Multi-body system dynamics software architecture, processing method and computer equipment

Abstract

The invention relates to the technical field of computers, and provides a multi-body system dynamics software architecture, a processing method and computer equipment, the software architecture comprises a data layer, a processing layer and a man-machine interaction layer; the data layer is configured to manage each physical object of a physical model of the multi-body system; the man-machine interaction layer obtains physical model parameters and specified working condition requirements input by a user; the processing layer determines the types of the corresponding physical objects and contact information between the different types of physical objects according to the physical model parameters, and generates a topological connection diagram of the multi-body system according to the types of the physical objects and the contact information between the different types of physical objects; and mapping the physical model of the multi-body system into a mathematical model according to the topological connection diagram, and solving the mathematical model in combination with the specified working condition demand to obtain a simulation processing result meeting the specified working condition demand, so that some bottlenecks of the current multi-body dynamics software in function and performance are improved.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a multi-body system dynamics software architecture, a processing method and a computer device. Background Art

[0002] With the development of computer technology, simulation has become a necessary means of product development. It reduces the dependence of R&D personnel on real prototypes and greatly improves the efficiency of product verification. At the same time, simulation can obtain rich results without deploying a large number of sensors, and can evaluate product performance in all aspects. Multi-body dynamics simulation software is an important software tool used in the field of industrial processing. In the process of processing physical products, manufacturers can use multi-body dynamics simulation software to simulate samples in the initial stage to obtain effective performance estimates of the product. After the product prototype comes out, the simulation model can also become a digital model corresponding to the prototype, which can map the rich dynamic information on the prototype.

[0003] However, the current multi-body dynamics software still has some bottlenecks in terms of functions and performance, and cannot meet the needs of users. Summary of the invention

[0004] In response to the technical problem mentioned in the above background technology that the multi-body dynamics software in the prior art still has some bottlenecks in function and performance, resulting in the inability to meet the user's usage requirements, the present invention provides a multi-body system dynamics software architecture, processing method and computer equipment.

[0005] In a first aspect, the present invention provides a multi-body system dynamics software architecture, the software architecture comprising a data layer, a processing layer and a human-computer interaction layer; The data layer is configured to manage various physical objects of the physical model of the multi-body system; The human-computer interaction layer is used to obtain the physical model parameters and specified working condition requirements input by the user; The processing layer is used to determine the type of the corresponding physical object and the contact information between different types of physical objects according to the physical model parameters, and generate a topological connection diagram of the multi-body system according to the types of each physical object and the contact information between the different types of physical objects; map the physical model of the multi-body system into a mathematical model according to the topological connection diagram, and solve the mathematical model in combination with the specified working condition requirements to obtain a simulation processing result that meets the specified working condition requirements; Among them, the type of the physical object includes at least one of an object object, a constraint object, a drive object and a force object; the object object includes at least a rigid body, a particle, a modal flexible body and a finite element flexible body of the multi-body system; the constraint object represents the link relationship of the multi-body system; the drive object includes at least a unidirectional drive and a multi-directional drive; the force object includes at least a concentrated force and a distributed force.

[0006] In one example, the motion state of the modal flexible body is described by combining rigid body coordinates and modal coordinates, and the finite element model is reduced in order by the modal coordinates; The rigid body coordinates are used to describe the large-scale motion of the modal flexible body, and the modal coordinates are used to describe the small deformation of the modal flexible body.

[0007] In one example, the large-range movement of the modal flexible body includes at least the overall translation and rotation movement of the modal flexible body in space; the small deformation of the modal flexible body includes at least the local micro deformation generated during vibration or force application.

[0008] In one example, the constraint objects include at least kinematic pairs, basic constraints, coupling pairs, and special constraints; the kinematic pairs include at least fixed pairs, rotational pairs, spherical pairs, constant velocity pairs, Hooke pairs, and plane pairs; the basic constraints include at least parallel constraints, direction constraints, vertical constraints, collinear constraints, co-point constraints, and distance constraints; the coupling pairs are used to represent the relationship between the degrees of freedom of the kinematic pairs, and the coupling pairs include at least gear pairs, two-joint coupling pairs, and three-joint coupling pairs; the special constraints include at least point-line constraints, line-line constraints, and general geometric constraints.

[0009] In one example, the contact information between the different types of physical objects includes at least contact between entities, contact between entities and surfaces, contact between entities and modal flexible bodies, contact between entities and finite element flexible bodies, and contact between modal flexible bodies and finite element flexible bodies.

[0010] In a second aspect, the present invention further proposes a data processing method for multi-body system dynamics, the method being applied to the multi-body system dynamics software architecture described in the first aspect, the method comprising: Obtain the physical model parameters and specified working condition requirements input by the user; Determine the type of the corresponding physical object and contact information between different types of physical objects according to the physical model parameters; Generate a topological connection diagram of the multi-body system according to the types of the various physical objects and contact information between the different types of physical objects; Mapping the physical model of the multi-body system into a mathematical model according to the topological connection diagram; solving the mathematical model in combination with the specified working condition requirements to obtain a simulation result that meets the specified working condition requirements; Among them, the type of the physical object includes at least one of an object object, a constraint object, a drive object and a force object; the object object includes at least a rigid body, a particle, a modal flexible body and a finite element flexible body of the multi-body system; the constraint object represents the link relationship of the multi-body system; the drive object includes at least a unidirectional drive and a multi-directional drive; the force object includes at least a concentrated force and a distributed force.

[0011] In one example, mapping the physical model of the multi-body system into a mathematical model according to the topological connection diagram, solving the mathematical model in combination with the specified working condition requirements, and obtaining a simulation result that meets the specified working condition requirements includes: Determining the connection relationship between the physical objects in the multi-body system according to the topological connection diagram, and establishing an equation corresponding to the physical model based on the connection relationship, wherein the type of the equation includes at least one of a differential algebraic equation, a nonlinear equation, and a linear equation system; According to the specified working condition requirement, determining an analysis type corresponding to the specified working condition requirement, wherein the analysis type includes at least one of a dynamic solution analysis, a static solution analysis, a kinematic solution analysis, and an initial equilibrium solution analysis; Determine a corresponding target solution system according to the analysis type, wherein the types of the solution systems at least include a dynamic solution system corresponding to the mechanical solution analysis, a static solution system corresponding to the static solution analysis, a kinematic solution system corresponding to the kinematic solution analysis, and an initial equilibrium solution system corresponding to the initial equilibrium solution analysis; The target solution system is used to solve the target equation to obtain a simulation processing result that meets the specified working condition requirements.

[0012] In one example, when the analysis type is a dynamics analysis, the method further includes: Defining first parameters required for a dynamics solution system, wherein the first parameters at least include an integrator type and an integrator parameter; According to the analysis type and sequence set by the user, the corresponding integrator and solver of the dynamic solution system are called to solve the target equation to obtain the first simulation processing result, which at least includes the motion state of the moving body and the effect of the force element.

[0013] In one example, when the analysis type is statics solution analysis, the method further includes: Constructing a statics equation group including a constraint system, wherein the statics equation group includes at least a complete constraint force, a non-complete constraint force and a generalized external force; Defining second parameters required for a statics solution system, wherein the second parameters at least include a solver type and solver parameters; According to the solving order set by the user, the corresponding solver of the defined statics solving system is called to solve the statics equations to obtain a second simulation processing result, which at least includes the equilibrium state of the multi-body system and the force conditions of each component.

[0014] In one example, when the analysis type is kinematic solution analysis, the method further includes: According to the constraint equations of the multi-body system, a constrained kinematic equation group is constructed; Defining third parameters required for the kinematic solution system, wherein the third parameters at least include an error limit and a maximum number of iterations; According to the solving order set by the user, the corresponding solver of the kinematic solving system is called to solve the constrained kinematic equations to obtain the current state of the system and output a third simulation processing result, wherein the third simulation processing result includes kinematic parameters.

[0015] In one example, when the analysis type is an initial equilibrium solution analysis, the method further includes: Constructing an initial equilibrium equation group of the multi-body system, wherein the initial equilibrium equation group at least includes an initial state and constraint conditions of the multi-body system; Defining a fourth parameter required for an initial equilibrium solution system, wherein the fourth parameter includes at least an error limit and a maximum number of iterations; The corresponding solver of the initial equilibrium solution system is called to iteratively solve the initial equilibrium equation group until the preset requirement of the error limit is met, then the iteration is stopped and a fourth simulation processing result is output, wherein the fourth simulation processing result at least includes the initial equilibrium state of the multi-body system.

[0016] In the third aspect, the present application also proposes a computer device, which includes a processor, a memory, and a multi-body system dynamics software architecture and a computer program stored in the memory, wherein the processor is configured to call the multi-body system dynamics software architecture as described in the first aspect above, run the computer program, and execute the relevant steps of the data processing method of the multi-body system dynamics as described in the second aspect above.

[0017] The beneficial effects of the present invention are as follows: a simulation data architecture for multi-body system dynamics software is proposed, which helps to achieve the decoupling of modules and the smooth interaction between modules; when the physical model is established, a mathematical model is formed through mapping, and then it can be solved according to user needs. Such mapping realizes the decoupling of the physical model and the mathematical model. The relationship between business and calculation is clarified, and optimization can be performed for business and calculation respectively, so as to improve the calculation efficiency. The technical problem that the multi-body dynamics software in the prior art still has some bottlenecks in function and performance, resulting in the inability to meet the user's usage needs is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 It is a schematic diagram of a multi-body system dynamics software architecture provided by the present invention; Figure 2 is a schematic diagram of the types of physical objects of the physical system provided by an embodiment of the present invention; Figure 3 It is a flow chart of a data processing method of multi-body system dynamics proposed in an embodiment of the present invention; Figure 4 It is a schematic diagram of the mapping relationship between the mathematical system (corresponding to the processing layer of the multi-body system dynamics software architecture) and the physical system (corresponding to the data layer of the multi-body system dynamics software architecture) provided by an embodiment of the present invention; Figure 5 It is a schematic flow chart of a relevant method embodiment provided by the present invention when the analysis type is a dynamic solution analysis; Figure 6 It is a flowchart of a related method embodiment provided by the present invention when the analysis type is statics solution analysis; Figure 7 It is a flowchart of a related method embodiment provided by the present invention when the analysis type is kinematic solution analysis; Figure 8 It is a flowchart of a related method embodiment provided by the present invention when the analysis type is an initial equilibrium solution analysis; Fig. 9 This is a schematic diagram of the structure of an embodiment of a computer device for executing the data processing method for multi-body system dynamics of embodiment 2 provided in the present application.

[0020] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0021] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0022] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0023] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0024] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0025] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0026] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0027] Understandably, system analysis represented by multi-body dynamics simulation software has gradually become a development process throughout the industrial field. Major industries have gradually attached importance to multi-body dynamics software and invested a large number of manpower component simulation engineer teams. Multi-body dynamics simulation has improved the R&D level of the industry in terms of system selection, dynamics analysis, joint simulation, etc.

[0028] However, the development of multi-body dynamics software with existing technologies faces the following difficulties: 1) It is difficult to simultaneously meet the requirements of rigid bodies, modal flexible bodies, and finite element flexible bodies; 2) The data structure of multi-body dynamics software is complex, and the current software architecture is difficult to meet the requirements of high cohesion and low coupling; 3) The physical objects and mathematical models of multi-body dynamics software cannot complete effective mapping and equation construction.

[0029] In view of the above defects, the present application provides a multi-body system dynamics software architecture, processing method, terminal device and computer program product. The technical solution of the present application is explained below through specific embodiments.

[0030] First, as Figure 1 As shown, the present application provides a multi-body system dynamics software architecture, the software architecture includes a data layer (corresponding to the physical system), a processing layer (corresponding to the mathematical system) and a human-computer interaction layer; The data layer is configured to manage various physical objects of the physical model of the multi-body system; the human-computer interaction layer is used to obtain the physical model parameters and specified working condition requirements input by the user; The processing layer is used to determine the type of the corresponding physical object and the contact information between different types of physical objects according to the physical model parameters, and generate a topological connection diagram of the multi-body system according to the types of each physical object and the contact information between the different types of physical objects; map the physical model of the multi-body system into a mathematical model according to the topological connection diagram, and solve the mathematical model in combination with the specified working condition requirements to obtain a simulation processing result that meets the specified working condition requirements; Among them, the type of the physical object includes at least one of an object object, a constraint object, a drive object and a force object; the object object includes at least a rigid body, a particle, a modal flexible body and a finite element flexible body of the multi-body system; the constraint object represents the link relationship of the multi-body system; the drive object includes at least a unidirectional drive and a multi-directional drive; the force object includes at least a concentrated force and a distributed force.

[0031] The beneficial effects of the embodiments of the present application are: a simulation data architecture for multi-body system dynamics software is proposed, which helps to achieve the decoupling of modules, realizes the decoupling of modules and the smooth interaction between modules, and thus can improve some bottlenecks in the functions and performance of current multi-body dynamics software.

[0032] It is understandable that the multi-body dynamics software of the embodiment of the present application may be a general-purpose software, and the industries for which the multi-body dynamics software is oriented are not limited to automobiles, robots, equipment, aerospace, ships, 3C electronics, home appliances, etc.; Specifically, the multi-body system dynamics software architecture is mainly composed of a data layer (corresponding to the physical system) and a processing layer (corresponding to the mathematical system). The physical system manages all physical objects in the multi-body system. The mathematical system includes various analysis and solution functions. The physical model will be mapped to the mathematical system for analysis and solution.

[0033] First, for the data layer (corresponding to the physical system), Figure 2 Several types of physical objects of the physical system of this embodiment are shown, including object objects, constraint objects, drive objects, and force objects (force objects specifically include forces and force elements). In addition, the physical system also includes contact objects and related auxiliary data.

[0034] In a specific implementation, the object object of this embodiment includes at least a rigid body, a mass point, a modal flexible body and a finite element flexible body of the multi-body system. An ideal rigid body has 6 degrees of freedom and is the most important component in a multi-body system. A mass point is a special rigid body that does not contain a moment of inertia. The modal flexible body uses rigid body coordinates plus modal coordinates to describe large-scale motion and small deformations, and the finite element model is reduced in order through modal coordinates, greatly improving efficiency. The finite element flexible body is implemented using nonlinear finite elements to cope with deformation analysis of flexible bodies with large deformations, and is an important component of the multi-body-structure integrated solver.

[0035] Among them, the modal flexible body uses rigid body displacement superimposed with small deformation to achieve large motion and small vibration response. The specific approach is to establish floating coordinates for each object, and introduce the fixed interface substructure modal synthesis method (Craig-Bampton method) on the basis of floating coordinates. The displacement of any point on the object can be obtained by superimposing the rigid body displacement with the modal deformation. Therefore, the degree of freedom of a modal flexible body becomes the degree of freedom of the rigid body plus the number of modal coordinates. Finite element flexible bodies use nonlinear finite element technology, such as the absolute node coordinate method or the co-rotation coordinate method. The former uses the position and 2 or 3 gradient vectors as the degrees of freedom for each node; the latter establishes a co-rotation coordinate system for each unit, and the deformation of the unit is described in the co-rotation coordinate system. In geometric nonlinear analysis, the deformation of the unit is within the small deformation range, so the stiffness matrix of the unit can become a constant, which can greatly reduce the amount of calculation.

[0036] It is understandable that the finite element model belongs to a numerical model for describing the mechanical behavior of the structure. In finite element analysis, the structure is discretized into a series of interconnected units (or elements), each of which has specific physical and geometric properties. However, for complex structures, the scale of the finite element model may be very large, resulting in a huge amount of calculation. In order to reduce the computational cost, the finite element model can be reduced in order using modal coordinates in an embodiment of the present application. The reduced-order model retains the main vibration characteristics of the structure (i.e., the modal shape and the corresponding modal frequency), but greatly reduces the degree of freedom of the model (i.e., the number of unknown quantities that need to be solved). Specifically, the reduced-order model of the present embodiment is constructed by selecting a set of important modal coordinates. These modal coordinates usually correspond to the main vibration modes of the structure and can capture the main deformation characteristics of the structure during the vibration process. By retaining only these important modal coordinates, the scale of the model can be significantly reduced, thereby reducing the computational cost.

[0037] In an embodiment of the present application, in the description of the modal flexible body, rigid body coordinates and modal coordinates are used simultaneously to capture the large-range motion and small deformation characteristics of the structure; at the same time, a reduced-order model is constructed by selecting important modal coordinates to reduce the computational cost of the finite element model.

[0038] Furthermore, the constraint object represents the link relationship of the multi-body system and represents the physical meaning of the ideal joint. The constraint object includes kinematic pairs, basic constraints, coupling pairs, special constraints, etc. The drive object also includes unidirectional drive and multidirectional drive. The mathematical expression of the constraint object of this embodiment is:

[0039] Among them, q and represents the generalized coordinates and generalized velocity of the object, and t represents time. If the constraint expression explicitly contains t, then the constraint is a steady constraint, otherwise it is an unsteady constraint. , and they are not integrable, then the constraint is a non-holonomic constraint, otherwise it is a complete constraint.

[0040] The kinematic pair includes hinges commonly used in engineering. In this embodiment, the kinematic pair may include at least a fixed pair, a revolute pair, a ball pair, a constant velocity pair, a Hooke pair and a plane pair. The kinematic pair is an ideal model of some joints commonly used in engineering, usually a complete fixed-length constraint.

[0041] Accordingly, the basic constraints include some theoretical geometric constraints. The geometric constraints in this embodiment may include at least parallel constraints, direction constraints, vertical constraints, collinear constraints, co-point constraints and distance constraints. It is understandable that geometric constraints are some theoretical constraints, which are constraints embodied by the simplification or integration of actual engineering models. In this embodiment, the kinematic pairs and basic constraints (geometric constraints) can be characterized by the following formula:

[0042] in, , Represent the position and orientation constraints of point I and point J respectively.

[0043] Accordingly, the coupling pair represents the relationship between the degrees of freedom of the kinematic pair. For example, the coupling constraints of this embodiment include at least a gear pair, a two-joint coupling pair, and a three-joint coupling pair. The coupling pair represents the relationship between two or three constrained degrees of freedom and is an additional constraint. The basic expression of the coupling pair

[0044] in, and is the unconstrained physical quantity of the two kinematic pairs, and s is the coupling ratio.

[0045] Correspondingly, special constraints include curve-related constraints. Curve constraints are different from general constraints. They introduce additional curve parameters to describe the position and direction of constraint points, including point-line constraints, line-line constraints, and general geometric constraints. They are usually used in common machinery such as cams.

[0046] Furthermore, the force objects of this embodiment include forces and force elements, which are some forces (loads) similar to spring assemblies in multi-body systems. They do not affect the degrees of freedom of the system, but the expression form of the force / force element is related to the degree of freedom of the system. Forces / force elements include at least concentrated forces and distributed forces. The concentrated forces of this embodiment include unidirectional forces / torques, three-directional forces / torques, and six-component forces; the distributed forces of this embodiment include modal loads and finite element loads. And the force elements (flexible links) with relevant physical meanings: characteristic parameters such as spring dampers, torsion spring dampers, bushings, and massless beams. The force object of this embodiment can be represented by the following formula:

[0047] Among them, the force / force element is constructed by the function expression or data element provided by the user, and the force / force element is related to the generalized coordinates of the system. and generalized velocity Related to system time.

[0048] Furthermore, the contact information of the present embodiment expresses the contact information between different types of physical objects and may include multiple contact types. For example, the contact information of the present embodiment may include contact between entities, contact between entities and surfaces, contact between entities and modal flexible bodies, contact between entities and finite element flexible bodies, and contact between modal flexible bodies and finite element flexible bodies.

[0049] Furthermore, the auxiliary data mentioned above in this embodiment represent some additional data sets to assist in solving the calculation. The auxiliary data are some user input arrays and matrices, such as a force-displacement curve representing nonlinear stiffness information, and a set of coordinate matrices representing a curve data or a space curve. These user-defined data are used as auxiliary data to facilitate the establishment of physical models and mathematical solutions.

[0050] Secondly, for the processing layer (corresponding to the mathematical system), the multi-body dynamics simulation must ultimately be calculated through the mathematical system. Therefore, the mathematical system needs to map the physical system, which is generally implemented from the following four types of solution analysis, including: dynamic solution analysis, static solution analysis, kinematic solution analysis, and initial equilibrium solution analysis. Correspondingly, the processing layer includes: the dynamic solution system corresponding to the mechanical solution analysis, the static solution system corresponding to the static solution analysis, the kinematic solution system corresponding to the kinematic solution analysis, and the initial equilibrium solution system corresponding to the initial equilibrium solution analysis.

[0051] Accordingly, reference Figure 3 In the second aspect, the present application also proposes a data processing method for multi-body system dynamics, the method is applied to Figure 1 The multi-body system dynamics software architecture of the embodiment, and the processing layer of the multi-body system dynamics software architecture performs the following steps S01 to S04: Step S01, obtaining physical model parameters and specified working condition requirements input by the user; Step S02, determining the type of the corresponding physical object and contact information between different types of physical objects according to the physical model parameters; Step S03, generating a topological connection diagram of the multi-body system according to the types of the various physical objects and the contact information between the different types of physical objects; Step S04, mapping the physical model of the multi-body system into a mathematical model according to the topological connection diagram; solving the mathematical model in combination with the specified working condition requirements to obtain a simulation processing result that meets the specified working condition requirements.

[0052] Specifically, the processing layer first determines the connection relationship between the physical objects in the multi-body system according to the topological connection diagram, and establishes an equation corresponding to the physical model based on the connection relationship, wherein the type of the equation includes at least one of a differential algebraic equation, a nonlinear equation and a linear equation system; Then, the processing layer determines the analysis type corresponding to the specified working condition requirement according to the specified working condition requirement, wherein the analysis type includes at least one of dynamic solution analysis, static solution analysis, kinematic solution analysis and initial equilibrium solution analysis; Next, the processing layer determines the corresponding target solution system according to the analysis type, and the types of the solution systems at least include the dynamic solution system corresponding to the mechanical solution analysis, the static solution system corresponding to the static solution analysis, the kinematic solution system corresponding to the kinematic solution analysis, and the initial equilibrium solution system corresponding to the initial equilibrium solution analysis; The final processing layer uses the target solution system to solve the target equation to obtain a simulation processing result that meets the specified working condition requirements.

[0053] It can be understood that the mapping relationship between the mathematical system (corresponding to the processing layer of the multi-body system dynamics software architecture) and the physical system (corresponding to the data layer of the multi-body system dynamics software architecture) is as follows Figure 4 As shown, in the specific implementation, the physical system will be constructed through the input physical model parameters. The user inputs the physical model parameters at the front end of the computer device, and the processor of the computer device will generate a topological connection diagram of the multi-body system based on the input moving bodies, constraints, force elements and contacts. According to this topological connection diagram, the connection relationship within the multi-body system can be generated, and the corresponding equations can be established. These include the aforementioned physics, constraints / drives, forces / force elements, contacts and auxiliary data. The physical model will be mapped into a mathematical model, that is, the differential algebraic equations, nonlinear equations and linear equations corresponding to the physical model. Then, considering the analysis type required by the user, the corresponding equations are solved to finally form the solution result.

[0054] In one embodiment, if Figure 5 As shown, when the analysis type is a dynamic solution analysis, the method further includes: A1: defining the first parameters required for the dynamics solution system, wherein the first parameters at least include an integrator type and an integrator parameter; A2: According to the analysis type and sequence set by the user, the corresponding integrator and solver of the dynamic solution system are called to solve the target equation to obtain a first simulation processing result, which at least includes the motion state of the moving body and the effect of the force element.

[0055] In the specific implementation, based on the physical model parameters input by the user in the front-end interface, such as the moving body, kinematic pair, force element, contact and other physical objects, the corresponding mathematical model can be generated as follows

[0056]

[0057] In the above formula Indicates the mass, inertia and other information of the moving body; Mathematical representation of elastic force, force element and contact of moving body; It is used to characterize the joint constraint force; represents kinematic constraints; Represents external force / torque.

[0058] In the specific implementation, the parameters required for the dynamics solution system are defined as follows: 1. The Integrator keyword indicates the type and parameters of the integrator. 2. The dynamics solution system can be composed of any number of integrators. These integrators can be called in sequence by the solution system in a certain order, or they can be called in sequence with multiple solvers such as statics solver and kinematics solver. The solution steps can be divided into multiple steps, and multiple analysis steps can be defined in sequence, such as statics first, kinematics second, and dynamics third. After that, the system can execute in sequence according to the order of input.

[0059] The specific property information of each integrator includes: integrator type, including GSTIFF integrator, WSTIFF integrator, HHT integrator (HHT) and other integrators; dynamic model, including basic models such as second order (SI2) and third order (I3); initial time step; maximum time step; minimum time step; adaptive error limit; interpolation correction option, optional Off, On; maximum number of iterations; maximum integration order; Jacobian matrix update modulus; integration alpha coefficient; spectrum radius; output sampling ratio. The selection or assignment of the above properties corresponds to the activation of the algorithm model and the real-time loading of the dynamic library.

[0060] In one embodiment, if Figure 6 As shown, when the analysis type is static solution analysis, the method further includes: B1: Construct a statics equation group including a constraint system, wherein the statics equation group includes at least a complete constraint force, a non-complete constraint force and a generalized external force; B2: defining the second parameters required for the statics solution system, wherein the second parameters at least include the solver type and solver parameters; B3: According to the solving order set by the user, the corresponding solver of the defined statics solving system is called to solve the statics equations to obtain a second simulation processing result, which at least includes the equilibrium state of the multi-body system and the force conditions of each component.

[0061] In this embodiment, the static analysis may include incremental iteration, dynamic relaxation and quasi-static analysis; in a specific implementation, the parameters required for the static solution system are defined as follows: (1) The statics solution system can be composed of any number of solvers. These solvers can be called in sequence by the solution system in a certain order, or they can be called in sequence with multiple solvers such as the dynamics integrator and the kinematics solver. (2) Each equation system is generally identified by an index and name keyword; (3) The specific attribute information of each integrator includes: solver type, optional incremental loading solver, dynamic relaxation solver, etc.; (4) The specific attribute information of the incremental loading method solver includes: maximum angle increment; maximum translation increment; error limit; unbalanced convergence threshold; maximum number of iterations; maximum number of cycles; damping stability coefficient; iterative solution algorithm, including conventional algorithm, improved algorithm, competitive algorithm, comprehensive algorithm, etc.; absolute tolerance; relative tolerance; solution tolerance; initial solution tolerance. The selection or assignment of the above attributes corresponds to the activation of the algorithm model and the real-time loading of the dynamic library.

[0062] (6) The specific attribute information of the dynamic relaxation method solver includes: global damping, relaxation time limit, maximum acceleration error, and maximum kinetic energy error. The selection or assignment of the above attributes corresponds to the activation of the algorithm model and the real-time loading of the dynamic library.

[0063] (7) The statics solver is used to solve the following system dynamics equations with constraints:

[0064] Among them, various forces such as complete constraint force, non-complete constraint force, and generalized external force constitute the system balance, and the system acceleration and velocity are 0.

[0065] In one embodiment, if Figure 7 As shown, when the analysis type is kinematic solution analysis, the method further includes: C1, constructing a set of constrained kinematic equations according to the constraint equations of the multi-body system; C2, defining the third parameters required for the kinematic solution system, wherein the third parameters at least include an error limit and a maximum number of iterations; C3, according to the solving order set by the user, calling the corresponding solver of the kinematic solving system to solve the constrained kinematic equations, obtaining the current state of the system, and outputting the third simulation processing result, wherein the third simulation processing result includes kinematic parameters.

[0066] In the specific implementation of this embodiment, the parameters required by the kinematic solution system are defined as follows: (1) The kinematics solution system can be composed of any number of solvers. These solvers can be called sequentially by the solution system in a certain order, or they can be called sequentially with multiple solvers such as the dynamics integrator and the statics solver. (2) Each equation system is generally identified by an index and name keyword; (3) The specific attribute information of each integrator includes: error limit; maximum number of iterations; maximum time step; maximum angle increment; angle error limit; maximum number of angle iterations; maximum translation increment. The selection or assignment of the above attributes corresponds to the activation of the algorithm model and the real-time loading of the dynamic library.

[0067] (4) The statics solver is used to solve the constrained kinematic equations of the following form:

[0068] The current state of the system is solved by the constraint equations.

[0069] In one embodiment, if Figure 8 As shown, when the analysis type is an initial equilibrium solution analysis, the method further includes: D1, constructing an initial equilibrium equation group of the multi-body system, wherein the initial equilibrium equation group at least includes an initial state and constraint conditions of the multi-body system; D2, defining the fourth parameter required for the initial equilibrium solution system, wherein the fourth parameter at least includes an error limit and a maximum number of iterations; D3, calling the corresponding solver of the initial equilibrium solution system to iteratively solve the initial equilibrium equation group until the preset requirement of the error limit is met, stopping the iteration and outputting the fourth simulation processing result, the fourth simulation processing result at least includes the initial equilibrium state of the multi-body system, providing a basis for subsequent dynamics, statics or kinematics analysis.

[0070] Specifically, the initial equilibrium solution analysis in this embodiment may include initial configuration analysis, initial velocity analysis, and initial acceleration analysis; In the specific implementation, the parameters required for the initial equilibrium solution system are defined as follows: (1) The initial equilibrium solver can be composed of any number of solvers. These solvers can be called sequentially by the solver system in a certain order, or they can be called sequentially with multiple solvers such as the dynamics integrator and the statics solver. (2) Each equation system is generally identified by an index and name keyword; (3) The specific attribute information of each integrator includes: error limit; maximum velocity error; maximum number of iterations; maximum angle increment; angle error limit; maximum number of angle iterations; maximum translation increment. The selection or assignment of the above attributes corresponds to the activation of the algorithm model and the real-time loading of the dynamic library.

[0071] The beneficial effect of the embodiment of the present application is that: a mutual mapping of the physical model and the mathematical model is proposed. When the physical model is established, a mathematical model is formed through mapping, and then it can be solved according to user needs. Such mapping realizes the decoupling of the physical model and the mathematical model. The relationship between business and computing is clarified, and optimization can be performed for business and computing respectively, which is convenient for improving computing efficiency.

[0072] Embodiment 3 See also Fig. 9 , Fig. 9 A schematic diagram of the structure of a computer device for executing the data processing method of multi-body system dynamics of the second embodiment provided by the present application is shown in FIG. Fig. 9 As shown, the computer device 1 of this embodiment includes: at least one processor 10 ( Fig. 9 (only one is shown) a processor 10, a memory 11, and a computer program 12 stored in the memory 11 and executable on the at least one processor 10. When the processor 10 executes the computer program 12, the steps in the embodiment of the market value change reminder method of the present application are implemented.

[0073] The computer device may be a desktop computer, notebook, smart phone, PDA or other computing device loaded with mapping tool software.

[0074] Fig. 9 The computer device shown may include, but is not limited to, a processor 10 and a memory 11. Those skilled in the art will appreciate that Fig. 9 It is only an example of the computer device 1 and does not constitute a limitation on the computer device 1. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0075] The processor 10 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0076] In some embodiments, the memory 11 may be an internal storage unit of the computer device 1, such as a hard disk or memory of the computer device 1. In other embodiments, the memory 11 may also be an external storage device of the computer device 1, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the computer device 1. Further, the memory 11 may also include both an internal storage unit of the computer device 1 and an external storage device. The memory 11 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 11 may also be used to temporarily store data that has been output or is to be output.

[0077] The computer device is also provided with a memory 11, which in some embodiments may be an internal storage unit of the computer device, such as a hard disk or memory of the computer device. The memory 11 may also be an external storage device of the computer device in other embodiments, such as a dynamic random access memory (DRAM), a solid state drive (SSD), and a hard disk drive (HDD) equipped on the computer device. The memory 11 is used to store an operating system, an application, a boot loader, data, and other programs. The memory 11 of the computer device stores a multi-body system dynamics software architecture 12 and a computer program 13. The processor 10 is configured to call the multi-body system dynamics software architecture 12 and run the computer program 13 to execute the relevant steps of the data processing method of the multi-body system dynamics.

[0078] The above content is a further detailed description of the present invention in combination with specific preferred implementation modes, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should be regarded as belonging to the protection scope of the present invention. That is, a processing control optimization method for intelligent manufacturing proposed in the present invention can be applied to other intelligent manufacturing processes. In any scenario involving limited computing power and limited storage memory, the neural network architecture search method mentioned in the present invention can be used to construct a parameter prediction model running on a computing device that meets these constraints.

Claims

1. A multi-body system dynamics software architecture, characterized in that: The software architecture includes a data layer, a processing layer and a human-computer interaction layer; The data layer is configured to manage various physical objects of the physical model of the multi-body system; The human-computer interaction layer is used to obtain the physical model parameters and specified working condition requirements input by the user; The processing layer is used to determine the type of the corresponding physical object and the contact information between different types of physical objects according to the physical model parameters, and generate a topological connection diagram of the multi-body system according to the types of each physical object and the contact information between the different types of physical objects; map the physical model of the multi-body system into a mathematical model according to the topological connection diagram, and solve the mathematical model in combination with the specified working condition requirements to obtain a simulation processing result that meets the specified working condition requirements; Among them, the type of the physical object includes at least one of an object object, a constraint object, a drive object and a force object; the object object includes at least a rigid body, a particle, a modal flexible body and a finite element flexible body of the multi-body system; the constraint object represents the link relationship of the multi-body system; the drive object includes at least a unidirectional drive and a multi-directional drive; the force object includes at least a concentrated force and a distributed force.

2. The software architecture according to claim 1, characterized in that: The motion state of the modal flexible body is described by combining rigid body coordinates and modal coordinates, and the finite element model is reduced in order by the modal coordinates; The rigid body coordinates are used to describe the large-scale motion of the modal flexible body, and the modal coordinates are used to describe the small deformation of the modal flexible body.

3. The software architecture according to claim 2, characterized in that: The large-range movement of the modal flexible body at least includes the overall translation and rotation movement of the modal flexible body in space; the small deformation of the modal flexible body at least includes the local micro-deformation generated during vibration or force.

4. The software architecture according to claim 1, wherein: The constraint objects at least include kinematic pairs, basic constraints, coupling pairs, and special constraints; the kinematic pairs at least include fixed pairs, rotational pairs, spherical pairs, constant velocity pairs, Hooke's pairs, and plane pairs; the basic constraints at least include parallel constraints, direction constraints, vertical constraints, collinear constraints, co-point constraints, and distance constraints; the coupling pairs are used to represent the relationship between the degrees of freedom of the kinematic pairs, and the coupling pairs at least include gear pairs, two-joint coupling pairs, and three-joint coupling pairs; the special constraints at least include point-line constraints, line-line constraints, and general geometric constraints.

5. The software architecture according to claim 1, wherein: The contact information between different types of physical objects includes at least contact between entities, contact between entities and surfaces, contact between entities and modal flexible bodies, contact between entities and finite element flexible bodies, and contact between modal flexible bodies and finite element flexible bodies.

6. A data processing method for multi-body system dynamics, characterized in that: The method is applied to the multi-body system dynamics software architecture according to any one of claims 1 to 5, and the method comprises: Obtain the physical model parameters and specified working condition requirements input by the user; Determine the type of the corresponding physical object and contact information between different types of physical objects according to the physical model parameters; Generate a topological connection diagram of the multi-body system according to the types of the various physical objects and contact information between the different types of physical objects; Mapping the physical model of the multi-body system into a mathematical model according to the topological connection diagram; solving the mathematical model in combination with the specified working condition requirements to obtain a simulation result that meets the specified working condition requirements; Among them, the type of the physical object includes at least one of an object object, a constraint object, a drive object and a force object; the object object includes at least a rigid body, a particle, a modal flexible body and a finite element flexible body of the multi-body system; the constraint object represents the link relationship of the multi-body system; the drive object includes at least a unidirectional drive and a multi-directional drive; the force object includes at least a concentrated force and a distributed force.

7. The method according to claim 6, characterized in that The mapping of the physical model of the multi-body system into a mathematical model according to the topological connection diagram, solving the mathematical model in combination with the specified working condition requirements, and obtaining a simulation result that meets the specified working condition requirements includes: Determining the connection relationship between the physical objects in the multi-body system according to the topological connection diagram, and establishing an equation corresponding to the physical model based on the connection relationship, wherein the type of the equation includes at least one of a differential algebraic equation, a nonlinear equation, and a linear equation system; According to the specified working condition requirement, determining an analysis type corresponding to the specified working condition requirement, wherein the analysis type includes at least one of a dynamic solution analysis, a static solution analysis, a kinematic solution analysis, and an initial equilibrium solution analysis; Determine a corresponding target solution system according to the analysis type, wherein the types of the solution systems at least include a dynamic solution system corresponding to the mechanical solution analysis, a static solution system corresponding to the static solution analysis, a kinematic solution system corresponding to the kinematic solution analysis, and an initial equilibrium solution system corresponding to the initial equilibrium solution analysis; The target solution system is used to solve the target equation to obtain a simulation processing result that meets the specified working condition requirements.

8. The method according to claim 7, characterized in that In the case where the analysis type is a dynamics analysis, the method further includes: Defining first parameters required for a dynamics solution system, wherein the first parameters at least include an integrator type and an integrator parameter; According to the analysis type and sequence set by the user, the corresponding integrator and solver of the dynamic solution system are called to solve the target equation to obtain the first simulation processing result, which at least includes the motion state of the moving body and the effect of the force element.

9. The method according to claim 7, characterized in that In the case where the analysis type is statics solution analysis, the method further includes: Constructing a statics equation group including a constraint system, wherein the statics equation group includes at least a complete constraint force, a non-complete constraint force and a generalized external force; Defining second parameters required for a statics solution system, wherein the second parameters at least include a solver type and solver parameters; According to the solving order set by the user, the corresponding solver of the defined statics solving system is called to solve the statics equations to obtain a second simulation processing result, which at least includes the equilibrium state of the multi-body system and the force conditions of each component.

10. The method according to claim 7, characterized in that In the case where the analysis type is kinematic solution analysis, the method further includes: According to the constraint equations of the multi-body system, a constrained kinematic equation group is constructed; Defining third parameters required for the kinematic solution system, wherein the third parameters at least include an error limit and a maximum number of iterations; According to the solving order set by the user, the corresponding solver of the kinematic solving system is called to solve the constrained kinematic equations to obtain the current state of the system and output a third simulation processing result, wherein the third simulation processing result includes kinematic parameters.

11. The method according to claim 7, characterized in that When the analysis type is an initial equilibrium solution analysis, the method further includes: Constructing an initial equilibrium equation group of the multi-body system, wherein the initial equilibrium equation group at least includes an initial state and constraint conditions of the multi-body system; Defining a fourth parameter required for an initial equilibrium solution system, wherein the fourth parameter includes at least an error limit and a maximum number of iterations; The corresponding solver of the initial equilibrium solution system is called to iteratively solve the initial equilibrium equation group until the preset requirement of the error limit is met, then the iteration is stopped and a fourth simulation processing result is output, wherein the fourth simulation processing result at least includes the initial equilibrium state of the multi-body system.

12. A computer device, characterized in that: The computer device includes a processor, a memory, and a multi-body system dynamics software architecture and a computer program stored in the memory. The processor is configured to call the multi-body system dynamics software architecture and run the computer program to execute relevant steps of the multi-body system dynamics data processing method.

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