Method and device for calculating shaking parameters of irregular storage tank at shallow liquid level

Abstract

The invention provides a method and device for calculating shaking parameters of an irregular storage tank at a shallow liquid level, and the method comprises the steps: determining the boundary dimension and fluid simulation parameters of the irregular storage tank, the fluid simulation parameters comprise a liquid level, an overload parameter and a liquid density, and the ratio of the liquid level to the equivalent radius of the liquid level is smaller than or equal to 0.8; a simulation calculation model of the irregular storage tank is established based on the boundary dimension and the fluid simulation parameters, excitation of the initial speed is applied to the simulation calculation model, and VOF calculation is carried out to obtain a change curve of shaking force and a change curve of shaking torque; and identifying shaking parameters based on the change curve of the shaking force, the change curve of the shaking torque and the shaking equivalent model, wherein the shaking parameters comprise shaking frequency, shaking damping, shaking mass and shaking mass center position height. The invention provides a method and a device for calculating shaking parameters of an irregular storage tank at a shallow liquid level. The method and the device are used for solving the problem that the prior art is not suitable for calculating the shaking parameters of the irregular storage tank at the shallow liquid level.

Description

Technical Field

[0001] The invention relates to the technical field of liquid launch vehicles, and in particular to a method and a device for calculating sloshing parameters of an irregular tank at a shallow liquid level. Background Art

[0002] In large liquid launch vehicles, liquid propellant accounts for most of the mass of the entire rocket. During the flight of the rocket, external excitations such as rocket body vibration, engine thrust changes, and attitude adjustment will cause the liquid in the tank to slosh. Especially when the liquid rocket returns, the mass of the liquid in the tank accounts for a large proportion, and a slight sloshing of the liquid will produce a large lateral sloshing force. In order to accurately control the attitude during the flight of the rocket and avoid the frequency range of liquid sloshing during the design, and avoid flight accidents caused by liquid sloshing, it is necessary to calculate the sloshing parameters of the liquid in the tank. At present, the commonly used methods for calculating sloshing parameters are theoretical analysis and simulation analysis. Theoretical analysis is fast, but it is not very applicable in cases where the liquid level in the tank is low, anti-sloshing plates are added, and special-shaped tanks are added. The simulation analysis calculation includes fluid simulation calculation and equivalent model parameter identification. In the existing equivalent model parameter identification, the parameters need to be solved by combining some theoretical equivalent formulas in the theoretical analysis calculation with the fluid simulation calculation results. However, the theoretical analysis calculation is based on the theoretical equivalent formula obtained for a cylindrical tank, which makes the equivalent sloshing parameters solved by the simulation analysis calculation not applicable to irregular tanks with shallow liquid levels. Summary of the invention

[0003] The invention provides a method and device for calculating sloshing parameters of an irregular storage tank at a shallow liquid level, so as to solve the problem that the prior art is not suitable for calculating sloshing parameters of an irregular storage tank at a shallow liquid level.

[0004] In a first aspect, the present invention provides a method for calculating sloshing parameters of an irregular tank at a shallow liquid level, comprising:

[0005] Determine the outer dimensions and fluid simulation parameters of the irregular tank, wherein the fluid simulation parameters include liquid level, overload coefficient and liquid density, and the ratio of the liquid level to the liquid surface equivalent radius is less than or equal to 0.8;

[0006] A simulation calculation model of an irregular tank is established based on the outer dimensions and the fluid simulation parameters, an initial velocity excitation is applied to the simulation calculation model, and a VOF calculation is performed to obtain a variation curve of a sloshing force and a variation curve of a sloshing torque, wherein both the sloshing force and the sloshing torque vary with time;

[0007] The sway parameters are identified based on the variation curve of the sway force, the variation curve of the sway moment and the sway equivalent model, wherein the sway equivalent model includes a fitting formula of the sway force, a fitting formula of the sway moment, a fitting formula of the sway mass and a fitting formula of the sway center of mass position height, and the sway parameters include sway frequency, sway damping, sway mass and sway center of mass position height, wherein:

[0008] The fitting formula of the sloshing force is:

[0009] F=F0e -wζt cos(wt+θ)

[0010] Wherein, F is the sway force, F0 is the initial sway force, w is the sway frequency, ζ is the sway damping, t is the time, and θ is the sway phase;

[0011] The fitting formula of the sloshing torque is:

[0012] M=M0e -wζt cos(wt+θ)

[0013] Wherein, M is the sway moment, and M0 is the initial sway moment;

[0014] The fitting formula of the sloshing mass is:

[0015]

[0016] Wherein, m is the shaking mass, A is the shaking amplitude, and the fitting formula of the shaking amplitude is:

[0017]

[0018] Wherein, x0 is the initial displacement, v0 is the initial velocity, and the fitting formula of the initial displacement is:

[0019]

[0020] Wherein, R is the equivalent radius of the liquid surface, is the angle between the liquid surface and the tank horizontal plane, H is the liquid level, and the fitting formula of the liquid level is:

[0021]

[0022] Where V is the volume of the liquid;

[0023] The fitting formula of the shaking center of mass position height is:

[0024] h=M0 / F0-(N x g / w 2 )

[0025] Wherein, h is the height of the center of mass of the shaking, N x is the overload coefficient, and g is the gravity coefficient.

[0026] The above scheme improves the accuracy and application range of sloshing parameter calculation, making the sloshing parameter calculation applicable to irregular tanks at shallow liquid levels.

[0027] Optionally, the structure of the irregular storage tank includes a cylindrical barrel section and an ellipsoidal tank bottom.

[0028] Optionally, establishing a simulation calculation model of an irregular tank based on the outer dimensions and the fluid simulation parameters includes:

[0029] Fluid simulation calculation software is used to establish a model of the irregular tank according to the outer dimensions, and the fluid simulation parameters are set.

[0030] Optionally, the initial velocity is 0.1 m / s.

[0031] Optionally, the VOF calculation to obtain a variation curve of the sloshing force and a variation curve of the sloshing moment includes:

[0032] Using VOF to perform transient simulation calculation of the fluid, a pressure change curve is obtained, wherein the pressure is generated by the fluid domain acting on the wall surface of the irregular tank, and the pressure changes with time and the action area;

[0033] Integrating the pressure variation curve with the effective area to obtain a pressure variation curve, wherein the pressure varies with time;

[0034] Selecting the component of the pressure variation curve perpendicular to the axial direction of the tank to obtain the sloshing force variation curve;

[0035] Taking the center of the bottom of the tank as the origin, the variation curve of the swaying force is multiplied by the force arm to obtain the variation curve of the swaying torque.

[0036] In a second aspect, the present invention provides a device for calculating sloshing parameters of an irregular tank at a shallow liquid level, comprising:

[0037] A parameter module, used to determine the outer dimensions and fluid simulation parameters of the irregular tank, wherein the fluid simulation parameters include liquid level, overload coefficient and liquid density, and the ratio of the liquid level to the liquid surface equivalent radius is less than or equal to 0.8;

[0038] A simulation module, for establishing a simulation calculation model of an irregular tank based on the outer dimensions and the fluid simulation parameters, applying an initial velocity excitation to the simulation calculation model, and performing VOF calculation to obtain a variation curve of a sloshing force and a variation curve of a sloshing torque, wherein both the sloshing force and the sloshing torque vary with time;

[0039] an identification module, for identifying sloshing parameters based on the variation curve of the sloshing force, the variation curve of the sloshing moment and a sloshing equivalent model, wherein the sloshing equivalent model includes a fitting formula of the sloshing force, a fitting formula of the sloshing moment, a fitting formula of the sloshing mass and a fitting formula of the sloshing center of mass position height, and the sloshing parameters include sloshing frequency, sloshing damping, sloshing mass and sloshing center of mass position height, wherein:

[0040] The fitting formula of the sloshing force is:

[0041] F=F0e -wζt cos(wt+θ)

[0042] Wherein, F is the sway force, F0 is the initial sway force, w is the sway frequency, ζ is the sway damping, t is the time, and θ is the sway phase;

[0043] The fitting formula of the sloshing torque is:

[0044] M=M0e -wζt cos(wt+θ)

[0045] Wherein, M is the sway moment, and M0 is the initial sway moment;

[0046] The fitting formula of the sloshing mass is:

[0047]

[0048] Wherein, m is the shaking mass, A is the shaking amplitude, and the fitting formula of the shaking amplitude is:

[0049]

[0050] Wherein, x0 is the initial displacement, v0 is the initial velocity, and the fitting formula of the initial displacement is:

[0051]

[0052] Wherein, R is the equivalent radius of the liquid surface, is the angle between the liquid surface and the tank horizontal plane, H is the liquid level, and the fitting formula of the liquid level is:

[0053]

[0054] Where V is the volume of the liquid;

[0055] The fitting formula of the shaking center of mass position height is:

[0056] h=M0 / F0-(N x g / w 2 )

[0057] Wherein, h is the height of the center of mass of the shaking, N x is the overload coefficient, and g is the gravity coefficient.

[0058] In a third aspect, the present invention provides a computing device, characterized in that it includes:

[0059] A memory for storing program instructions;

[0060] The processor is used to call the program instructions stored in the memory and execute any of the above methods according to the obtained program.

[0061] In a fourth aspect, the present invention provides a computer-readable non-volatile storage medium, characterized in that it includes computer-readable instructions, and when a computer reads and executes the computer-readable instructions, the computer executes any of the above methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0063] Figure 1 A flow chart of a method for calculating sloshing parameters of an irregular tank at a shallow liquid level provided by an embodiment of the present invention;

[0064] Figure 2 A schematic diagram of a simulation calculation model of an irregular tank provided by an embodiment of the present invention;

[0065] Figure 3 A schematic diagram of the fitting results of the sloshing force provided in an embodiment of the present invention;

[0066] Figure 4 A schematic diagram of the fitting results of the sloshing torque provided in an embodiment of the present invention;

[0067] Figure 5 A schematic diagram of the structure of a device for calculating sloshing parameters of an irregular tank at a shallow liquid level provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all 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.

[0069] Figure 1 A flow chart of a method for calculating sloshing parameters of an irregular tank at a shallow liquid level provided by an embodiment of the present invention is shown in detail, including:

[0070] S101, determining the outer dimensions and fluid simulation parameters of the irregular tank.

[0071] Specifically, the fluid simulation parameters include liquid level, overload coefficient and liquid density. The liquid level should be shallow, that is, the ratio of the liquid level to the liquid surface equivalent radius is less than or equal to 0.8.

[0072] In a possible implementation, the irregular tank includes a cylindrical barrel section and an ellipsoidal tank bottom.

[0073] S102, establishing a simulation calculation model of the irregular tank based on the external dimensions and fluid simulation parameters, applying initial velocity excitation to the simulation calculation model, and performing VOF calculation to obtain a sloshing force variation curve and a sloshing torque variation curve.

[0074] Specifically, both the sloshing force and the sloshing moment vary with time.

[0075] In a possible implementation, establishing a simulation calculation model of an irregular tank based on the external dimensions and fluid simulation parameters includes:

[0076] Fluid simulation software is used to build a model of the irregular tank according to its dimensions and to set fluid simulation parameters.

[0077] Figure 2 A schematic diagram of a simulation calculation model of an irregular storage tank provided in an embodiment of the present invention, wherein: VolumeFraction of water represents liquid concentration, a concentration of 0 represents gas, represented by blue, a concentration of 1 represents liquid, represented by red, the rectangular part represents a cylindrical barrel section, the elliptical arc segment represents the ellipsoidal tank bottom, and the green part between the cylindrical barrel section and the ellipsoidal tank bottom represents a gas-liquid mixture, which is equivalent to the liquid level.

[0078] In a possible implementation, the initial velocity is 0.1 m / s, which is currently determined to be a relatively suitable initial velocity for a variety of irregular tanks.

[0079] Specifying the initial velocity excitation for the simulation calculation model facilitates the subsequent determination of the initial velocity during parameter identification, simplifies the identification process of the sway parameters, and improves the efficiency and accuracy of parameter identification.

[0080] In a possible implementation, performing VOF calculation to obtain a variation curve of the sloshing force and a variation curve of the sloshing moment includes:

[0081] VOF is used to perform transient simulation calculations on the fluid to obtain a pressure curve. Specifically, the pressure is generated by the fluid domain acting on the tank wall, and the pressure changes with time and the area of ​​action. The fluid domain can be gas or liquid.

[0082] Integrate the pressure variation curve with the effective area to obtain the pressure variation curve, specifically, the pressure variation with time;

[0083] The component of the pressure variation curve perpendicular to the tank axis is selected to obtain the sloshing force variation curve, where the tank axis is the gravity direction;

[0084] Taking the center of the tank bottom as the origin, the variation curve of the sway force is multiplied by the lever arm to obtain the variation curve of the sway torque.

[0085] S104, identifying sway parameters based on the sway force variation curve, the sway moment variation curve and the sway equivalent model.

[0086] Specifically, the sway equivalent model includes a fitting formula for sway force, a fitting formula for sway moment, a fitting formula for sway mass, and a fitting formula for the height of the sway center of mass position. The sway parameters include sway frequency, sway damping, sway mass, and the height of the sway center of mass position. Among them:

[0087] The fitting formula of sloshing force is:

[0088] F=F0e -wζt cos(wt+θ)

[0089] Wherein, F is the sway force, i.e. the sway force in the sway force variation curve, F0 is the initial sway force, w is the sway frequency, ζ is the sway damping, t is the time, and θ is the sway phase;

[0090] The fitting formula of the sloshing torque is:

[0091] M=M0e -wζt cos(wt+θ)

[0092] Wherein, M is the sway torque, i.e., the sway torque in the sway torque variation curve, and M0 is the initial sway torque;

[0093] The fitting formula for sloshing mass is:

[0094]

[0095] Among them, m is the shaking mass, A is the shaking amplitude, and the fitting formula of the shaking amplitude is:

[0096]

[0097] Among them, x0 is the initial displacement, v0 is the initial velocity, and the fitting formula of the initial displacement is:

[0098]

[0099] Where R is the equivalent radius of the liquid surface, is the angle between the liquid surface and the tank horizontal plane, H is the liquid level, and the fitting formula for the liquid level is:

[0100]

[0101] Where V is the volume of the liquid;

[0102] The fitting formula for the height of the shaking center of mass position is:

[0103] h=M0 / F0-(N x g / w 2 )

[0104] Where h is the height of the sloshing center of mass, N x is the overload coefficient and g is the gravity coefficient.

[0105] Figure 3 A schematic diagram of the fitting results of the sway force provided in an embodiment of the present invention, wherein the red curve is the variation curve of the sway force, and the black curve is the fitting curve of the sway force obtained based on the variation curve of the sway force. Figure 4 A schematic diagram of the fitting results of the sloshing torque provided in an embodiment of the present invention, wherein the red curve is the variation curve of the sloshing torque, and the black curve is the fitting curve of the sloshing torque obtained based on the variation curve of the sloshing torque. Based on the fitting results of the sloshing force and sloshing torque, it can be seen that the sloshing force and sloshing torque of the irregular tank at a shallow liquid level are well fitted, and the sloshing frequency, sloshing damping, sloshing mass and the height of the sloshing center of mass are further identified based on the fitted sloshing force and sloshing torque, and finally the sloshing parameters of the irregular tank at a shallow liquid level are well identified.

[0106] The above scheme improves the accuracy and application scope of the slosh parameter calculation at the same time, making the slosh parameter calculation applicable to irregular tanks at shallow liquid levels.

[0107] Based on the same inventive concept, Figure 5 As shown, an embodiment of the present invention provides a device for calculating sloshing parameters of an irregular tank at a shallow liquid level, comprising:

[0108] A parameter module is used to determine the dimensions and fluid simulation parameters of the irregular tank. The fluid simulation parameters include liquid level, overload coefficient and liquid density. The ratio of the liquid level to the equivalent radius of the liquid surface is less than or equal to 0.8.

[0109] The simulation module is used to establish a simulation model of an irregular tank based on the external dimensions and fluid simulation parameters, apply initial velocity excitation to the simulation model, and perform VOF calculation to obtain a sloshing force variation curve and a sloshing moment variation curve, both of which vary with time.

[0110] The identification module is used to identify the sloshing parameters based on the variation curve of the sloshing force, the variation curve of the sloshing moment and the sloshing equivalent model. The sloshing equivalent model includes the fitting formula of the sloshing force, the fitting formula of the sloshing moment, the fitting formula of the sloshing mass and the fitting formula of the sloshing center of mass position height. The sloshing parameters include the sloshing frequency, the sloshing damping, the sloshing mass and the sloshing center of mass position height, wherein:

[0111] The fitting formula of sloshing force is:

[0112] F=F0e -wζt cos(wt+θ)

[0113] Among them, F is the sway force, F0 is the initial sway force, w is the sway frequency, ζ is the sway damping, t is the time, and θ is the sway phase;

[0114] The fitting formula of the sloshing torque is:

[0115] M=M0e -wζt cos(wt+θ)

[0116] Where, M is the sway moment, M0 is the initial sway moment;

[0117] The fitting formula for sloshing mass is:

[0118]

[0119] Among them, m is the shaking mass, A is the shaking amplitude, and the fitting formula of the shaking amplitude is:

[0120]

[0121] Among them, x0 is the initial displacement, v0 is the initial velocity, and the fitting formula of the initial displacement is:

[0122]

[0123] Where R is the equivalent radius of the liquid surface, is the angle between the liquid surface and the tank horizontal plane, H is the liquid level, and the fitting formula for the liquid level is:

[0124]

[0125] Where V is the volume of the liquid;

[0126] The fitting formula for the height of the shaking center of mass position is:

[0127] h=M0 / F0-(N x g / w 2 )

[0128] Where h is the height of the sloshing center of mass, N x is the overload coefficient and g is the gravity coefficient.

[0129] Based on the same inventive concept, an embodiment of the present invention provides a computing device, including:

[0130] A memory for storing program instructions;

[0131] The processor is used to call the program instructions stored in the memory and execute the above method according to the obtained program.

[0132] Based on the same inventive concept, an embodiment of the present invention provides a computer-readable non-volatile storage medium, including computer-readable instructions. When a computer reads and executes the computer-readable instructions, the computer executes the above method.

[0133] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0134] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0135] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0136] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0137] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0138] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for calculating sloshing parameters of an irregular tank at a shallow liquid level, characterized in that: include: Determine the outer dimensions and fluid simulation parameters of the irregular tank, wherein the fluid simulation parameters include liquid level, overload coefficient and liquid density, and the ratio of the liquid level to the liquid surface equivalent radius is less than or equal to 0.8; A simulation calculation model of an irregular tank is established based on the outer dimensions and the fluid simulation parameters, an initial velocity excitation is applied to the simulation calculation model, and a VOF calculation is performed to obtain a variation curve of a sloshing force and a variation curve of a sloshing torque, wherein both the sloshing force and the sloshing torque vary with time; The sway parameters are identified based on the variation curve of the sway force, the variation curve of the sway moment and the sway equivalent model, wherein the sway equivalent model includes a fitting formula of the sway force, a fitting formula of the sway moment, a fitting formula of the sway mass and a fitting formula of the sway center of mass position height, and the sway parameters include sway frequency, sway damping, sway mass and sway center of mass position height, wherein: The fitting formula of the sloshing force is: F=F0e -wζt cos(wt+θ) Wherein, F is the sway force, F0 is the initial sway force, w is the sway frequency, ζ is the sway damping, t is the time, and θ is the sway phase; The fitting formula of the sloshing torque is: M=M0e -wζt cos(wt+θ) Wherein, M is the sway moment, and M0 is the initial sway moment; The fitting formula of the sloshing mass is: Wherein, m is the shaking mass, A is the shaking amplitude, and the fitting formula of the shaking amplitude is: Wherein, x0 is the initial displacement, v0 is the initial velocity, and the fitting formula of the initial displacement is: Wherein, R is the equivalent radius of the liquid surface, is the angle between the liquid surface and the tank horizontal plane, H is the liquid level, and the fitting formula of the liquid level is: Where V is the volume of the liquid; The fitting formula of the shaking center of mass position height is: h=M0 / F0-(N x g / w 2 ) Wherein, h is the height of the center of mass of the shaking, N x is the overload coefficient, and g is the gravity coefficient.

2. The method according to claim 1, characterized in that: The structure of the irregular storage tank comprises a cylindrical barrel section and an ellipsoidal tank bottom.

3. The method according to claim 1, characterized in that: The simulation calculation model of the irregular tank is established based on the outer dimensions and the fluid simulation parameters, comprising: Fluid simulation calculation software is used to establish a model of the irregular tank according to the outer dimensions, and the fluid simulation parameters are set.

4. The method according to claim 1, characterized in that: The initial velocity is 0.1 m / s.

5. The method according to claim 1, characterized in that: The variation curve of the sloshing force and the variation curve of the sloshing moment obtained by performing VOF calculation include: VOF is used to perform transient simulation calculations on the fluid to obtain a pressure change curve. The pressure is generated by the fluid domain acting on the tank wall, and the pressure changes with time and the area of ​​action. Integrating the pressure variation curve with the effective area to obtain a pressure variation curve, wherein the pressure varies with time; Selecting the component of the pressure variation curve perpendicular to the axial direction of the tank to obtain the sloshing force variation curve; Taking the center of the bottom of the tank as the origin, the variation curve of the swaying force is multiplied by the force arm to obtain the variation curve of the swaying torque.

6. A device for calculating the sloshing parameters of an irregular tank at a shallow liquid level, characterized in that: include: A parameter module, used to determine the outer dimensions and fluid simulation parameters of the irregular tank, wherein the fluid simulation parameters include liquid level, overload coefficient and liquid density, and the ratio of the liquid level to the liquid surface equivalent radius is less than or equal to 0.8; A simulation module, for establishing a simulation calculation model of an irregular tank based on the outer dimensions and the fluid simulation parameters, applying an initial velocity excitation to the simulation calculation model, and performing VOF calculation to obtain a variation curve of a sloshing force and a variation curve of a sloshing torque, wherein both the sloshing force and the sloshing torque vary with time; an identification module, for identifying sloshing parameters based on the variation curve of the sloshing force, the variation curve of the sloshing moment and a sloshing equivalent model, wherein the sloshing equivalent model includes a fitting formula of the sloshing force, a fitting formula of the sloshing moment, a fitting formula of the sloshing mass and a fitting formula of the sloshing center of mass position height, and the sloshing parameters include sloshing frequency, sloshing damping, sloshing mass and sloshing center of mass position height, wherein: The fitting formula of the sloshing force is: F=F0e -wζt cos(wt+θ) Wherein, F is the sway force, F0 is the initial sway force, w is the sway frequency, ζ is the sway damping, t is the time, and θ is the sway phase; The fitting formula of the sloshing torque is: M=M0e -wζt cos(wt+θ) Wherein, M is the sway moment, and M0 is the initial sway moment; The fitting formula of the sloshing mass is: Wherein, m is the shaking mass, A is the shaking amplitude, and the fitting formula of the shaking amplitude is: Wherein, x0 is the initial displacement, v0 is the initial velocity, and the fitting formula of the initial displacement is: Wherein, R is the equivalent radius of the liquid surface, is the angle between the liquid surface and the tank horizontal plane, H is the liquid level, and the fitting formula of the liquid level is: Where V is the volume of the liquid; The fitting formula of the shaking center of mass position height is: h=M0 / F0-(N x g / w 2 ) Wherein, h is the height of the center of mass of the shaking, N x is the overload coefficient, and g is the gravity coefficient.

7. A computing device, characterized in that include: A memory for storing program instructions; A processor is used to call the program instructions stored in the memory and execute the method according to any one of claims 1 to 5 according to the obtained program.

8. A computer-readable non-volatile storage medium, characterized in that: The method comprises computer-readable instructions, and when a computer reads and executes the computer-readable instructions, the computer executes the method according to any one of claims 1 to 5.

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