A method and device for calculating sloshing parameters of an irregular storage tank at shallow liquid level

Abstract

The present invention provides a method and device for calculating the sloshing parameters of an irregular tank at a shallow liquid level, comprising: determining the outer dimensions and fluid simulation parameters of the irregular tank, the fluid simulation parameters including the liquid level, overload parameter, and liquid density, wherein the ratio of the liquid level to the liquid surface equivalent radius is less than or equal to 0.8; establishing a simulation calculation model of the irregular tank based on the outer dimensions and fluid simulation parameters, applying an initial velocity excitation to the simulation calculation model, and performing a volume of force (VOF) calculation to obtain a sloshing force variation curve and a sloshing torque variation curve; and identifying sloshing parameters based on the sloshing force variation curve, the sloshing torque variation curve, and the sloshing equivalent model, the sloshing parameters including the sloshing frequency, sloshing damping, sloshing mass, and the height of the sloshing center of mass position. The present invention provides a method and device for calculating the sloshing parameters of an irregular tank at a shallow liquid level, to address the problem that the prior art is not suitable for calculating the sloshing parameters of an irregular tank at a shallow liquid level.

Description

Technical Field

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

[0002] In large liquid-propellant launch vehicles, liquid propellant accounts for the majority of the rocket's mass. During flight, external excitations such as rocket body vibration, engine thrust changes, and attitude adjustments can cause the liquid in the tank to slosh. This is especially true during the return of a liquid rocket, where the liquid accounts for a large proportion of the rocket's mass. Even slight sloshing of the liquid can generate significant lateral sloshing forces. To accurately control the rocket's attitude during flight, avoid the frequency range of liquid sloshing during design, and prevent flight accidents caused by liquid sloshing, it is necessary to calculate the sloshing parameters of the liquid in the tank. Currently, the most commonly used methods for calculating sloshing parameters are theoretical analysis and simulation. While theoretical analysis is fast, it is less applicable to situations such as low tank liquid levels, the addition of anti-sloshing panels, and unusually shaped tanks. Simulation analysis and calculation include 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 theoretical analysis and calculation with the fluid simulation calculation results. However, the theoretical analysis and calculation are based on the theoretical equivalent formulas obtained for cylindrical tanks, resulting in the equivalent sloshing parameters solved by simulation analysis and calculation being unsuitable for irregular tanks with shallow liquid levels. Summary of the Invention

[0003] The present 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] Determining 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 wherein 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 the irregular tank is established based on the external 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 sloshing force variation curve and a sloshing torque variation curve, wherein both the sloshing force and the sloshing torque vary with time;

[0007] Sloshing parameters are identified based on the sloshing force variation curve, the sloshing moment variation curve, and a sloshing equivalent model. The sloshing equivalent model includes fitting formulas for sloshing force, sloshing moment, sloshing mass, and sloshing center-of-mass height. The sloshing parameters include sloshing frequency, sloshing damping, sloshing mass, and sloshing center-of-mass 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 torque, M0 is the initial sway torque;

[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 horizontal plane of the tank, 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 for the height of the shaking center of mass position 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 solution improves the accuracy and application range of slosh parameter calculation, making the slosh parameter calculation applicable to irregular storage 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 the irregular tank based on the external 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, performing VOF calculation to obtain a sloshing force variation curve and a sloshing moment variation curve includes:

[0032] Using VOF to perform transient simulation calculations on the fluid, a pressure curve is obtained. The pressure is generated by the fluid domain acting on the wall of the irregular tank, and the pressure varies with time and the area of ​​action.

[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 lever 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 for determining 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 wherein 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 the irregular tank based on the external dimensions and the fluid simulation parameters, applying an initial velocity excitation to the simulation calculation model, and performing a volume of fluid (VOF) calculation to obtain a sloshing force variation curve and a sloshing torque variation curve, wherein the sloshing force and the sloshing torque both vary with time;

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

[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 torque, M0 is the initial sway torque;

[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 horizontal plane of the tank, 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 for the height of the shaking center of mass position 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, comprising:

[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 following briefly introduces the drawings required for use in the description of the embodiments. 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 paying any 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 for 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] To make the objectives, technical solutions, and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the embodiments described herein are merely some, rather than all, of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0069] Figure 1 The flowchart 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 external 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 an 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 one possible implementation, establishing a simulation calculation model of an irregular tank based on 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 the fluid simulation parameters.

[0077] Figure 2 Schematic diagram of a simulation calculation model for an irregular storage tank according to an embodiment of the present invention, where the Volume Fraction of water represents the liquid concentration, a concentration of 0 represents gas (blue), and a concentration of 1 represents liquid (red). The rectangular portion represents the cylindrical section, the elliptical arc segment represents the ellipsoidal tank bottom, and the green portion between the cylindrical section and the ellipsoidal tank bottom represents the gas-liquid mixture, equivalent to the liquid level.

[0078] In a possible implementation, the initial speed is 0.1 m / s, which is currently determined to be a relatively suitable initial speed for various 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 sloshing force variation curve and a sloshing moment variation curve 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 direction of gravity.

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

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

[0086] Specifically, the sloshing equivalent model includes fitting formulas for sloshing force, sloshing moment, sloshing mass, and sloshing center-of-mass height. Sloshing parameters include sloshing frequency, sloshing damping, sloshing mass, and sloshing center-of-mass height, where:

[0087] The fitting formula of sloshing force is:

[0088] F=F0e -wζt cos(wt+θ)

[0089] Where F is the sloshing force, i.e., the sloshing force in the sloshing force variation curve, F0 is the initial sloshing force, w is the sloshing frequency, ζ is the sloshing damping, t is the time, and θ is the sloshing 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] Where 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 horizontal plane of the tank, H is the liquid level, and the fitting formula of the liquid level is:

[0100]

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

[0102] The fitting formula for the height of the sway center of mass 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 Schematic diagram of the fitting results of the swaying force provided in an embodiment of the present invention, wherein the red curve is the variation curve of the swaying force, and the black curve is the fitting curve of the swaying force obtained based on the variation curve of the swaying force. Figure 4 This figure illustrates the fitting results of the sloshing torque according to an embodiment of the present invention. The red curve represents the variation of the sloshing torque, and the black curve represents the fitting curve of the sloshing torque based on the variation of the sloshing torque. The fitting results of the sloshing force and sloshing torque indicate that the sloshing force and sloshing torque of an irregular tank at shallow liquid levels are well fitted. The fitted sloshing force and sloshing torque are then used to further identify the sloshing frequency, sloshing damping, sloshing mass, and the height of the sloshing center of mass, ultimately achieving accurate identification of the sloshing parameters of the irregular tank at shallow liquid levels.

[0106] The above scheme improves the accuracy and application range of slosh parameter calculation, making the slosh parameter calculation applicable to irregular tanks with 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] The parameter module is used to determine the external dimensions and fluid simulation parameters of the irregular tank. The fluid simulation parameters include liquid level, overload coefficient and liquid density. The ratio of liquid level to liquid surface equivalent radius is less than or equal to 0.8.

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

[0110] An identification module is used to identify sloshing parameters based on the sloshing force and moment curves and the sloshing equivalent model. The sloshing equivalent model includes fitting formulas for sloshing force, sloshing moment, sloshing mass, and sloshing center of mass height. Sloshing parameters include sloshing frequency, sloshing damping, sloshing mass, and sloshing center of mass height.

[0111] The fitting formula of sloshing force is:

[0112] F=F0e -wζt cos(wt+θ)

[0113] Where F is the sloshing force, F0 is the initial sloshing force, w is the sloshing frequency, ζ is the sloshing damping, t is the time, and θ is the sloshing 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] Where 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 horizontal plane of the tank, H is the liquid level, and the fitting formula of the liquid level is:

[0124]

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

[0126] The fitting formula for the height of the sway center of mass 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] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, 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 magnetic 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 flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, 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 flowcharts and / or block diagrams. 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 that can direct a computer or other programmable data processing device to work 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 The 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 the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function 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 may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A method for calculating the sloshing parameters of an irregular tank at a shallow liquid level, characterized in that: include: Determining 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 wherein 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 the irregular tank is established based on the external 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 sloshing force variation curve and a sloshing torque variation curve, wherein both the sloshing force and the sloshing torque vary with time; Sloshing parameters are identified based on the sloshing force variation curve, the sloshing moment variation curve, and a sloshing equivalent model. The sloshing equivalent model includes fitting formulas for sloshing force, sloshing moment, sloshing mass, and sloshing center-of-mass height. The sloshing parameters include sloshing frequency, sloshing damping, sloshing mass, and sloshing center-of-mass 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 torque, M0 is the initial sway torque; 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 horizontal plane of the tank, 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 for the height of the shaking center of mass position 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 includes a cylindrical barrel section and an ellipsoidal tank bottom.

3. The method according to claim 1, characterized in that The step of establishing a simulation calculation model of the irregular tank based on the outer dimensions and the fluid simulation parameters includes: 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 VOF calculation to obtain the sloshing force variation curve and the sloshing moment variation curve includes: VOF is used to perform transient simulation calculations on the fluid to obtain a pressure 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 lever 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 for determining 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 wherein 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 the irregular tank based on the external dimensions and the fluid simulation parameters, applying an initial velocity excitation to the simulation calculation model, and performing a volume of fluid (VOF) calculation to obtain a sloshing force variation curve and a sloshing torque variation curve, wherein the sloshing force and the sloshing torque both vary with time; an identification module for identifying sloshing parameters based on the sloshing force variation curve, the sloshing moment variation curve, and a sloshing equivalent model, wherein the sloshing equivalent model includes fitting formulas for sloshing force, sloshing moment, sloshing mass, and sloshing center of mass height; and wherein the sloshing parameters include sloshing frequency, sloshing damping, sloshing mass, and sloshing center of mass height. 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 torque, M0 is the initial sway torque; 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 horizontal plane of the tank, 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 for the height of the shaking center of mass position 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 configured 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 is caused to execute the method according to any one of claims 1 to 5.

Images