nodes based on the mass matrix, and at the same time impose constraints on related nodes to limit the rigid body displacement of the structure and achieve a balance between the inertial load and the external force. This method can prevent the structure from producing rigid body displacement and ensure the reliability of the calculation in the non-inertial system. However, since only the acceleration at the node is considered when calculating the inertial load, the equivalent integral accuracy of the unit inertial force field is low. When the grid size is large and a large rigid body rotation occurs, the load on the unit is quite different from the actual inertial load. At the same time, since the changes of the inertial load and the external load within the time step are ignored, the analysis results have high requirements for the time step length. For structures with relatively large time step settings or insufficient grid density, the inertial load and the external load cannot be balanced in the non-inertial coordinate system, resulting in a large support reaction force at the constraint node. The structure produces local high stress points, which deviates from the actual state. Therefore, how to achieve load balance in the non-inertial system is an urgent problem to be solved. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a method, device, equipment and medium for dynamic load balance in aircraft dynamics analysis under non-inertial system, which can eliminate unbalanced loads, make the loads in the non-inertial system reach dynamic balance, effectively improve the convenience and accuracy of structural deformation calculation under non-inertial system, and avoid the occurrence of local high stress phenomenon at constraint nodes. The specific scheme is as follows:

[0005] In a first aspect, the present application discloses a load dynamic balancing method in aircraft dynamics analysis in a non-inertial system, comprising:

[0006] Constructing a finite element model of the aircraft, determining inertia parameters corresponding to the finite element model, and calculating position vectors of unit integration points of the finite element model based on coordinates of unit nodes of the finite element model using unit shape functions;

[0007] Solving rigid body motion based on the inertial parameters and the external load of the finite element model according to a rigid body dynamics algorithm to obtain a target vector corresponding to a non-inertial system, and determining an acceleration vector of each unit integration point according to the position vector and the target vector;

[0008] Determine the inertia load of the unit integration point based on the acceleration vector, and generate an equivalent node inertia load by equivalently integrating the inertia load, accumulate each of the equivalent node inertia loads and a non-inertial system external load vector determined based on a node external load vector in an inertial system, and obtain a node load vector of the non-inertial system;

[0009] The unbalanced force and unbalanced moment are determined according to the node load vector and the non-inertial system coordinate origin, and the equivalent node inertial load is corrected based on the unbalanced force and the unbalanced moment to complete the load balancing of the aircraft.

[0010] Optionally, after determining the inertia parameters corresponding to the finite element model, the method further includes:

[0011] The center of mass of the finite element model is determined as the origin of the non-inertial coordinate system, and the origin of the non-inertial coordinate system is bound to the rigid body motion of the finite element model, so as to solve the rigid body motion based on the inertial parameters and the external load of the finite element model according to the rigid body dynamics algorithm to obtain the target vector corresponding to the non-inertial system; the inertial parameters include the center of mass, mass and moment of inertia of the unit; the target vector includes the acceleration vector, angular velocity vector, angular acceleration vector and angle vector.

[0012] Optionally, the calculating the position vector of the unit integration point of the finite element model based on the coordinates of the unit nodes of the finite element model by using the unit shape function includes:

[0013] The coordinate vector of the unit integration point of the finite element model in the non-inertial system is calculated based on the coordinates of the unit nodes of the finite element model using the unit shape function and the coordinate vector calculation formula; the coordinate vector calculation formula is:

[0014] ;

[0015] in, The finite element model element The coordinate vectors of the integration points in the non-inertial system; The finite element model unit The coordinates of the nodes in the inertial system; n is the number of unit nodes, is the unit shape function; Respectively The coordinates of the Gaussian integration points in the local coordinate system of the element;

[0016] The position vector of the unit integration point of the finite element model is determined based on the difference between the coordinate vector of the unit integration point of the finite element model in the non-inertial system and the origin coordinate vector of the non-inertial system.

[0017] Optionally, determining the acceleration vector of each unit integration point according to the position vector and the target vector includes:

[0018] The acceleration vector of each unit integration point is determined according to the position vector and the target vector by a preset acceleration vector calculation formula; the preset acceleration vector calculation formula is:

[0019] ;

[0020] ;

[0021] ;

[0022] ;

[0023] ;

[0024] in, is the acceleration vector of the unit integration point; is the acceleration vector of the non-inertial system; is the angular velocity vector of the non-inertial system; is the angular acceleration vector of the non-inertial system; is the rotation angle vector of the non-inertial system; , , They are Coriolis acceleration, tangential acceleration and normal acceleration respectively; The finite element model element The coordinate vectors of the integration points in the non-inertial system; is the velocity of the integration point in the non-inertial system; is the initial velocity vector of the unit integration point; is the initial velocity vector of the origin of the non-inertial system.

[0025] Optionally, determining the inertia load of the unit integration point based on the acceleration vector, and generating an equivalent node inertia load by equivalently integrating the inertia load, includes:

[0026] Determine the inertia load of the unit integration point according to the product of the acceleration vector and the material density corresponding to the unit integration point;

[0027] Performing Gaussian integration on the inertia load of the unit integration point in the unit local coordinate system to obtain the unit equivalent node inertia load;

[0028] The equivalent node inertia loads of each unit are accumulated to obtain the equivalent node inertia load.

[0029] Optionally, the step of accumulating the equivalent nodal inertial loads and the non-inertial system external load vector determined based on the nodal external load vector in the inertial system to obtain the nodal load vector of the non-inertial system includes:

[0030] Performing vector transformation on the node external load vector in the inertial system according to the vector rotation formula to obtain the external load vector of the non-inertial system;

[0031] Accumulating the equivalent nodal inertia loads corresponding to the common node positions of different units to obtain the target equivalent nodal inertia load;

[0032] The target equivalent nodal inertia load is accumulated with the non-inertial system external load vector to obtain the nodal load vector of the non-inertial system.

[0033] Optionally, determining the unbalanced force and unbalanced moment according to the node load vector and the non-inertial system coordinate origin includes:

[0034] The unbalanced force is determined based on a preset unbalanced force calculation formula and the node load vector; the preset unbalanced force calculation formula is:

[0035] ;

[0036] in, is the unbalanced force; N is the total number of nodes of the finite element model; is the node load vector at the jth node of the finite element model unit;

[0037] The unbalanced moment is determined based on a preset unbalanced moment calculation formula and the node load vector; the preset unbalanced moment calculation formula is:

[0038] ;

[0039] in, is the unbalanced moment; is the position vector of the node with overall node number j.

[0040] Optionally, the correcting the equivalent node inertia load based on the unbalanced force and the unbalanced moment to complete load balancing of the aircraft includes:

[0041] Determining whether the unbalanced force and the unbalanced moment meet preset conditions;

[0042] If so, end directly;

[0043] If not, the acceleration vector of the current unit integration point is corrected, the corresponding corrected acceleration vector is determined as the acceleration vector of the current unit integration point, and the process jumps again to the step of determining the inertia load of the unit integration point based on the acceleration vector until the unbalanced force and the unbalanced torque meet the preset conditions.

[0044] In a second aspect, the present application discloses a load dynamic balancing device for aircraft dynamics analysis in a non-inertial system, comprising:

[0045] A position vector determination module, used to construct a finite element model of the aircraft, determine the inertia parameters corresponding to the finite element model, and calculate the position vector of the unit integration point of the finite element model based on the coordinates of the unit nodes of the finite element model using the unit shape function;

[0046] An acceleration vector determination module is used to perform a rigid body motion solution based on the inertial parameters and the external load of the finite element model according to a rigid body dynamics algorithm to obtain a target vector corresponding to a non-inertial system, and determine an acceleration vector of each unit integration point according to the position vector and the target vector;

[0047] A node load vector acquisition module, used for determining the inertia load of the unit integration point based on the acceleration vector, and generating an equivalent node inertia load by equivalently integrating the inertia load, accumulating each of the equivalent node inertia loads and a non-inertial system external load vector determined based on a node external load vector in an inertial system, and acquiring a node load vector of the non-inertial system;

[0048] A load balancing module is used to determine unbalanced force and unbalanced moment according to the node load vector and the non-inertial system coordinate origin, and to correct the equivalent node inertial load based on the unbalanced force and the unbalanced moment to complete the load balancing of the aircraft.

[0049] In a third aspect, the present application discloses an electronic device, comprising:

[0050] Memory, used to store computer programs;

[0051] The processor is used to execute the computer program to implement the load dynamic balancing method in the aircraft dynamics analysis under the non-inertial system as mentioned above.

[0052] In a fourth aspect, the present application discloses a computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the load dynamic balancing method in the aircraft dynamics analysis under a non-inertial system as described above.

[0053] The present application first constructs a finite element model of an aircraft, determines the inertia parameters corresponding to the finite element model, and calculates the position vector of the unit integration point of the finite element model based on the coordinates of the unit nodes of the finite element model using the unit shape function; then, according to the rigid body dynamics algorithm, a rigid body motion solution is performed based on the inertia parameters and the external load of the finite element model to obtain the target vector corresponding to the non-inertial system, and the acceleration vector of each unit integration point is determined according to the position vector and the target vector; then, the inertia load of the unit integration point is determined based on the acceleration vector, and the inertia load is equivalently integrated to generate an equivalent node inertia load, and each equivalent node inertia load and the non-inertial system external load vector determined based on the node external load vector in the inertial system are accumulated to obtain the node load vector of the non-inertial system; finally, the unbalanced force and unbalanced moment are determined based on the node load vector and the origin of the non-inertial system coordinates, and the equivalent node inertia load is corrected based on the unbalanced force and the unbalanced moment to complete the load balance of the aircraft. It can be seen that the present application first calculates the position of the unit integration point through the shape function, and then calculates the acceleration at the unit integration point based on the rigid body dynamics calculation results, and then calculates the integration point inertia load based on the integration point acceleration and performs equivalent integration of the unit's inertia load field to generate equivalent node loads, and then calculates the unbalanced load of the structure relative to the origin of the non-inertial system coordinates, and then corrects the inertial force at the structure node according to the calculation results, so that the load in the non-inertial system reaches dynamic balance. In this way, the present application does not need to add additional node constraints, and eliminates the unbalanced load by correcting the acceleration field, which can effectively improve the convenience and accuracy of the structural deformation calculation in the non-inertial system and avoid the local high stress phenomenon at the constraint node. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0055] Figure 1 A flow chart of a load dynamic balancing method in a non-inertial system aircraft dynamics analysis disclosed in the present application;

[0056] Figure 2A schematic diagram of an aircraft geometric model disclosed in this application;

[0057] Figure 3 A schematic diagram of a finite element mesh of an aircraft disclosed in this application;

[0058] Figure 4 A schematic diagram of an integration point acceleration calculation disclosed in this application;

[0059] Figure 5 This is a schematic diagram of the structure of a load dynamic balancing device in a non-inertial system aircraft dynamics analysis disclosed in the present application;

[0060] Figure 6 This is a structural diagram of an electronic device disclosed in this application.

[0061] Reference numerals:

[0062] 1- Hexahedral solid element; 2- Element integration point (global coordinate); 3- Non-inertial coordinate system; 4- Element integration point (local coordinate); 5- Element local coordinate system; 6- Element integration domain. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0064] At present, the commonly used load dynamic balance method is mainly to apply inertial loads to nodes based on the mass matrix, and at the same time impose constraints on related nodes to limit the rigid body displacement of the structure and achieve a balance between the inertial load and the external force. This method can prevent the structure from producing rigid body displacement and ensure the reliability of calculation in the non-inertial system. However, since only the acceleration at the node is considered when calculating the inertial load, the equivalent integral accuracy of the unit inertial force field is low. When the grid size is large and a large rigid body rotation occurs, the load on the unit is quite different from the actual inertial load. At the same time, since the changes in the inertial load and the external load within the time step are ignored, the analysis results have high requirements for the time step length. For structures with relatively large time step settings or insufficient grid density, the inertial load and the external load cannot reach a balance in the non-inertial coordinate system, resulting in a large support reaction at the constraint node. The structure produces local high stress points, which deviates from the actual state. In order to solve the above technical problems, the present application discloses a load dynamic balancing method in the dynamic analysis of aircraft in a non-inertial system, which can achieve dynamic balance of the load in the non-inertial system, effectively improve the convenience and accuracy of structural deformation calculation in the non-inertial system, and avoid the occurrence of local high stress phenomenon at the constraint nodes.

[0065] See also Figure 1 As shown, an embodiment of the present invention discloses a load dynamic balancing method in aircraft dynamics analysis in a non-inertial system, comprising:

[0066] Step S11, constructing a finite element model of the aircraft, determining inertia parameters corresponding to the finite element model, and calculating position vectors of unit integration points of the finite element model based on coordinates of unit nodes of the finite element model using unit shape functions.

[0067] When performing dynamic analysis in a non-inertial system, the influence of the non-inertial system on the deformation of the flexible body is imposed by the inertial load. The unbalanced load of the non-inertial system under the combined action of the external load and the inertial load is mainly caused by the discrete errors of the finite element analysis in space and time. Therefore, the equivalent distribution of the inertial load field on the nodes and the timely correction of the acceleration field in each time increment are the key to eliminating the unbalanced load. This application first meshes the geometric model that needs to be analyzed for rigid-flexible coupling, and sets the node constraints, node loads, material properties and time steps according to the boundary conditions, material types and analysis requirements to obtain a structural finite element model. Specifically, due to the symmetry of the test case geometric model and the load, half of the aircraft model is selected for dynamic analysis. The specific steps are: for a given Figure 2 The aircraft geometry model shown in the figure is obtained by selecting half of the model for meshing based on the symmetry between the geometry model and the load. Figure 3The finite element mesh of the structure shown in the figure is shown in the figure. Constraints perpendicular to the symmetry plane are applied to the nodes of the symmetry plane of the model, that is, symmetric boundary conditions are applied. The material properties are set to isotropic linear elastic material, elastic modulus 180Gpa, Poisson's ratio 0.3, equivalent node loads along the normal direction are applied to the wing, vertical downward gravity loads are applied to the entire model, and the time increment step is set to , and obtain the finite element model of the aircraft. It should be noted that the present application is not limited to load balancing of aircraft in a non-inertial system, and is also applicable to other solid structures that can construct finite element models.

[0068] Then, the finite element model is used to calculate the center of mass, mass and moment of inertia of each unit one by one by using the coordinate mapping method, and the weighted average method, accumulation method and parallel axis shift formula are used to calculate several types of inertial parameters of the aircraft model. The origin of the non-inertial system coordinate is set at the center of mass of the model. At the same time, based on the inertial parameters and external loads of the model, the rigid body dynamics algorithm is used to solve the rigid body motion of the structure to obtain the acceleration vector, angular velocity vector, angular acceleration vector and angle vector of the non-inertial system. After determining the inertial parameters corresponding to the finite element model, the center of mass of the finite element model is determined as the origin of the non-inertial system coordinate, and the origin of the non-inertial system coordinate is bound to the rigid body motion of the finite element model, so as to solve the rigid body motion based on the inertial parameters and the external loads of the finite element model according to the rigid body dynamics algorithm to obtain the target vector corresponding to the non-inertial system; the inertial parameters include the center of mass, mass and moment of inertia of the unit; the target vector includes the acceleration vector, angular velocity vector, angular acceleration vector and angle vector.

[0069] Then, based on the coordinates of the unit nodes, the unit shape function is used for interpolation to calculate the position vector of the unit integration point in the non-inertial coordinate system. Figure 4 Taking the 1-hexahedral solid element given in as an example, the coordinate vector of the unit integration point of the finite element model in the non-inertial system is calculated based on the coordinates of the unit node of the finite element model using the unit shape function and the coordinate vector calculation formula; the coordinate vector calculation formula is:

[0070] ;

[0071] in, The finite element model element The coordinate vectors of the integration points in the non-inertial system; The finite element model element The coordinates of the nodes in the inertial system; n is the number of unit nodes, is the element shape function, which can be selected according to the element type; Respectively The coordinates of the Gaussian integration points in the unit local coordinate system; the position vector of the unit integration point of the finite element model is determined based on the difference between the coordinate vector of the unit integration point of the finite element model in the non-inertial system and the coordinate vector of the origin of the non-inertial system.

[0072] Step S12, performing rigid body motion solution based on the inertial parameters and the external load of the finite element model according to a rigid body dynamics algorithm to obtain a target vector corresponding to a non-inertial system, and determining an acceleration vector of each unit integration point according to the position vector and the target vector.

[0073] In this embodiment, after the coordinate origin of the non-inertial system is bound to the rigid body motion of the finite element model, the vector corresponding to the inertia of the non-inertial system is convenient for the inertial system to correspond. Therefore, the rigid body motion can be solved based on the inertial parameters and the external load of the finite element model according to the rigid body dynamics algorithm to obtain the target vector corresponding to the non-inertial system; the inertial parameters include the center of mass, mass and moment of inertia of the unit; the target vector includes the acceleration vector, angular velocity vector, angular acceleration vector and angle vector.

[0074] After obtaining the acceleration vector, angular velocity vector, angular acceleration vector and rotation angle vector corresponding to the non-inertial system, the acceleration vector of each unit integration point is calculated cyclically. For the i-th integration point in the unit, the obtained integration point position vector and the acceleration vector, angular velocity vector, angular acceleration vector and rotation angle vector of the non-inertial system are used to calculate the acceleration at the unit integration point based on the particle system acceleration calculation formula, that is, the acceleration vector of each unit integration point is determined according to the position vector and the target vector through the preset acceleration vector calculation formula; the preset acceleration vector calculation formula is:

[0075] ;

[0076] ;

[0077] ;

[0078] ;

[0079] ;

[0080] in, is the acceleration vector of the unit integration point; is the acceleration vector of the non-inertial system; is the angular velocity vector of the non-inertial system; is the angular acceleration vector of the non-inertial system; is the rotation vector of the non-inertial system; , , They are Coriolis acceleration, tangential acceleration and normal acceleration respectively; The finite element model element The coordinate vectors of the integration points in the non-inertial system; is the velocity of the integration point in the non-inertial system, which is updated by the subsequent finite element dynamics analysis in the non-inertial system; is the initial velocity vector of the unit integration point; is the initial velocity vector of the origin of the non-inertial system.

[0081] Step S13, determining the inertia load of the unit integration point based on the acceleration vector, and generating an equivalent node inertia load by equivalently integrating the inertia load, accumulating each of the equivalent node inertia loads and the non-inertial system external load vector determined based on the node external load vector in the inertial system, and obtaining the node load vector of the non-inertial system.

[0082] In this embodiment, the inertial load of the unit integration point is determined according to the product of the acceleration vector and the material density corresponding to the unit integration point; the formula is used to illustrate that the acceleration at each integration point is obtained. and the material density at the integration point , according to the D'Alembert principle, the inertia load of the inertia distributed load at the integration point is calculated:

[0083] .

[0084] Calculate the equivalent node inertia load of the structure. First, use the inertia distribution load value at the integration point to perform Gaussian integration in the unit local coordinate system to obtain the equivalent node inertia load of the unit , perform Gaussian integration on the inertia load of the unit integration point in the unit local coordinate system to obtain the unit equivalent node inertia load; accumulate the equivalent node inertia loads of each unit to obtain the target equivalent node inertia load. Specifically,

[0085] ;

[0086] ;

[0087] in, is the number of integration points for each unit, For the Inertia distribution load value at integration points. , , For the unit The coordinates of the nodes, For the The element shape function of the nodes, , , is the vector of the element integration point in the local coordinate system.

[0088] Then the equivalent node inertia loads of different units are accumulated to obtain the target equivalent node inertia load of the structure. :

[0089] ;

[0090] Where m is the total number of cells containing nodes with global node number k. is the load on this node in the kkth unit mentioned above.

[0091] When the equivalent node inertia load and the non-inertial external load vector determined based on the node external load vector in the inertial system are accumulated to obtain the node load vector of the non-inertial system, the node external load vector in the inertial system is transformed according to the vector rotation formula to obtain the non-inertial external load vector; the equivalent node inertia loads corresponding to the common node positions of different units are accumulated to obtain the target equivalent node inertia load; finally, the target equivalent node inertia load is accumulated with the non-inertial external load vector to obtain the node load vector of the non-inertial system. Specifically, when calculating the external load vector in the non-inertial system, for the node external load vector in the inertial system According to the vector rotation transformation formula, the node external load vector in the non-inertial system is obtained through vector transformation :

[0092] ;

[0093] in, For the The external load vector at each node is is the direction of the axis of rotation of the structure around the origin of the non-inertial coordinate system, For structure winding The rotation angle of the non-inertial system is calculated. The inertial load vector and the external load vector on each node are added together to obtain the node load vector in the non-inertial system. .

[0094] Step S14: determining an unbalanced force and an unbalanced moment according to the node load vector and the non-inertial system coordinate origin, and correcting the equivalent node inertial load based on the unbalanced force and the unbalanced moment to complete load balancing of the aircraft.

[0095] In this embodiment, when determining the unbalanced force and unbalanced moment according to the node load vector and the non-inertial system coordinate origin, that is, calculating the residual unbalanced load of the structure relative to the non-inertial system coordinate origin under the joint action of the node inertial load and the external load in the non-inertial system, the unbalanced force is determined based on the preset unbalanced force calculation formula and the node load vector; the preset unbalanced force calculation formula is:

[0096] ;

[0097] in, is the unbalanced force; N is the total number of nodes of the finite element model; is the node load vector at the jth node of the finite element model unit.

[0098] The unbalanced moment is determined based on the preset unbalanced moment calculation formula and the node load vector; the preset unbalanced moment calculation formula is:

[0099] ;

[0100] in, is the unbalanced torque; is the position vector of the node with overall node number j.

[0101] Afterwards, the integration point acceleration can be corrected based on the residual unbalanced load, and the inertial load on each node can be corrected to achieve dynamic balance of the load. In this process, it is determined whether the unbalanced force and the unbalanced moment meet the preset conditions; if so, it ends directly; if not, the acceleration vector of the current unit integration point is corrected, and the corresponding corrected acceleration vector is determined as the acceleration vector of the current unit integration point, and the step of determining the inertial load of the unit integration point based on the acceleration vector is jumped again until the unbalanced force and the unbalanced moment meet the preset conditions. In other words, when correcting the integration point acceleration, the rigid body angular acceleration generated by the unbalanced load is calculated again using the rigid body dynamics program. , acceleration , the acceleration vector of the non-inertial system obtained in the above process and the angular acceleration vector To make corrections:

[0102] ;

[0103] ;

[0104] After correction, re-execute the steps of determining the inertial load of the unit integration point based on the acceleration vector using the corrected acceleration parameters until the unbalanced force and unbalanced torque Meet the accuracy requirements to achieve load balance of the aircraft. In addition, the present application can also use the structural finite element dynamics integration algorithm to calculate the corrected node load vector The displacement of the node at the origin of the non-inertial system coordinates and the rotation angle of the boundary node relative to the origin of the coordinates under the action. The dynamic balance effect evaluation report of the load in the non-inertial system of the output body is output. The staff can further determine the dynamic balance effect based on the output evaluation report.

[0105] It can be seen that the present application first calculates the position of the unit integration point through the shape function, and then calculates the acceleration at the unit integration point based on the rigid body dynamics calculation results, and then calculates the integration point inertia load based on the integration point acceleration and performs equivalent integration of the unit's inertia load field to generate equivalent node loads, and then calculates the unbalanced load of the structure relative to the origin of the non-inertial system coordinates, and then corrects the inertial force at the structure node according to the calculation results, so that the load in the non-inertial system reaches dynamic balance. In this way, the present application does not need to add additional node constraints, and eliminates the unbalanced load by correcting the acceleration field, which can effectively improve the convenience and accuracy of the structural deformation calculation in the non-inertial system and avoid the local high stress phenomenon at the constraint node.

[0106] Based on the previous embodiment, it can be seen that the present application discloses a method for dynamic balancing loads in aircraft dynamics analysis under a non-inertial system. Next, the implementation process of dynamic balancing loads in aircraft dynamics analysis under a specific non-inertial system will be described.

[0107] In this application, for a given aircraft geometric model, based on the symmetry between the geometric model and the load, half of the model is selected for meshing to obtain a structural finite element mesh; constraints perpendicular to the symmetry plane are applied to the nodes of the symmetry plane of the model, that is, symmetric boundary conditions are applied, and the material properties are set to isotropic linear elastic materials, with an elastic modulus of 180 GPa and a Poisson's ratio of 0.3. Equivalent node loads are applied along the normal direction to the wings, and a vertical downward gravity load is applied to the entire model. The time increment step is set. , and obtain the finite element model of the aircraft. Then, the finite element model is used to calculate the center of mass, mass and moment of inertia of each unit one by one using the coordinate mapping method, and the weighted average method, accumulation method and parallel axis shift formula are used to calculate several types of inertial parameters of the aircraft model. The origin of the non-inertial coordinate system is set at the center of mass of the model. At the same time, based on the inertial parameters of the model and the external load, the rigid body dynamics algorithm is used to solve the rigid body motion of the structure, and the acceleration vector, angular velocity vector, angular acceleration vector and rotation angle vector of the non-inertial system are obtained.

[0108] Then, the position vector of each unit integration point is obtained in a loop. The coordinate vector of the unit integration point of the finite element model in the non-inertial system is calculated based on the coordinates of the unit nodes of the finite element model using the unit shape function and the coordinate vector calculation formula; the coordinate vector calculation formula is:

[0109] ;

[0110] in, The finite element model element The coordinate vectors of the integration points in the non-inertial system; The finite element model element The coordinates of the nodes in the inertial system; n is the number of unit nodes, is the element shape function, which can be selected according to the element type; Respectively The coordinates of the Gaussian integration points in the unit local coordinate system; the position vector of the unit integration point of the finite element model is determined based on the difference between the coordinate vector of the unit integration point of the finite element model in the non-inertial system and the coordinate vector of the origin of the non-inertial system.

[0111] After binding the non-inertial coordinate origin with the rigid body motion of the finite element model, the vector corresponding to the inertia of the non-inertial system is convenient for the inertial system to correspond. Therefore, the rigid body motion can be solved based on the inertial parameters and the external load of the finite element model according to the rigid body dynamics algorithm to obtain the target vector corresponding to the non-inertial system; the inertial parameters include the center of mass, mass and moment of inertia of the unit; the target vector includes the acceleration vector, angular velocity vector, angular acceleration vector and angle vector. After obtaining the acceleration vector, angular velocity vector, angular acceleration vector and angle vector corresponding to the non-inertial system, the acceleration vector of each unit integration point is calculated cyclically. For the i-th integration point in the unit, the obtained integration point position vector and the acceleration vector, angular velocity vector, angular acceleration vector and angle vector of the non-inertial system are used to calculate the acceleration at the unit integration point based on the particle system acceleration calculation formula, that is, the acceleration vector of each unit integration point is determined according to the position vector and the target vector through the preset acceleration vector calculation formula; the preset acceleration vector calculation formula is:

[0112] ;

[0113] ;

[0114] ;

[0115] ;

[0116] ;

[0117] in, is the acceleration vector of the unit integration point; is the acceleration vector of the non-inertial system; is the angular velocity vector of the non-inertial system; is the angular acceleration vector of the non-inertial system; is the rotation vector of the non-inertial system; , , They are Coriolis acceleration, tangential acceleration and normal acceleration respectively; The finite element model element The coordinate vectors of the integration points in the non-inertial system; is the velocity of the integration point in the non-inertial system, which is updated by the subsequent finite element dynamics analysis in the non-inertial system; is the initial velocity vector of the unit integration point; is the initial velocity vector of the origin of the non-inertial system.

[0118] Next, use the acceleration at each integration point and the material density at the integration point , according to the D'Alembert principle, the inertia load of the inertia distributed load at the integration point is calculated:

[0119] .

[0120] Calculate the equivalent node inertia load of the structure. First, use the inertia distribution load value at the integration point to perform Gaussian integration in the unit local coordinate system to obtain the equivalent node inertia load of the unit ,

[0121] ;

[0122] ;

[0123] Where n is the number of integration points in each unit, is the inertia distribution load value at the i-th integration point. , , is the coordinate of the jth node in the unit, is the element shape function of the jth node, , , is the vector of the unit integration point in the local coordinate system. Then the equivalent node inertia loads of different units are accumulated to obtain the target equivalent node inertia load of the structure. :

[0124] ;

[0125] Where m is the total number of cells containing nodes with global node number k. is the load on this node in the kkth unit mentioned above.

[0126] When calculating the external load vector in a non-inertial system, for the node external load vector in the inertial system According to the vector rotation transformation formula, the node external load vector in the non-inertial system is obtained through vector transformation :

[0127] ;

[0128] in, For the The external load vector at each node is is the direction of the axis of rotation of the structure around the origin of the non-inertial coordinate system, For structure winding The rotation angle of the node is calculated. Then the external load vector in the non-inertial system is calculated. The inertial load vector on the node is added to the external load vector to obtain the node load vector in the non-inertial system. .

[0129] Finally, simplify it relative to the origin of the non-inertial coordinate system to obtain the unbalanced force and unbalanced torque :

[0130] ;

[0131]

[0132] in, is the unbalanced force; N is the total number of nodes of the finite element model; is the node load vector at the jth node of the finite element model unit; is the unbalanced torque; is the position vector of the node with overall node number j.

[0133] Finally, the integration point acceleration can be corrected based on the residual unbalanced load, and the inertia load on each node can be corrected to achieve dynamic balance of the load. When correcting the integration point acceleration, the rigid body angular acceleration generated by the unbalanced load is calculated again using the rigid body dynamics program. , acceleration , the acceleration vector of the non-inertial system obtained in the above process and the angular acceleration vector To make corrections:

[0134] ;

[0135] ;

[0136] After correction, re-execute the steps of determining the inertial load of the unit integration point based on the acceleration vector using the corrected acceleration parameters until the unbalanced force and unbalanced torque Meet the accuracy requirements to achieve load balance of the aircraft.

[0137] It can be seen that this application adopts the inertial load application method based on the integral point to make the distributed inertial load equivalent to the node, and corrects the acceleration field according to the unbalanced load to achieve the dynamic balance of the load. At the same time, there is no need to add additional node constraints. By correcting the acceleration field to eliminate the unbalanced load, the convenience and accuracy of the structural deformation calculation in the non-inertial system can be effectively improved, and the local high stress phenomenon at the constraint node can be avoided.

[0138] See also Figure 5 As shown, the embodiment of the present invention discloses a load dynamic balancing device in the dynamic analysis of an aircraft in a non-inertial system, comprising:

[0139] A position vector determination module 11 is used to construct a finite element model of the aircraft, determine the inertia parameters corresponding to the finite element model, and calculate the position vector of the unit integration point of the finite element model based on the coordinates of the unit nodes of the finite element model using the unit shape function;

[0140] An acceleration vector determination module 12 is used to perform a rigid body motion solution based on the inertial parameters and the external load of the finite element model according to a rigid body dynamics algorithm to obtain a target vector corresponding to a non-inertial system, and determine an acceleration vector of each unit integration point according to the position vector and the target vector;

[0141] A node load vector acquisition module 13 is used to determine the inertia load of the unit integration point based on the acceleration vector, and generate an equivalent node inertia load by equivalently integrating the inertia load, and accumulate each of the equivalent node inertia loads and a non-inertial system external load vector determined based on the node external load vector in the inertial system to obtain the node load vector of the non-inertial system;

[0142] The load balancing module 14 is used to determine the unbalanced force and unbalanced moment according to the node load vector and the non-inertial system coordinate origin, and to correct the equivalent node inertial load based on the unbalanced force and the unbalanced moment to achieve load balancing of the aircraft.

[0143] It can be seen that the present application first calculates the position of the unit integration point through the shape function, and then calculates the acceleration at the unit integration point based on the rigid body dynamics calculation results, and then calculates the integration point inertia load based on the integration point acceleration and performs equivalent integration of the unit's inertia load field to generate equivalent node loads, and then calculates the unbalanced load of the structure relative to the origin of the non-inertial system coordinates, and then corrects the inertial force at the structure node according to the calculation results, so that the load in the non-inertial system reaches dynamic balance. In this way, the present application does not need to add additional node constraints, and eliminates the unbalanced load by correcting the acceleration field, which can effectively improve the convenience and accuracy of the structural deformation calculation in the non-inertial system and avoid the local high stress phenomenon at the constraint node.

[0144] In some specific embodiments, the device may further include:

[0145] A rigid body motion binding module is used to determine the center of mass of the finite element model as the non-inertial system coordinate origin, and bind the non-inertial system coordinate origin to the rigid body motion of the finite element model, so as to perform rigid body motion solution based on the inertial parameters and the external load of the finite element model according to a rigid body dynamics algorithm to obtain a target vector corresponding to the non-inertial system; the inertial parameters include the center of mass, mass and moment of inertia of the unit; the target vector includes an acceleration vector, an angular velocity vector, an angular acceleration vector and an angle vector.

[0146] In some specific embodiments, the position vector determination module 11 may specifically include:

[0147] A coordinate vector calculation unit is used to calculate the coordinate vector of the unit integration point of the finite element model in the non-inertial system based on the coordinates of the unit nodes of the finite element model using the unit shape function and the coordinate vector calculation formula; the coordinate vector calculation formula is:

[0148] ;

[0149] in, The finite element model element The coordinate vectors of the integration points in the non-inertial system; The finite element model unit The coordinates of the nodes in the inertial system; n is the number of unit nodes, is the unit shape function; Respectively The coordinates of the Gaussian integration points in the local coordinate system of the element;

[0150] The position vector determining unit is used to determine the position vector of the unit integration point of the finite element model based on the difference between the coordinate vector of the unit integration point of the finite element model in the non-inertial system and the origin coordinate vector of the non-inertial system.

[0151] In some specific embodiments, the acceleration vector determination module 12 may specifically include:

[0152] The acceleration vector calculation unit is used to determine the acceleration vector of each unit integration point according to the position vector and the target vector by using a preset acceleration vector calculation formula; the preset acceleration vector calculation formula is:

[0153] ;

[0154] ;

[0155] ;

[0156] ;

[0157] ;

[0158] in, is the acceleration vector of the unit integration point; is the acceleration vector of the non-inertial system; is the angular velocity vector of the non-inertial system; is the angular acceleration vector of the non-inertial system; is the rotation angle vector of the non-inertial system; , , They are Coriolis acceleration, tangential acceleration and normal acceleration respectively; The finite element model element The coordinate vectors of the integration points in the non-inertial system; is the velocity of the integration point in the non-inertial system; is the initial velocity vector of the unit integration point; is the initial velocity vector of the origin of the non-inertial system.

[0159] In some specific embodiments, the node load vector acquisition module 13 may specifically include:

[0160] an inertial load determination unit, configured to determine the inertial load of the unit integration point according to the product of the acceleration vector and the material density corresponding to the unit integration point;

[0161] A unit equivalent node inertia load acquisition unit, used for performing Gaussian integration on the inertia load of the unit integration point in the unit local coordinate system to obtain the unit equivalent node inertia load;

[0162] The equivalent node inertia load acquisition unit is used to accumulate the equivalent node inertia loads of each unit to obtain the equivalent node inertia load.

[0163] In some specific embodiments, the node load vector acquisition module 13 may specifically include:

[0164] A non-inertial system external load vector acquisition unit, used for performing vector transformation on the node external load vector in the inertial system according to a vector rotation formula to obtain the non-inertial system external load vector;

[0165] A target equivalent nodal inertia load acquisition unit, used for accumulating the equivalent nodal inertia loads corresponding to the common node positions of different units to acquire the target equivalent nodal inertia load;

[0166] The non-inertial system node load vector acquisition unit is used to accumulate the target equivalent node inertial load and the non-inertial system external load vector to obtain the non-inertial system node load vector.

[0167] In some specific embodiments, the load balancing module 14 may specifically include:

[0168] The unbalanced force determination unit is used to determine the unbalanced force based on a preset unbalanced force calculation formula and the node load vector; the preset unbalanced force calculation formula is:

[0169] ;

[0170] in, is the unbalanced force; N is the total number of nodes of the finite element model; is the node load vector at the jth node of the finite element model unit;

[0171] The unbalanced moment determination unit is used to determine the unbalanced moment based on a preset unbalanced moment calculation formula and the node load vector; the preset unbalanced moment calculation formula is:

[0172] ;

[0173] in, is the unbalanced moment; is the position vector of the node with overall node number j.

[0174] In some specific embodiments, the load balancing module 14 may specifically include:

[0175] A determination unit, configured to determine whether the unbalanced force and the unbalanced moment meet a preset condition;

[0176] A first judgment result execution unit, used for directly ending if yes;

[0177] The second judgment result execution unit is used to correct the acceleration vector of the current unit integration point if no, determine the corresponding corrected acceleration vector as the acceleration vector of the current unit integration point, and jump again to the step of determining the inertia load of the unit integration point based on the acceleration vector until the unbalanced force and the unbalanced torque meet the preset conditions.

[0178] Furthermore, the present application also discloses an electronic device. Figure 6 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram cannot be regarded as any limitation on the scope of use of the present application.

[0179] Figure 6 A schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps of the load dynamic balance method in the aircraft dynamics analysis under the non-inertial system disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0180] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0181] In addition, the memory 22 as a carrier for resource storage may be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon may include an operating system 221, a computer program 222, etc., and the storage method may be temporary storage or permanent storage.

[0182] The operating system 221 is used to manage and control the hardware devices and computer programs 222 on the electronic device 20, and can be Windows Server, Netware, Unix, Linux, etc. In addition to the computer program that can be used to complete the load dynamic balance method in the aircraft dynamics analysis under the non-inertial system performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include computer programs that can be used to complete other specific tasks.

[0183] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the load dynamic balancing method in the aircraft dynamics analysis under the non-inertial system disclosed above is implemented. The specific steps of the method can refer to the corresponding contents disclosed in the above embodiments, and will not be repeated here.

[0184] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0185] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0186] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0187] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0188] The technical solution provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for dynamic load balance in aircraft dynamics analysis under non-inertial system, characterized in that: include: Constructing a finite element model of the aircraft, determining inertia parameters corresponding to the finite element model, and calculating position vectors of unit integration points of the finite element model based on coordinates of unit nodes of the finite element model using unit shape functions; Solving rigid body motion based on the inertial parameters and the external load of the finite element model according to a rigid body dynamics algorithm to obtain a target vector corresponding to a non-inertial system, and determining an acceleration vector of each unit integration point according to the position vector and the target vector; Determine the inertia load of the unit integration point based on the acceleration vector, and generate an equivalent node inertia load by equivalently integrating the inertia load, accumulate each of the equivalent node inertia loads and a non-inertial system external load vector determined based on a node external load vector in an inertial system, and obtain a node load vector of the non-inertial system; The unbalanced force and unbalanced moment are determined according to the node load vector and the non-inertial system coordinate origin, and the equivalent node inertial load is corrected based on the unbalanced force and the unbalanced moment to complete the load balancing of the aircraft.

2. The method for dynamic load balance in aircraft dynamics analysis under non-inertial system according to claim 1, characterized in that: After determining the inertia parameters corresponding to the finite element model, the method further includes: The center of mass of the finite element model is determined as the origin of the non-inertial coordinate system, and the origin of the non-inertial coordinate system is bound to the rigid body motion of the finite element model, so as to solve the rigid body motion based on the inertial parameters and the external load of the finite element model according to the rigid body dynamics algorithm to obtain the target vector corresponding to the non-inertial system; the inertial parameters include the center of mass, mass and moment of inertia of the unit; the target vector includes the acceleration vector, angular velocity vector, angular acceleration vector and angle vector.

3. The method for dynamic load balance in aircraft dynamics analysis under non-inertial system according to claim 1, characterized in that: The calculating the position vector of the unit integration point of the finite element model based on the coordinates of the unit nodes of the finite element model by using the unit shape function comprises: The coordinate vector of the unit integration point of the finite element model in the non-inertial system is calculated based on the coordinates of the unit nodes of the finite element model using the unit shape function and the coordinate vector calculation formula; the coordinate vector calculation formula is: ； in, The finite element model element The coordinate vectors of the integration points in the non-inertial system; The finite element model unit The coordinates of the nodes in the inertial system; n is the number of unit nodes, is the unit shape function; Respectively The coordinates of the Gaussian integration points in the local coordinate system of the element; The position vector of the unit integration point of the finite element model is determined based on the difference between the coordinate vector of the unit integration point of the finite element model in the non-inertial system and the origin coordinate vector of the non-inertial system.

4. The method for dynamic load balance in aircraft dynamics analysis under non-inertial system according to claim 2, characterized in that: The step of determining the acceleration vector of each unit integration point according to the position vector and the target vector comprises: The acceleration vector of each unit integration point is determined according to the position vector and the target vector by a preset acceleration vector calculation formula; the preset acceleration vector calculation formula is: ； ； ； ； ； in, is the acceleration vector of the unit integration point; is the acceleration vector of the non-inertial system; is the angular velocity vector of the non-inertial system; is the angular acceleration vector of the non-inertial system; is the rotation angle vector of the non-inertial system; , , They are Coriolis acceleration, tangential acceleration and normal acceleration respectively; The finite element model element The coordinate vectors of the integration points in the non-inertial system; is the velocity of the integration point in the non-inertial system; is the initial velocity vector of the unit integration point; is the initial velocity vector of the origin of the non-inertial system.

5. The method for dynamic load balance in aircraft dynamics analysis under non-inertial system according to claim 1, characterized in that: The step of determining the inertia load of the unit integration point based on the acceleration vector and generating an equivalent node inertia load by equivalently integrating the inertia load comprises: Determine the inertia load of the unit integration point according to the product of the acceleration vector and the material density corresponding to the unit integration point; Performing Gaussian integration on the inertia load of the unit integration point in the unit local coordinate system to obtain the unit equivalent node inertia load; The equivalent node inertia loads of each unit are accumulated to obtain the equivalent node inertia load.

6. The method for dynamic load balance in aircraft dynamics analysis under non-inertial system according to claim 1, characterized in that: The step of accumulating the equivalent nodal inertial loads and the non-inertial system external load vector determined based on the nodal external load vector in the inertial system to obtain the nodal load vector of the non-inertial system includes: Performing vector transformation on the node external load vector in the inertial system according to the vector rotation formula to obtain the external load vector of the non-inertial system; Accumulating the equivalent nodal inertia loads corresponding to the common node positions of different units to obtain the target equivalent nodal inertia load; The target equivalent nodal inertia load is accumulated with the non-inertial system external load vector to obtain the nodal load vector of the non-inertial system.

7. The load dynamic balancing method in the aircraft dynamics analysis in a non-inertial system according to any one of claims 1 to 6, characterized in that: The determining of the unbalanced force and unbalanced moment according to the node load vector and the non-inertial system coordinate origin comprises: The unbalanced force is determined based on a preset unbalanced force calculation formula and the node load vector; the preset unbalanced force calculation formula is: ； in, is the unbalanced force; N is the total number of nodes of the finite element model; is the node load vector at the jth node of the finite element model unit; The unbalanced moment is determined based on a preset unbalanced moment calculation formula and the node load vector; the preset unbalanced moment calculation formula is: ； in, is the unbalanced moment; is the position vector of the node with overall node number j.

8. The method for dynamic load balance in aircraft dynamics analysis in a non-inertial system according to claim 1, characterized in that: The correcting the equivalent node inertia load based on the unbalanced force and the unbalanced moment to complete the load balancing of the aircraft includes: Determining whether the unbalanced force and the unbalanced moment meet preset conditions; If so, end directly; If not, the acceleration vector of the current unit integration point is corrected, the corresponding corrected acceleration vector is determined as the acceleration vector of the current unit integration point, and the process jumps again to the step of determining the inertia load of the unit integration point based on the acceleration vector until the unbalanced force and the unbalanced torque meet the preset conditions.

9. A load dynamic balancing device in the dynamic analysis of an aircraft in a non-inertial system, characterized in that: include: A position vector determination module, used to construct a finite element model of the aircraft, determine the inertia parameters corresponding to the finite element model, and calculate the position vector of the unit integration point of the finite element model based on the coordinates of the unit nodes of the finite element model using the unit shape function; An acceleration vector determination module is used to perform a rigid body motion solution based on the inertial parameters and the external load of the finite element model according to a rigid body dynamics algorithm to obtain a target vector corresponding to a non-inertial system, and determine an acceleration vector of each unit integration point according to the position vector and the target vector; A node load vector acquisition module, used for determining the inertia load of the unit integration point based on the acceleration vector, and generating an equivalent node inertia load by equivalently integrating the inertia load, accumulating each of the equivalent node inertia loads and a non-inertial system external load vector determined based on a node external load vector in an inertial system, and acquiring a node load vector of the non-inertial system; A load balancing module is used to determine unbalanced force and unbalanced moment according to the node load vector and the non-inertial system coordinate origin, and to correct the equivalent node inertial load based on the unbalanced force and the unbalanced moment to complete the load balancing of the aircraft.

10. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor is used to execute the computer program to implement the load dynamic balancing method in the aircraft dynamics analysis under the non-inertial system as described in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: Used to store a computer program, wherein when the computer program is executed by a processor, the load dynamic balancing method in the aircraft dynamics analysis under a non-inertial system as claimed in any one of claims 1 to 8 is implemented.

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