Stratopsheric float system modeling method, device, electronic equipment and storage medium

Abstract

This invention provides a method, apparatus, electronic device, and storage medium for modeling a stratospheric airship system, relating to the field of airship technology. The method includes: determining the functional components of a stratospheric airship; decomposing the stratospheric airship into at least two airship subsystems and the external environment of the stratospheric airship into at least two environmental subsystems based on the functional components, and determining the interaction relationships between the at least two airship subsystems and the at least two environmental subsystems; obtaining corresponding models based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationships; and integrating the models to obtain the stratospheric airship system, which can meet the need for digital simulation experiments to reduce or replace physical experiments and verify the rationality of the stratospheric airship design.

Description

Technical Field

[0001] This invention relates to the field of airship technology, and in particular to a method, apparatus, electronic device and storage medium for modeling a stratospheric airship system. Background Technology

[0002] A stratospheric aerostat is an aircraft that utilizes buoyancy to achieve long-term aloft operation. Its characteristics, such as regional loitering and persistent flight, make it promising for applications in fields like communication relay and Earth observation. The stratospheric aerostat is complex, involving multiple disciplines including structure, thermodynamics, energy, and control, with strong coupling relationships between these disciplines. Therefore, accurately describing the true state of the entire aerostat system requires considering the real-time coupling effects of multiphysics.

[0003] Current modeling and simulation work on stratospheric airships mainly focuses on single-discipline analysis, while system-level simulations typically employ a strategy of independent modeling of different domains followed by joint simulation. However, joint simulation of different domains cannot accurately reflect the inherent real-time coupling and feedback mechanisms between various physical fields, resulting in insufficient simulation accuracy. This makes it difficult to meet the need to reduce or replace physical experiments through digital simulation to verify the rationality of stratospheric airship design. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides a method, apparatus, electronic device, and storage medium for modeling stratospheric airship systems.

[0005] This invention provides a method for modeling a stratospheric airship system, comprising: Determine the functional components of the stratospheric airship; Based on the aforementioned functional components, the stratospheric airship is decomposed into at least two airship subsystems, and the external environment of the stratospheric airship is decomposed into at least two environmental subsystems. The interaction relationships between the at least two airship subsystems and the at least two environmental subsystems are then determined. The corresponding model is obtained based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationship; The stratospheric airship system is obtained by integrating and processing the various models described.

[0006] According to a stratospheric airship system modeling method provided by the present invention, the at least two airship subsystems include an energy subsystem; The process of obtaining the corresponding model based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationships includes: Obtain the first circuit diagram topology of each device in the energy subsystem; Based on the energy subsystem, the at least two environmental subsystems, and the interaction relationships, a model of the energy subsystem is obtained by calling the standard model library of electronic components based on the first circuit diagram topology; and / or The at least two airship subsystems include an avionics subsystem model; The process of obtaining the corresponding model based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationships includes: Obtain the second circuit diagram topology of each device in the avionics subsystem; Based on the avionics subsystem, the at least two environmental subsystems, and the interaction relationships, the model of the avionics subsystem is obtained by calling the electronic component standard model library based on the second circuit diagram topology.

[0007] According to a stratospheric airship system modeling method provided by the present invention, the at least two airship subsystems include a flight control subsystem; The process of obtaining the corresponding model based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationships includes: Obtain the dynamic link library of the actual flight control program of the stratospheric airship; Based on the flight control subsystem, the at least two environmental subsystems, and the interaction relationships, a model of the flight control subsystem is obtained using the dynamic link library.

[0008] According to the stratospheric airship system modeling method provided by the present invention, the models of at least two airship subsystems and the models of at least two environmental subsystems are integrated in the same simulation framework, and the models of at least two airship subsystems and the models of at least two environmental subsystems are connected through an interface.

[0009] According to the present invention, a stratospheric airship system modeling method is provided, wherein obtaining the corresponding model based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationship includes: The third-party model, which is encapsulated through a standardized interface, is obtained based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationship.

[0010] According to the present invention, a stratospheric airship system modeling method is provided, wherein obtaining the corresponding model based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationship includes: Based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationships, corresponding models are obtained using the same modeling language. The state of the subsystem and the interaction relationship are described by equations.

[0011] According to the stratospheric airship system modeling method provided by the present invention, the at least two airship subsystems include: hull subsystem, energy subsystem, flight control subsystem, propulsion subsystem, structural subsystem, avionics subsystem, and telemetry and control subsystem; the at least two environmental subsystems include: solar irradiation subsystem, wind field subsystem, atmospheric subsystem, thermal radiation subsystem, and space subsystem. The hull subsystems include: a convection heat transfer subsystem, a long-wave and short-wave radiation subsystem, a temperature and pressure characteristic subsystem, a gas leakage subsystem, and an internal and external pressure difference subsystem; The energy subsystem includes: a solar cell subsystem, a power controller subsystem, a power distribution subsystem, an energy storage battery subsystem, and a load subsystem; The flight control subsystem includes: a controller subsystem, a six-degree-of-freedom dynamics subsystem, a three-degree-of-freedom attitude kinematics subsystem, a three-degree-of-freedom mass kinematics subsystem, and a force / torque subsystem; The propulsion subsystem includes: a propulsion motor subsystem and a propeller subsystem; The structural subsystems include: a fan subsystem, a valve subsystem, and a ballast subsystem; The avionics subsystem includes: a relay subsystem and a sensor subsystem; The telemetry, tracking, and command subsystem includes: a microwave communication link subsystem and a satellite communication link subsystem; The process of integrating the various models to obtain the stratospheric airship system includes: The stratospheric airship system is obtained by integrating and processing the various models according to the organizational structure from the bottom up.

[0012] The present invention also provides a stratospheric airship system modeling device, comprising: Function determination module, used to determine the functional components of stratospheric airships; The system decomposition module is used to decompose the stratospheric airship into at least two airship subsystems and the external environment of the stratospheric airship into at least two environmental subsystems according to the functional components, and to determine the interaction relationship between the at least two airship subsystems and the at least two environmental subsystems. The model determination module is used to obtain the corresponding model based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationship; The system integration module is used to integrate and process the various models to obtain the stratospheric airship system.

[0013] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the stratospheric airship system modeling method as described above.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the stratospheric airship system modeling method as described above.

[0015] This invention provides a method, apparatus, electronic device, and storage medium for modeling a stratospheric airship system. By decomposing the functional components of the stratospheric airship into at least two airship subsystems and at least two environmental subsystems, and establishing corresponding models based on the interaction relationships between the subsystems, the system is finally integrated into an integrated simulation system that includes the airship and the external environment. This system can meet the need for digital simulation experiments to reduce or replace physical experiments and verify the rationality of the stratospheric airship design. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating the stratospheric airship system modeling method provided by the present invention.

[0018] Figure 2 This is a schematic diagram of the framework of the stratospheric airship system provided by the stratospheric airship system modeling method of the present invention.

[0019] Figure 3 This is a schematic diagram of the stratospheric airship system modeling device provided by the present invention.

[0020] Figure 4 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0022] As mentioned earlier, stratospheric airships are complex in composition and enormous in size, operating in extreme conditions such as low temperature, low pressure, and high-intensity radiation. However, current research on the complex coupling relationships between various disciplines involved in the composition of stratospheric airships, and the impact of the space environment on them, is insufficient. Therefore, extensive testing is needed to validate the design during the development process.

[0023] Taking an airship as an example, its attitude changes affect the surface area of ​​the solar cells exposed to sunlight, thus altering energy output; changes in energy supply affect the operation of the propulsion system, thus changing the flight state; and the flight state, in turn, affects the forces and thermal balance of the airship. The above examples are just a few specific manifestations of this multiphysics coupling effect. Its essence lies in the extensive and dynamic interdependence and real-time interaction mechanism between the parameters and states of various systems.

[0024] To reduce R&D and testing costs, many researchers are currently exploring the use of digital simulation to reduce or replace physical testing. Specifically, in the development of stratospheric airships, a simulation model of the airship platform is established, and simulation verification is conducted during the design phase. By using digital means to verify the correctness of the design, the need for or replacement of physical testing can be reduced, thereby improving R&D efficiency and lowering costs.

[0025] In simulation verification, strategies often employ independent modeling for each discipline's sub-domains for single-discipline simulation analysis, or a combined approach based on independent modeling for system-level simulation analysis. However, this decoupled analysis only focuses on local changes and cannot reflect the overall changes of the stratospheric airship. Taking the decoupled analysis of the propulsion and energy systems as an example, it only focuses on aerodynamic performance or only analyzes the energy system, failing to reflect the coupled changes in the energy system's solar cell capacity under the passive attitude changes of the stratospheric airship under the action of the propulsion system. Therefore, it cannot accurately describe the true state of the entire stratospheric airship in specific scenarios.

[0026] Even when system-level simulation analysis is conducted in a collaborative manner, it often relies on the technical approach of integrating models and performing joint simulations using multiple single-domain simulation tools. The data exchange interfaces between these tools are complex, inefficient, and have poor error controllability. Furthermore, they fail to effectively reflect the inherent real-time coupling effects and feedback mechanisms between the multiphysics fields of the stratospheric airship system, resulting in low simulation accuracy.

[0027] Furthermore, this approach of working with different tools limits the scalability of the model and the efficiency of team collaboration, increases the cost of model transfer and management, and makes the multi-domain collaborative design process cumbersome, making it difficult to achieve efficient parametric design and optimization.

[0028] Based on this, the following combination Figures 1 to 4The present invention describes a method, apparatus, electronic device, and storage medium for modeling stratospheric airship systems.

[0029] Figure 1 This is a flowchart illustrating the stratospheric airship system modeling method provided by the present invention, as shown below. Figure 1 As shown, the method includes the following steps.

[0030] Step 101: Determine the functional components of the stratospheric airship.

[0031] Stratospheric aerostats may include stratospheric airships, high-altitude balloons, etc.

[0032] A stratospheric airship is an airship that utilizes the favorable conditions of low average wind speed in a weak wind layer to achieve wind-resistant flight. It uses a flexible capsule filled with gas lighter than air to provide static lift, solar energy and energy storage batteries to provide energy day and night, and an electric motor to drive a propeller to fly against the wind.

[0033] The functional composition of a stratospheric airship refers to the collection of various functions required by the airship system to complete the mission of stratospheric stationary operation.

[0034] For example, after determining the model of the stratospheric airship, its functional components can be obtained by decomposing the stratospheric airship into its functions step by step. These functional components cover all physical domains of the stratospheric airship and include at least: hull functions that provide static lift and maintain shape; energy functions that generate and distribute electrical energy; flight control functions that achieve flight control and attitude stabilization; propulsion functions that generate thrust; structural functions that carry equipment and maintain configuration; avionics functions that process information; and measurement and control functions that transmit data. These functions are coupled and interact through physical effects or information flow, together constituting a complete stratospheric airship.

[0035] Step 102: Based on the functional components, decompose the stratospheric airship into at least two airship subsystems and the external environment of the stratospheric airship into at least two environmental subsystems, and determine the interaction relationship between the at least two airship subsystems and the at least two environmental subsystems.

[0036] The airship subsystem refers to a subsystem that performs a specific function, derived from the functional composition of a stratospheric airship. Each subsystem may correspond to a physical domain or functional module of the airship. For example, the airship subsystem may include: hull subsystem, energy subsystem, flight control subsystem, propulsion subsystem, structural subsystem, avionics subsystem, and telemetry and control subsystem.

[0037] The external environment of a stratospheric airship refers to the stratospheric environmental conditions in which the airship operates, including solar radiation, wind field, atmospheric parameters, thermal radiation, and the space environment. The environmental subsystem refers to a model component that mathematically describes the external environment, used to simulate the impact of environmental factors on the airship. For example, the environmental subsystem may include: a solar radiation model, a wind field model, an atmospheric model, a thermal radiation model, and a space environment model.

[0038] The interaction between at least two airship subsystems and at least two environmental subsystems refers to the transmission and coupling of physical quantities, energy, or information between the various subsystems of the stratospheric airship that perform specific functions, as well as between the subsystems.

[0039] For example, the interaction between at least two airship subsystems and at least two environmental subsystems can be such that changes in the hull attitude affect the solar cell surface area of ​​the energy subsystem, thereby changing the power output; the power supply of the energy subsystem affects the thrust of the propulsion subsystem; the thrust of the propulsion subsystem changes the flight state, thereby affecting the hull dynamics and thermal balance; and at the same time, the environmental subsystem acts on the hull subsystem, forming a real-time coupled closed loop relationship of multiphysics fields.

[0040] Step 103: Obtain the corresponding model based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationship.

[0041] It should be noted that there are many ways to obtain the corresponding model based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationship. For example, one could construct a model of each subsystem, or construct a model of some subsystems and call the model of another part of the subsystems to obtain the model of each subsystem. This embodiment does not limit this approach.

[0042] Step 104: Perform integrated processing based on each of the aforementioned models to obtain the stratospheric airship system.

[0043] The stratospheric airship system refers to an integrated simulation system based on a unified modeling framework, which includes all subsystems of the stratospheric airship and its external environment.

[0044] It is understandable that the stratospheric airship system can achieve multi-physics collaborative description and solution of the entire airship system state by integrating at least two airship subsystems and at least two environmental subsystems and coupling them according to the interaction relationship between the subsystems.

[0045] The stratospheric airship system modeling method provided in this invention decomposes the functional components of the stratospheric airship into at least two airship subsystems and at least two environmental subsystems, and establishes corresponding models based on the interaction relationships between the subsystems. Finally, it integrates them into an integrated simulation system that includes the airship and the external environment. This method can meet the need for digital simulation experiments to reduce or replace physical experiments and verify the rationality of the stratospheric airship design.

[0046] Based on the above embodiments, the models of the at least two airship subsystems and the models of the at least two environmental subsystems are integrated within the same simulation framework, and the models of the at least two airship subsystems and the models of the at least two environmental subsystems are connected through an interface.

[0047] The simulation framework, also known as the unified modeling framework, refers to an integrated environment built on a modeling language that supports unified modeling and simulation of physical systems across multiple domains. It enables the description, assembly, and solution of multidisciplinary models on the same platform.

[0048] For example, the modeling language could be Modelica.

[0049] The interface refers to the standardized connection method defined between models, which is used to realize data exchange and physical quantity transfer, and to ensure collaborative simulation and coupled calculation between models of various subsystems.

[0050] For example, the interface can be a standardized connection method defined based on the FMI standard or the aforementioned modeling language.

[0051] Understandably, on the one hand, when all models are integrated within the same simulation framework, the solver can simultaneously solve for the physical quantities of all models within a unified mathematical equation system. On the other hand, clearly defined interfaces allow models to be encapsulated as standard-compliant functional units, facilitating seamless integration into simulation frameworks that support that standard. Based on this, individual models can transform from loosely connected simulation modules into a complete, collaborative, and efficient digital twin system, thereby realistically simulating all behaviors of the airship in complex environments, improving simulation accuracy, and meeting the need for digital simulation experiments to reduce or replace physical experiments, verifying the rationality of stratospheric airship designs.

[0052] Based on any of the above embodiments, obtaining the corresponding model according to the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationship includes: The third-party model, which is encapsulated through a standardized interface, is obtained based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationship.

[0053] Among them, third-party models refer to mature models provided by different R&D teams or established based on specialized simulation tools in various disciplines.

[0054] For example, simulation tools can be Matlab / Simulink, MWorks, Dymola, and Fluent, etc.

[0055] Understandably, building a system model by encapsulating third-party models through standardized interfaces can directly incorporate mature models accumulated by various disciplines based on their respective professional tools. This ensures simulation accuracy and professional representation in each sub-field while avoiding the need to redevelop corresponding models under a unified simulation framework, thus reducing the modeling cost of stratospheric airship systems.

[0056] Meanwhile, this embodiment uses a unified standardized interface, which enables third-party models built from different sources and with different tools to be seamlessly integrated into a unified simulation framework. This simplifies the complex and inefficient data exchange interface in multi-tool joint simulation, reduces the risk of information silos, and improves the manageability and collaboration efficiency of the stratospheric airship system.

[0057] Furthermore, standardized interface encapsulation enables model transfer without disclosing source code and core logic. This allows for high-precision multiphysics coupling simulations in scenarios involving multi-team collaboration or cross-unit technology delivery, while effectively meeting the requirements for intellectual property protection and core technology confidentiality.

[0058] Based on any of the above embodiments, obtaining the corresponding model according to the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationship includes: Based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationships, corresponding models are obtained using the same modeling language. The state of the subsystem and the interaction relationship are described by equations.

[0059] Understandably, using the same modeling language and describing system states and interactions in equation form effectively ensures that all airship subsystems and environmental subsystems are modeled using declarative physics within a unified framework. This overcomes the limitations of traditional multi-tool integration, such as complex data exchange and poor error controllability. Directly describing the real-time interactions between various physical fields using differential-algebraic equations allows for a realistic reflection of the real-time coupling effects and feedback mechanisms of stratospheric airships in complex environments, thereby significantly improving simulation accuracy.

[0060] Furthermore, the unified modeling language facilitates the efficient transformation of complex high-level model descriptions into optimized differential-algebraic equation systems by leveraging symbolic processing and automatic equation reduction capabilities. This significantly reduces computational resource consumption and simulation complexity while maintaining high accuracy, thus shortening the simulation time for stratospheric airship systems.

[0061] Based on any of the above embodiments, the at least two airship subsystems include an energy subsystem; The process of obtaining the corresponding model based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationships includes: Obtain the first circuit diagram topology of each device in the energy subsystem; Based on the energy subsystem, the at least two environmental subsystems, and the interaction relationships, the model of the energy subsystem is obtained by calling the standard model library of electronic components based on the first circuit diagram topology.

[0062] In other embodiments, the at least two airship subsystems include an avionics subsystem model; The process of obtaining the corresponding model based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationships includes: Obtain the second circuit diagram topology of each device in the avionics subsystem; Based on the avionics subsystem, the at least two environmental subsystems, and the interaction relationships, the model of the avionics subsystem is obtained by calling the electronic component standard model library based on the second circuit diagram topology.

[0063] The energy subsystem model is used to describe the energy production capacity, energy storage and energy supply functions of the airship's energy system. The airship's energy system includes equipment such as solar cells, power controllers, power distributors, energy storage batteries and loads.

[0064] The avionics system of an airship includes relays and sensors for temperature, pressure, differential pressure, humidity, motion, etc.

[0065] The first circuit diagram topology refers to the actual electrical connection diagram of various devices such as solar cells, power controllers, power distributors, energy storage batteries and loads in the energy subsystem, which is used to describe the circuit topology and energy flow path between devices.

[0066] The second circuit diagram topology refers to the actual electrical connection relationship diagram of various devices such as relays, motion sensors, temperature sensors and pressure sensors in the avionics subsystem, which is used to describe the circuit topology and signal transmission path between devices.

[0067] It should be noted that there are many ways to call the standard model library of electronic components based on the first circuit diagram topology, such as through graphical drag-and-drop modeling, text-based code description, etc. This embodiment does not make any further limitations on this.

[0068] The method of calling the electronic component standard model library based on the second circuit diagram topology is basically the same as the method of calling the electronic component standard model library based on the first circuit diagram topology, and will not be described again here.

[0069] The electronic component standard model library can be the electronic component model library in the standard model library of the Modelica modeling language.

[0070] Understandably, constructing an energy subsystem model based on actual circuit diagram topology ensures that the model of the energy subsystem is consistent with the electrical connection structure and energy flow path between the real energy system and provides a basis for accurately reflecting the system behavior.

[0071] Based on this, calling predefined models from the electronic component standard model library to characterize each device can avoid the errors that may be introduced by developing device models from scratch, and improve the accuracy of the energy subsystem model in reflecting system behavior.

[0072] Meanwhile, the interaction between the energy subsystem, the environmental subsystem, and other subsystems is fully considered during the modeling process. These interaction relationships are coupled through interfaces, enabling the energy model to realistically respond to changes in external conditions in the whole system simulation and achieve collaborative calculation of multi-physics fields.

[0073] Based on any of the above embodiments, the at least two aerostat subsystems include a flight control subsystem; The process of obtaining the corresponding model based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationships includes: Obtain the dynamic link library of the actual flight control program of the stratospheric airship; Based on the flight control subsystem, the at least two environmental subsystems, and the interaction relationships, a model of the flight control subsystem is obtained using the dynamic link library.

[0074] The flight control subsystem model includes functions such as flight control, pressure control, and temperature control of the airship, as well as the airship's dynamic characteristics. The control functions of the flight control subsystem are modeled by calling the dynamic link library of the actual flight control program of the stratospheric airship.

[0075] The six-degree-of-freedom dynamics, three-degree-of-freedom attitude kinematics, and three-degree-of-freedom particle kinematics of the airship are realized using differential algebraic equations. Various force and torque models of the airship, such as gravity, buoyancy, aerodynamic force, and thrust, are all realized using mature algebraic methods.

[0076] Among them, the actual flight control program of a stratospheric airship refers to the embedded program that actually runs on the airship platform and includes functional logic such as flight control, pressure control, and temperature control.

[0077] A dynamic link library (DLL) is a binary file interface generated by encapsulating or compiling the embedded program, which can be dynamically called and executed in the simulation environment where the flight control subsystem resides. The simulation environment can be the Modelica modeling environment.

[0078] It should be noted that there are many ways to obtain the dynamic link library of the actual flight control program of the stratospheric aerostat, such as compiling and encapsulating the code of the embedded program, or converting the flight control program into an FMU unit based on the FMI standard for import. This embodiment does not impose further limitations on this.

[0079] Understandably, constructing the flight control subsystem model by acquiring the dynamic link library of the actual flight control program of the stratospheric airship can directly import the control logic, control algorithms, and functional code running on the actual airship platform into the simulation environment. This ensures that the process of generating control commands executed in the simulation is completely consistent with the embedded program of the actual airship platform, and maintains a high degree of isomorphism between the logical behavior of the flight control subsystem and the actual airship platform at the control level, thereby improving the consistency of control logic between the stratospheric airship model and the actual platform.

[0080] Based on this, by interactively coupling the model encapsulated by the dynamic link library with at least two environmental subsystems and other subsystems, the model of the flight control subsystem can realistically respond to changes in external conditions in the simulation environment, realizing collaborative calculation of multiphysics.

[0081] Based on any of the above embodiments, the at least two airship subsystems include: a hull subsystem, an energy subsystem, a flight control subsystem, a propulsion subsystem, a structural subsystem, an avionics subsystem, and a telemetry and control subsystem; the at least two environmental subsystems include: a solar irradiation subsystem, a wind field subsystem, an atmospheric subsystem, a thermal radiation subsystem, and a space subsystem; The hull subsystems include: a convection heat transfer subsystem, a long-wave and short-wave radiation subsystem, a temperature and pressure characteristic subsystem, a gas leakage subsystem, and an internal and external pressure difference subsystem; The energy subsystem includes: a solar cell subsystem, a power controller subsystem, a power distribution subsystem, an energy storage battery subsystem, and a load subsystem; The flight control subsystem includes: a controller subsystem, a six-degree-of-freedom dynamics subsystem, a three-degree-of-freedom attitude kinematics subsystem, a three-degree-of-freedom mass kinematics subsystem, and a force / torque subsystem; The propulsion subsystem includes: a propulsion motor subsystem and a propeller subsystem; The structural subsystems include: a fan subsystem, a valve subsystem, and a ballast subsystem; The avionics subsystem includes: a relay subsystem and a sensor subsystem; The telemetry and control subsystem includes a microwave communication link subsystem and a satellite communication link subsystem.

[0082] The hull subsystem model is used to describe the thermodynamic characteristics of the gas inside the airship's capsule. Specifically, it includes convective heat transfer between the capsule and the external atmosphere and the internal gas, thermal radiation received by the capsule from solar shortwave radiation, atmospheric longwave radiation, Earth infrared radiation, cloud and ground reflection radiation, and direct solar reflection from clouds, gas leakage inside the capsule, internal pressure of the capsule, and gas temperature inside the capsule, which can be realized through algebraic methods.

[0083] The propulsion subsystem model includes the electric drive functions of the propulsion motor and propeller, and the conversion relationship between its power supply and mechanical drive can be realized through differential algebraic equations.

[0084] The structural subsystem model includes the mass and inertia characteristics of the airship itself and the functions of actuators such as fans, valves, and ballast. Its variable mass function for the closed system is realized through differential algebraic equations.

[0085] The telemetry, tracking, and command (TT&C) subsystem model includes information flow models of the airship platform's internal components, the airship and the ground, and the airship and satellite, which can be implemented using a standard model library.

[0086] Models for environmental subsystems such as solar irradiance, wind field, atmosphere, thermal radiation, and space can all be implemented using mature algebraic methods or numerical methods based on real data, or they can be accessed through external interfaces.

[0087] In some embodiments, after obtaining the models of the various subsystems and sub-systems described above, the step of integrating the models to obtain the stratospheric airship system may include: The stratospheric airship system is obtained by integrating and processing the various models according to the organizational structure from the bottom up.

[0088] For example, such as Figure 2 As shown, the stratospheric airship system includes a model of the stratospheric airship and a model of the environment.

[0089] Specifically, the models of each subsystem may include models of the convection heat transfer subsystem, long-wave and short-wave radiation subsystem, temperature and pressure characteristics subsystem, gas leakage subsystem, and internal and external pressure difference subsystem; models of the solar cell subsystem, power controller subsystem, power distribution subsystem, energy storage battery subsystem, and load subsystem; models of the controller subsystem, six-degree-of-freedom dynamics subsystem, three-degree-of-freedom attitude kinematics subsystem, three-degree-of-freedom mass kinematics subsystem, and force / torque subsystem; models of the propulsion motor subsystem and propeller subsystem; models of the relay subsystem and sensor subsystem; models of the fan subsystem, valve subsystem, and ballast subsystem; and models of the microwave communication link subsystem and satellite communication link subsystem.

[0090] The models of each subsystem may include models of the hull subsystem, energy subsystem, flight control subsystem, propulsion subsystem, structural subsystem, avionics subsystem, and telemetry and control subsystem; the models of the at least two environmental subsystems include: models of the solar irradiation subsystem, wind field subsystem, atmospheric subsystem, thermal radiation subsystem, and space subsystem.

[0091] Understandably, adopting a bottom-up integration approach allows for the construction of models starting from basic subsystems, gradually assembling them upwards to form subsystem models and stratospheric airship systems. In this way, each level is assembled from the models of the next lower level, and the upper and lower levels are connected through clearly defined interfaces, forming a clear hierarchical structure. This helps to extract models with general functions, improving the flexibility and expressiveness of modeling.

[0092] Furthermore, based on the complete description of the overall system state of the stratospheric airship system and the coupling relationships between them, the stratospheric airship system modeled in this embodiment can realize system-level analysis of the rationality of the stratospheric airship design indicators and the feasibility of flight missions. This provides important support for applications such as digital flight testing, flight scheme pre-verification, and twin flight of stratospheric airships, and provides a digital foundation for a comprehensive understanding of the performance of stratospheric airships in complex environments.

[0093] Specifically, the stratospheric airship system constructed in this embodiment can demonstrate the influence of the hull's shape and dimensions on its buoyancy, aerodynamic forces, and moments in the stratosphere; the influence of structural stiffness and mass distribution on its shape retention, aeroelastic response, and natural frequency; and, based on this, its influence on the controllability and fatigue life of the control system. This breaks through the limitations of a single discipline, incorporating the hull, structure, and control into the same dynamic cycle, accurately simulating deep coupling relationships, and achieving system-level trade-off analysis.

[0094] The stratospheric airship system constructed in this embodiment can demonstrate the changes in buoyancy and aerodynamic forces over time caused by variations in stratospheric temperature, density, wind field, and radiation. It also demonstrates the adjustments made by the altitude and attitude control strategies to avoid triggering a chain reaction of energy consumption, propulsion margin, and attitude stability under the influence of environmental changes. By incorporating environmental field variables and control law parameters into the same dynamic loop, it accurately simulates the real-time disturbances of the environment to the platform state, achieving closed-loop trade-off optimization of altitude and attitude stability.

[0095] The stratospheric airship system constructed in this embodiment can reflect the impact of changes in ground velocity and drag caused by wind field environment on the power demand of propulsion system, as well as the impact of the energy system's limitations on available thrust and duration on wind capability, flight path planning and mission window. It incorporates energy status, power load and mission requirement parameters into the same dynamic cycle, accurately simulates energy balance under different mission profiles, and achieves system-level assessment of mission feasibility.

[0096] The stratospheric airship system constructed in this embodiment can demonstrate that in low-density environments, convective heat dissipation is weak, and the power consumption of avionics, telemetry and control, and payloads is converted into thermal load. The increased mass and power consumption of the temperature control scheme compress the energy margin and affect the structural layout and center of gravity. By incorporating power consumption, heat consumption, and energy parameters into the same dynamic cycle, it accurately simulates the energy flow under complex thermal environments and achieves system-level collaborative design of electricity, heat, and center of gravity.

[0097] The stratospheric airship system constructed in this embodiment can demonstrate the impact of the increased mass and power consumption caused by the redundancy of flight control, avionics, telemetry and control, and energy subsystems on buoyancy margin, propulsion power, thermal control, and structural dimensions. It incorporates reliability indicators, mass distribution, and power consumption parameters into the same dynamic cycle, accurately simulates the chain reaction of redundant design on the overall performance of the vessel, and achieves a system-level trade-off closed loop between reliability and carrying capacity.

[0098] The unified modeling method for the entire system and multiple domains of the stratospheric airship system provided in this invention embodiment decomposes the stratospheric airship step by step into its functions. This allows for the generation of functional requirements and interface definitions for the models of seven subsystems (hull, energy, flight control, propulsion, structure, avionics, and telemetry and control) and environmental subsystems such as solar irradiance, wind field, atmosphere, thermal radiation, and space. These functional requirements and interface definitions cover various physical characteristics, including mechanical, electrical, thermal, and informational aspects.

[0099] Building upon this foundation, we can further employ Modelica language as the primary modeling language, combined with multi-source model integration and invocation, to conduct unified modeling of the entire stratospheric airship system, encompassing multiple domains and physical characteristics. Specifically, we integrate from the bottom up according to the organizational structure, forming base class models hierarchically and object-wise for components, equipment, subsystems, and systems, and then instantiating them based on the system design parameters of specific stratospheric airship models.

[0100] The stratospheric airship system modeling apparatus provided by the present invention is described below. The stratospheric airship system modeling apparatus described below and the stratospheric airship system modeling method described above can be referred to in correspondence.

[0101] Figure 3 This is a schematic diagram of the stratospheric airship system modeling device provided by the present invention, as shown below. Figure 3 As shown, the device includes: Function determination module 310 is used to determine the functional composition of the stratospheric airship; The system decomposition module 320 is used to decompose the stratospheric airship into at least two airship subsystems and the external environment of the stratospheric airship into at least two environmental subsystems according to the functional components, and to determine the interaction relationship between the at least two airship subsystems and the at least two environmental subsystems. The model determination module 330 is used to obtain a corresponding model based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationship; The system integration module 340 is used to perform integration processing based on the various models to obtain the stratospheric airship system.

[0102] Figure 4 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 4As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430, and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other through the communication bus 440. The processor 410 can call logical instructions in the memory 430 to execute a stratospheric airship system modeling method, which includes: determining the functional components of the stratospheric airship; decomposing the stratospheric airship into at least two airship subsystems and the external environment of the stratospheric airship into at least two environmental subsystems according to the functional components, and determining the interaction relationship between the at least two airship subsystems and the at least two environmental subsystems; obtaining corresponding models based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationship; and integrating the models to obtain the stratospheric airship system.

[0103] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0104] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the stratospheric airship system modeling method provided by the above methods. The method includes: determining the functional components of the stratospheric airship; decomposing the stratospheric airship into at least two airship subsystems and the external environment of the stratospheric airship into at least two environmental subsystems according to the functional components, and determining the interaction relationship between the at least two airship subsystems and the at least two environmental subsystems; obtaining corresponding models based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationship; and performing integrated processing on each of the models to obtain the stratospheric airship system.

[0105] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements a method for modeling a stratospheric airship system provided by the methods described above. This method includes: determining the functional components of a stratospheric airship; decomposing the stratospheric airship into at least two airship subsystems and the external environment of the stratospheric airship into at least two environmental subsystems based on the functional components, and determining the interaction relationships between the at least two airship subsystems and the at least two environmental subsystems; obtaining corresponding models based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationships; and performing integrated processing on each of the models to obtain the stratospheric airship system.

[0106] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0107] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for modeling a stratospheric airship system, characterized in that, include: Determine the functional components of the stratospheric airship; Based on the aforementioned functional components, the stratospheric airship is decomposed into at least two airship subsystems, and the external environment of the stratospheric airship is decomposed into at least two environmental subsystems. The interaction relationships between the at least two airship subsystems and the at least two environmental subsystems are then determined. The corresponding model is obtained based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationship; The stratospheric airship system is obtained by integrating and processing the various models described.

2. The stratospheric airship system modeling method according to claim 1, characterized in that, The at least two airship subsystems include an energy subsystem; The process of obtaining the corresponding model based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationships includes: Obtain the first circuit diagram topology of each device in the energy subsystem; Based on the energy subsystem, the at least two environmental subsystems, and the interaction relationships, a model of the energy subsystem is obtained by calling the standard model library of electronic components based on the first circuit diagram topology; and / or The at least two airship subsystems include an avionics subsystem model; The process of obtaining the corresponding model based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationships includes: Obtain the second circuit diagram topology of each device in the avionics subsystem; Based on the avionics subsystem, the at least two environmental subsystems, and the interaction relationships, the model of the avionics subsystem is obtained by calling the electronic component standard model library based on the second circuit diagram topology.

3. The stratospheric airship system modeling method according to claim 1, characterized in that, The at least two aerostat subsystems include a flight control subsystem; The process of obtaining the corresponding model based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationships includes: Obtain the dynamic link library of the actual flight control program of the stratospheric airship; Based on the flight control subsystem, the at least two environmental subsystems, and the interaction relationships, a model of the flight control subsystem is obtained using the dynamic link library.

4. The stratospheric airship system modeling method according to claim 1, characterized in that, The models of the at least two airship subsystems and the models of the at least two environmental subsystems are integrated within the same simulation framework, and the models of the at least two airship subsystems and the models of the at least two environmental subsystems are connected through an interface.

5. The stratospheric airship system modeling method according to claim 4, characterized in that, The process of obtaining the corresponding model based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationships includes: The third-party model, which is encapsulated through a standardized interface, is obtained based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationship.

6. The stratospheric airship system modeling method according to claim 1, characterized in that, The process of obtaining the corresponding model based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationships includes: Based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationships, corresponding models are obtained using the same modeling language. The state of the subsystem and the interaction relationship are described by equations.

7. The stratospheric airship system modeling method according to any one of claims 1-6, characterized in that, The at least two airship subsystems include: hull subsystem, energy subsystem, flight control subsystem, propulsion subsystem, structural subsystem, avionics subsystem, and telemetry and control subsystem; the at least two environmental subsystems include: solar irradiation subsystem, wind field subsystem, atmospheric subsystem, thermal radiation subsystem, and space subsystem. The hull subsystems include: a convection heat transfer subsystem, a long-wave and short-wave radiation subsystem, a temperature and pressure characteristic subsystem, a gas leakage subsystem, and an internal and external pressure difference subsystem; The energy subsystem includes: a solar cell subsystem, a power controller subsystem, a power distribution subsystem, an energy storage battery subsystem, and a load subsystem; The flight control subsystem includes: a controller subsystem, a six-degree-of-freedom dynamics subsystem, a three-degree-of-freedom attitude kinematics subsystem, a three-degree-of-freedom mass kinematics subsystem, and a force / torque subsystem; The propulsion subsystem includes: a propulsion motor subsystem and a propeller subsystem; The structural subsystems include: a fan subsystem, a valve subsystem, and a ballast subsystem; The avionics subsystem includes: a relay subsystem and a sensor subsystem; The telemetry, tracking, and command subsystem includes: a microwave communication link subsystem and a satellite communication link subsystem; The process of integrating the various models to obtain the stratospheric airship system includes: The stratospheric airship system is obtained by integrating and processing the various models according to the organizational structure from the bottom up.

8. A modeling device for a stratospheric airship system, characterized in that, include: Function determination module, used to determine the functional components of stratospheric airships; The system decomposition module is used to decompose the stratospheric airship into at least two airship subsystems and the external environment of the stratospheric airship into at least two environmental subsystems according to the functional components, and to determine the interaction relationship between the at least two airship subsystems and the at least two environmental subsystems. The model determination module is used to obtain the corresponding model based on the at least two airship subsystems, the at least two environmental subsystems, and the interaction relationship; The system integration module is used to integrate and process the various models to obtain the stratospheric airship system.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the stratospheric airship system modeling method as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the stratospheric airship system modeling method as described in any one of claims 1 to 7.

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