A multi-body system dynamics software architecture, processing method and computer device

Abstract

The present invention relates to the field of computer technology, and provides a multi-body system dynamics software architecture, a processing method, and a computer device. The software architecture includes a data layer, a processing layer, and a human-computer interaction layer; the data layer is configured to manage each physical object of the physical model of the multi-body system; the human-computer interaction layer obtains the physical model parameters input by the user and the specified working condition requirements; the processing layer determines the types of the corresponding physical objects according to the physical model parameters and the contact information between different types of physical objects, and generates a topological connection diagram of the multi-body system according to the types of each physical object and the contact information between different types of physical objects; maps the physical model of the multi-body system into a mathematical model according to the topological connection diagram, and performs a solution process on the mathematical model in combination with the specified working condition requirements to obtain a simulation processing result that meets the specified working condition requirements, improving some bottlenecks existing in the current multi-body dynamics software in terms of functions and performance.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and particularly 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 an essential means for 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 arranging a large number of sensors and can comprehensively evaluate the performance of products. Multi-body dynamics simulation software is an important software tool in the industrial processing field. During the process of manufacturing physical products, in the initial stage, by using multi-body dynamics simulation software to simulate samples, effective performance prediction of the product can be obtained. Moreover, after the product prototype comes out, the simulation model can also become a digital model corresponding to the prototype and can map rich dynamic information on the prototype.

[0003] However, at present, there are still some bottlenecks in the functions and performance of multi-body dynamics software, which cannot meet the usage requirements of users. Summary of the Invention

[0004] In view of the technical problem in the above background art that due to some bottlenecks still existing in the functions and performance of multi-body dynamics software in the prior art, the usage requirements of users cannot be met, the present invention provides a multi-body system dynamics software architecture, a processing method, and a computer device.

[0005] In a first aspect, the present invention proposes a multi-body system dynamics software architecture, and the software architecture includes a data layer, a processing layer, and a human-computer interaction layer;

[0006] The data layer is configured to manage each physical object of the physical model of the multi-body system;

[0007] The human-computer interaction layer is used to obtain physical model parameters and specified working condition requirements input by the user;

[0008] The processing layer is used to determine the types of corresponding physical objects according to the physical model parameters and the contact information between different types of physical objects, and generate a topological connection diagram of the multi-body system according to the types of each physical object and the contact information between 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 perform a solution process on the mathematical model in combination with the specified working condition requirements to obtain a simulation processing result that meets the specified working condition requirements;

[0009] Among them, the types of the physical objects include at least one of object objects, constraint objects, driving objects, and force objects; the object objects at least include rigid bodies, mass points, modal flexible bodies, and finite element flexible bodies of the multi-body system; the constraint objects represent the linkage relationships of the multi-body system; the driving objects at least include unidirectional driving and multi-directional driving; the force objects at least include concentrated forces and distributed forces.

[0010] 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 through the modal coordinates;

[0011] Among them, the rigid body coordinates are used to describe the large-range motion of the modal flexible body, and the modal coordinates are used to describe the small deformations of the modal flexible body.

[0012] In one example, the large-range motion of the modal flexible body at least includes the overall translation and rotational motion of the modal flexible body in space; the small deformations of the modal flexible body at least include local tiny deformations generated during vibration or under force.

[0013] In one example, the constraint objects at least include kinematic pairs, basic constraints, coupling pairs, and special constraints; the kinematic pairs at least include fixed pairs, revolute pairs, spherical pairs, constant velocity pairs, Hooke's pairs, and planar pairs; the basic constraints at least include parallel constraints, direction constraints, perpendicular constraints, collinear constraints, concurrent point constraints, and distance constraints; the coupling pairs are used to represent the relationships between the degrees of freedom of 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.

[0014] In one example, the contact information between different types of physical objects at least includes the contact between entity and entity, the contact between entity and surface, the contact between entity and modal flexible body, the contact between entity and finite element flexible body, and the mutual contact between modal flexible body and finite element flexible body.

[0015] In a second aspect, the present invention also proposes a data processing method for multi-body system dynamics. The method is applied to the multi-body system dynamics software architecture described in the first aspect, and the method includes:

[0016] Obtain the physical model parameters and specified working condition requirements input by the user;

[0017] Determine the types of corresponding physical objects and the contact information between different types of physical objects according to the physical model parameters;

[0018] Generate the topological connection graph of the multi-body system according to the types of each physical object and the contact information between different types of physical objects;

[0019] Map the physical model of the multi-body system into a mathematical model according to the topological connection diagram; solve the mathematical model in combination with the specified working condition requirements to obtain a simulation result that meets the specified working condition requirements;

[0020] Among them, the types of the physical objects include at least one of object objects, constraint objects, drive objects, and force objects; the object objects at least include rigid bodies, mass points, modal flexible bodies, and finite element flexible bodies of the multi-body system; the constraint objects represent the connection relationships of the multi-body system; the drive objects at least include unidirectional drives and multi-directional drives; the force objects at least include concentrated forces and distributed forces.

[0021] In one example, 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:

[0022] Determine the connection relationships between the physical objects in the multi-body system according to the topological connection diagram, and establish equations corresponding to the physical model based on the connection relationships. The types of the equations include at least one of differential algebraic equations, nonlinear equations, and linear equation systems;

[0023] According to the specified working condition requirements, determine the analysis type corresponding to the specified working condition requirements. Among them, the analysis type includes at least one of dynamic solution analysis, static solution analysis, kinematic solution analysis, and initial equilibrium solution analysis;

[0024] Determine the corresponding target solution system according to the analysis type. 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;

[0025] Use the target solution system to solve the target equation to obtain a simulation result that meets the specified working condition requirements.

[0026] In one example, when the analysis type is dynamic solution analysis, the method further includes:

[0027] Define the first parameters required for the dynamic solution system. The first parameters at least include integrator types and integrator parameters;

[0028] According to the analysis type and sequence set by the user, call the corresponding integrator and solver of the kinetic solving system to solve the target equation, and obtain the first simulation processing result, where the first simulation processing result at least includes the motion state of the moving body and the action effect of the force element.

[0029] In an example, when the analysis type is static solving analysis, the method further includes:

[0030] Construct a static force equation set including a constraint system, where the static force equation set at least includes complete constraint forces, non-complete constraint forces, and generalized external forces;

[0031] Define the second parameters required for the static solving system, where the second parameters at least include the solver type and solver parameters;

[0032] According to the solving sequence set by the user, call the corresponding solver of the defined static solving system to solve the static force equation set, and obtain the second simulation processing result, where the second simulation processing result at least includes the equilibrium state of the multi-body system and the force conditions of each component.

[0033] In an example, when the analysis type is kinematic solving analysis, the method further includes:

[0034] Construct a constraint kinematic equation set according to the constraint equation of the multi-body system;

[0035] Define the third parameters required for the kinematic solving system, where the third parameters at least include the error limit and the maximum number of iterations;

[0036] According to the solving sequence set by the user, call the corresponding solver of the kinematic solving system to solve the constraint kinematic equation set, obtain the current state of the system, and output the third simulation processing result, where the third simulation processing result includes kinematic parameters.

[0037] In an example, when the analysis type is initial equilibrium solving analysis, the method further includes:

[0038] Construct the initial equilibrium equation set of the multi-body system, where the initial equilibrium equation set at least includes the initial state and constraint conditions of the multi-body system;

[0039] Define the fourth parameters required for the initial equilibrium solving system, where the fourth parameters at least include the error limit and the maximum number of iterations;

[0040] Call the corresponding solver of the initial equilibrium solving system to iteratively solve the initial equilibrium equations. Stop the iteration and output the fourth simulation result when the preset requirements of the error limit are met. The fourth simulation result includes at least the initial equilibrium state of the multi-body system.

[0041] In a third aspect, the present application further provides a computer device, which includes a processor, a memory, and a multi-body system dynamics software architecture and a computer program stored on the memory. The processor is configured to call the multi-body system dynamics software architecture described in the first aspect above, run the computer program, and execute the relevant steps of the data processing method for multi-body system dynamics described in the second aspect above.

[0042] 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 decoupling of modules and 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 requirements. Such mapping realizes the decoupling of the physical model and the mathematical model. It clarifies the relationship between business and calculation, and can optimize business and calculation separately, facilitating the improvement of calculation efficiency. It solves the technical problem that due to some bottlenecks still existing in the functions and performance of multi-body dynamics software in the prior art, the user's usage requirements cannot be met. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0044] Figure 1 It is a schematic diagram of a multi-body system dynamics software architecture provided by the present invention;

[0045] Figure 2 It is a schematic diagram of the types of physical objects of a physical system provided by an embodiment of the present invention;

[0046] Figure 3 It is a schematic flowchart of a data processing method for multi-body system dynamics proposed by an embodiment of the present invention;

[0047] Figure 4 It is a schematic diagram of the mapping relationship between a mathematical system (corresponding to the processing layer of the multi-body system dynamics software architecture) and a physical system (corresponding to the data layer of the multi-body system dynamics software architecture) provided by an embodiment of the present invention;

[0048] Figure 5It is a schematic flowchart of a related method embodiment in the case where the analysis type is a kinetic solution analysis provided by the present invention;

[0049] Figure 6 It is a schematic flowchart of a related method embodiment in the case where the analysis type is a static solution analysis provided by the present invention;

[0050] Figure 7 It is a schematic flowchart of a related method embodiment in the case where the analysis type is a kinematic solution analysis provided by the present invention;

[0051] Figure 8 It is a schematic flowchart of a related method embodiment in the case where the analysis type is an initial equilibrium solution analysis provided by the present invention;

[0052] Figure 9 It is a schematic structural diagram of an embodiment of a computer device for a data processing method of a multi-body system dynamics for implementing Embodiment 2 provided by this application.

[0053] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Specific Embodiments

[0054] 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.

[0055] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, the detailed descriptions of well-known systems, devices and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0056] It should be understood that when used in the specification and the appended claims of the present application, the term "comprising" indicates the presence of the 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 their combinations.

[0057] It should also be understood that the term "and / or" used in the specification and the appended claims of the present application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0058] In addition, in the description of the specification and the appended claims of the present application, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0059] As used herein, references to "one embodiment" or "some embodiments" etc. mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc., which appear in different places in this specification, do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized.

[0060] It can be understood that system analysis represented by multi-body dynamics simulation software has gradually penetrated into the development processes across various industrial fields. Major industries have gradually attached importance to multi-body dynamics software and invested a large amount of manpower to form simulation engineer teams. In terms of system selection, dynamics analysis, co-simulation, etc., multi-body dynamics simulation has improved the R & D level of the industry.

[0061] However, the development of multi-body dynamics software in the prior art 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 effectively map and construct equations.

[0062] To address the above deficiencies, the present application provides a multi-body system dynamics software architecture, a processing method, a terminal device, and a computer program product. The technical solutions of the present application will be elaborated below through specific embodiments.

[0063] In a first aspect, as Figure 1 shown, the present application provides a multi-body system dynamics software architecture, and 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;

[0064] The data layer is configured to manage each physical object of the physical model of the multi-body system; the human-computer interaction layer is used to obtain the physical model parameters input by the user and the specified working condition requirements;

[0065] The processing layer is used to determine the types of corresponding physical objects and the contact information between physical objects of different types according to the physical model parameters, and generate a topological connection diagram of the multi-body system according to the types of the respective physical objects and the contact information between physical objects of different types; map the physical model of the multi-body system into a mathematical model according to the topological connection diagram, and perform a solution process on the mathematical model in combination with the specified working condition requirements to obtain a simulation processing result that meets the specified working condition requirements.

[0066] Among them, the types of the physical objects include at least one of object objects, constraint objects, drive objects, and force objects; the object objects at least include rigid bodies, mass points, modal flexible bodies, and finite element flexible bodies of the multi-body system; the constraint objects represent the link relationships of the multi-body system; the drive objects at least include one-way drive and multi-directional drive; the force objects at least include concentrated forces and distributed forces.

[0067] The beneficial effects of the embodiments of the present application are as follows: a simulation data architecture of multi-body system dynamics software is proposed, which helps to achieve decoupling of modules, realizes decoupling of modules and smooth interaction between modules, and thus can improve some bottlenecks existing in the current multi-body dynamics software in terms of functions and performance.

[0068] It can be understood that the multi-body dynamics software of the embodiments of the present application can be a type of general software, and the industries targeted by the multi-body dynamics software are not limited to automobiles, robots, equipment, aerospace, ships, 3C electronics, household appliances, etc.

[0069] Specifically, the multi-body system dynamics software architecture mainly consists 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, and the physical model is mapped to the mathematical system for analysis and solution.

[0070] First, for the data layer (corresponding to the physical system), Figure 2 Several types of physical objects of the physical system in this embodiment are shown, including object objects, constraint objects, drive objects, and force objects (the force objects specifically include forces and force elements). In addition, the physical system also includes contact objects and related auxiliary data.

[0071] In specific implementation, the object objects in this embodiment at least include the rigid bodies, mass points, modal flexible bodies, and finite element flexible bodies of the multi-body system. An ideal rigid body has six 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 include the moment of inertia. A modal flexible body uses rigid body coordinates plus modal coordinates to describe large-scale motion and small deformations, and reduces the order of the finite element model through modal coordinates, greatly improving efficiency. A finite element flexible body is implemented using nonlinear finite elements to handle the deformation analysis of large-deformation flexible bodies and is an important part of the multi-body - structure integrated solver.

[0072] Among them, a modal flexible body uses the superposition of rigid body displacements and small deformations to achieve large motion and micro-vibration responses. The specific approach is to establish a floating coordinate for each object, and on the basis of the floating coordinate, introduce the fixed interface substructure modal synthesis method (Craig-Bampton method). The displacement of any point on the object can be obtained by superposing the rigid body displacement and the modal deformation. Therefore, the degrees of freedom of a modal flexible body become the degrees of freedom of the rigid body plus the number of modal coordinates. A finite element flexible body uses nonlinear finite element techniques such as the absolute nodal coordinate method or the corotational coordinate method. The former uses the position and two or three gradient vectors of each node as degrees of freedom; the latter establishes a corotational coordinate system for each element, and the deformation of the element is described in the corotational coordinate system. In geometrically nonlinear analysis, the deformation of the element is within the range of small deformations, so the stiffness matrix of the element can become a constant value, thus greatly reducing the computational amount.

[0073] It can be understood that a finite element model belongs to a numerical model used to describe the mechanical behavior of a structure. In finite element analysis, the structure is discretized into a series of interconnected elements (or called elements), and each element 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 computational amount. To reduce the computational cost, the embodiments of the present application can use modal coordinates to reduce the order of the finite element model. The reduced-order model retains the main vibration characteristics of the structure (i.e., modal shapes and corresponding modal frequencies), but greatly reduces the degrees of freedom of the model (i.e., the number of unknowns to be solved). Specifically, the reduced-order model in this 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 vibration. By only retaining these important modal coordinates, the scale of the model can be significantly reduced, thereby reducing the computational cost.

[0074] In the embodiments of the present application, in the description of a modal flexible body, both rigid body coordinates and modal coordinates are used to capture the large-scale 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.

[0075] Furthermore, the constraint object represents the linkage 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 driving object includes unidirectional driving and multi-directional driving. The mathematical expression of the constraint object in this embodiment is as follows:

[0076]

[0077] where q and represent the generalized coordinates and generalized velocities of the object, and t represents time. If the constraint expression explicitly contains t, then the constraint is a stationary constraint; otherwise, it is a non-stationary constraint. If the constraint expression explicitly contains , and it is non-integrable, then the constraint is a non-holonomic constraint; otherwise, it is a holonomic constraint.

[0078] The kinematic pair includes the hinges commonly used in engineering. The kinematic pairs in this embodiment can at least include fixed pairs, revolute pairs, spherical pairs, constant velocity joints, Hooke's joints, and planar pairs. The kinematic pair is an ideal model of some commonly used joints in engineering and is usually a complete fixed-length constraint.

[0079] Correspondingly, the basic constraints include some theoretical geometric constraints. The geometric constraints in this embodiment can at least include parallel constraints, direction constraints, perpendicular constraints, collinear constraints, concurrent constraints, and distance constraints. It can be understood that the geometric constraints are some theoretical constraints, which are the constraints reflected by the simplification or integration of the engineering actual model. In this embodiment, the kinematic pair and the basic constraint (geometric constraint) can be characterized by the following formula:

[0080]

[0081] where , respectively represent the constraints on the position and attitude of point I and point J.

[0082] Correspondingly, the coupling pair represents the relationship between the degrees of freedom of the kinematic pair. For example, the coupling constraints in this embodiment can at least include gear pairs, two-joint coupling pairs, and three-joint coupling pairs. The coupling pair represents the relationship between two or three constrained degrees of freedom and belongs to an additional type of constraint. The basic expression of the coupling pair

[0083]

[0084] where and are the physical quantities unconstrained by the two kinematic pairs, and s is the coupling ratio.

[0085] Accordingly, the special constraints include curve-related constraints. Curve constraints are different from general constraints in that they introduce additional curve parameters to describe the position and direction of the constrained points, including point-line constraints, line-line constraints, and general geometric constraints. They are usually used in common machinery such as cams.

[0086] Furthermore, the force objects in this embodiment include forces and force elements, which belong to some forces (loads) similar to spring components in a multi-body system. They do not affect the degrees of freedom of the system, but the expression forms of forces / force elements are related to the description of the degrees of freedom of the system. Forces / force elements at least include concentrated forces and distributed forces. The concentrated forces in this embodiment include unidirectional forces / moments, three-directional forces / moments, and six-component forces; the distributed forces in 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 objects in this embodiment can be characterized by the following formula:

[0087]

[0088] wherein, the forces / force elements are constructed through function expressions or data elements provided by the user, and the forces / force elements are related to the generalized coordinates and generalized velocities of the system and are related to the system time.

[0089] Furthermore, the contact information in this embodiment expresses the contact information between different types of physical objects and can include various contact types. For example, the contact information in this embodiment can include the contact between entity and entity, the contact between entity and surface, the contact between entity and modal flexible body, the contact between entity and finite element flexible body, and the mutual contact between modal flexible body and finite element flexible body.

[0090] Furthermore, the above-mentioned auxiliary data in this embodiment represents some additional data sets for assisting in the solution calculation. The auxiliary data are some user input arrays and matrices, such as force-displacement curves representing nonlinear stiffness information, a set of coordinate matrices representing a curve data or a space curve. Taking these user-defined data as auxiliary data facilitates the establishment of physical models and mathematical solutions.

[0091] Secondly, for the processing layer (corresponding to the mathematical system), multi-body dynamics simulation ultimately needs to be calculated through the mathematical system. Therefore, the mathematical system needs to map the physical system, which is generally implemented through the following four types of solution analyses, including: dynamic solution analysis, static solution analysis, kinematic solution analysis, and initial equilibrium solution analysis. Correspondingly, the processing layer includes: 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.

[0092] Correspondingly, referring to Figure 3 , in a second aspect, an embodiment of the present application further 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 executes the following steps S01 to S04:

[0093] Step S01, obtain the physical model parameters and specified working condition requirements input by the user;

[0094] Step S02, determine the types of corresponding physical objects according to the physical model parameters and the contact information between physical objects of different types;

[0095] Step S03, generate a topological connection diagram of the multi-body system according to the types of the respective physical objects and the contact information between physical objects of different types;

[0096] Step S04, map the physical model of the multi-body system into a mathematical model according to the topological connection diagram; combine the specified working condition requirements to solve and process the mathematical model to obtain a simulation processing result that meets the specified working condition requirements.

[0097] 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. The types of the equations include at least one of differential-algebraic equations, non-linear equations, and linear equation systems;

[0098] Then, the processing layer determines the analysis type corresponding to the specified working condition requirements according to the specified working condition requirements, where the analysis type includes at least one of dynamic solution analysis, static solution analysis, kinematic solution analysis, and initial equilibrium solution analysis;

[0099] Next, the processing layer determines the corresponding target solution system according to the analysis type. 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;

[0100] Finally, the processing layer uses the target solution system to solve the target equation and obtains a simulation processing result that meets the requirements of the specified working conditions.

[0101] 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 Figure 4 shown. In specific implementation, a physical system is constructed through the input physical model parameters. When the user inputs the physical model parameters at the front end of the computer device, the processor of the computer device will generate a topological connection diagram of the multi-body system according to the input moving bodies, constraints, force elements, and contacts. Based on this topological connection diagram, the connection relationships within the multi-body system can be generated, and corresponding equations can be established. These include the aforementioned physics, constraints / drivers, forces / force elements, contacts, and auxiliary data. The physical model is mapped into a mathematical model, that is, the differential-algebraic equations, non-linear equations, and linear equation systems corresponding to the physical model. Then, considering the analysis type required by the user, the corresponding equations are solved, and finally, a solution result is formed.

[0102] In one embodiment, as Figure 5 shown, when the analysis type is dynamic solution analysis, the method further includes:

[0103] A1: Define the first parameters required for the dynamic solution system. The first parameters at least include the integrator type and integrator parameters;

[0104] A2: According to the analysis type and order set by the user, call the corresponding integrator and solver of the dynamic solution system to solve the target equation and obtain a first simulation processing result. The first simulation processing result at least includes the motion state of the moving body and the action effect of the force element.

[0105] In specific implementation, based on the physical model parameters input by the user at the front-end interface, such as physical objects like moving bodies, kinematic pairs, force elements, contacts, etc., the following corresponding mathematical models can be generated

[0106]

[0107]

[0108] In the above formula Represents information such as the mass and inertia of the moving body; Is the mathematical representation of the elastic force, force element, and contact of the moving body; Is used to characterize the constraint force of the kinematic pair; and Represents kinematic constraints; Represents external force / moment.

[0109] In a specific implementation, the parameters required for the dynamics solution system are defined as follows:

[0110] 1. The Integrator keyword represents the type of integrator and integrator parameters;

[0111] 2. The dynamics solution system can be composed of any number of integrators. These integrators can be called sequentially by the solution system in a certain order, or can be called sequentially with multiple solvers such as a static solver and a kinematic solver; the solution steps can be divided into multiple steps, and multiple analysis steps can be defined sequentially. For example, the first is statics, the second is kinematics, and the third is dynamics. Then the system can execute sequentially according to the input order.

[0112] The specific attribute information of each integrator includes: integrator type, optional integrators such as GSTIFF integrator, WSTIFF integrator, HHT integrator (HHT), etc.; dynamics model, including basic models such as second order (SI2), third order (I3), etc.; 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 mode; integration α coefficient; spectral radius; output sampling ratio. 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.

[0113] In one embodiment, as Figure 6 shown, in the case where the analysis type is static solution analysis, the method further includes:

[0114] B1: Construct a static equilibrium equation set containing a constraint system, and the static equilibrium equation set at least includes complete constraint force, non-complete constraint force, and generalized external force;

[0115] B2: Define the second parameters required for the static solution system, and the second parameters at least include the solver type and solver parameters;

[0116] B3: According to the solution order set by the user, call the corresponding solver of the defined static solution system to solve the static equilibrium equation set, and obtain a second simulation processing result, where the second simulation processing result at least includes the equilibrium state of the multi-body system and the force conditions of each component.

[0117] 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:

[0118] (1) The static solution system can be composed of any number of solvers, and these solvers can be sequentially called by the solution system in a certain order, or can be sequentially called with multiple solvers such as a dynamic integrator and a kinematic solver;

[0119] (2) Each equation system is globally identified by an index and a name keyword;

[0120] (3) The specific attribute information of each integrator includes: solver type, and solvers such as an incremental loading method solver and a dynamic relaxation method solver can be selected;

[0121] (4) The specific attribute information of the incremental loading method solver includes: maximum angular increment; maximum translational increment; error limit; unbalance convergence threshold; maximum number of iterations; maximum number of cycles; damping stability coefficient; iterative solution algorithm, including algorithms such as a conventional algorithm, an improved algorithm, a competitive algorithm, and a comprehensive algorithm; 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.

[0122] (6) The specific attribute information of the dynamic relaxation method solver includes: global damping, relaxation time limit; maximum acceleration error; 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.

[0123] (7) The static solver is used to solve the dynamic equations of the constrained system in the following form:

[0124]

[0125] wherein 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.

[0126] In one embodiment, as Figure 7 shown, in the case where the analysis type is kinematic solution analysis, the method further includes:

[0127] C1. Construct a constrained kinematic equation system according to the constraint equation of the multi-body system;

[0128] C2. Define the third parameters required for the kinematic solution system, and the third parameters at least include an error limit and a maximum number of iterations;

[0129] C3. According to the solution sequence set by the user, call the corresponding solver of the kinematic solution system to solve the constrained kinematic equation set, obtain the current state of the system, and output the third simulation processing result, where the third simulation processing result includes kinematic parameters.

[0130] In the specific implementation of this embodiment, the parameters required by the kinematic solution system are defined as follows:

[0131] (1) The kinematic 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 can be called sequentially with multiple solvers such as a dynamic integrator and a static solver;

[0132] (2) Each equation system is globally identified by an index and a name keyword;

[0133] (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.

[0134] (4) The static solver is used to solve the constrained kinematic equation set in the following form:

[0135]

[0136] The current state of the system is solved through the constraint equation.

[0137] In one embodiment, as Figure 8 shown, in the case where the analysis type is the initial equilibrium solution analysis, the method further includes:

[0138] D1. Construct the initial equilibrium equation set of the multi-body system, where the initial equilibrium equation set at least includes the initial state and constraint conditions of the multi-body system;

[0139] D2. Define the fourth parameter required by the initial equilibrium solution system, where the fourth parameter at least includes the error limit and the maximum number of iterations;

[0140] D3. Call the corresponding solver of the initial equilibrium solution system to perform iterative solution on the initial equilibrium equation set until the preset requirements of the error limit are met, then stop the iteration and output the fourth simulation processing result, where the fourth simulation processing result at least includes the initial equilibrium state of the multi-body system, providing a basis for subsequent dynamic, static or kinematic analysis.

[0141] Specifically, the initial equilibrium solution analysis in this embodiment can include initial configuration analysis, initial velocity analysis, and initial acceleration analysis;

[0142] In a specific implementation, the parameters required for the initial equilibrium solving system are defined as follows:

[0143] (1) The initial equilibrium solver can be composed of any number of solvers. These solvers can be sequentially called by the solving system in a certain order, or can be sequentially called with multiple solvers such as a dynamics integrator and a static solver;

[0144] (2) Each equation system is globally identified by an index and a name keyword;

[0145] (3) The specific attribute information of each integrator includes: error limit; maximum velocity error; maximum number of iterations; maximum angular increment; angular error limit; maximum number of angular iterations; maximum translational 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.

[0146] The beneficial effect of the embodiment of the present application lies in: proposing the mutual mapping between the physical model and the mathematical model. When the physical model is established, the mathematical model is formed through mapping, and then it can be solved according to user requirements. Such mapping realizes the decoupling of the physical model and the mathematical model. It clarifies the relationship between the business and the calculation, and can optimize the business and the calculation respectively, which is convenient for improving the calculation efficiency.

[0147] Embodiment Three

[0148] Please refer to Figure 9 , Figure 9 , which is a schematic structural diagram of an embodiment of a computer device for a data processing method of multi-body system dynamics for implementing Embodiment Two provided by the present application. As Figure 9 shown, the computer device 1 of this embodiment includes: at least one processor 10 ( Figure 9 only one is shown in

[0149] ), 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.

[0150] Figure 9 The computer device shown may include, but is not limited to, a processor 10 and a memory 11. Those skilled in the art can understand that Figure 9 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 combine some components, or different components. For example, it may also include input / output devices, network access devices, etc.

[0151] The so-called processor 10 may be a Central Processing Unit (CPU), and the processor 10 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0152] In some embodiments, the memory 11 may be an internal storage unit of the computer device 1, such as the 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 the internal storage unit and the external storage device of the computer device 1. The memory 11 is used to store an operating system, application programs, a BootLoader, data, and other programs, such as the program code of the computer program, etc. The memory 11 may also be used to temporarily store data that has been output or is to be output.

[0153] 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 the hard disk or memory of the computer device. In some other embodiments, the memory 11 may also be an external storage device of the computer device, such as the Dynamic Random Access Memory (DRAM), Solid State Drive (SSD for short), and Hard Disk Drive (HDD) equipped on the computer device. The memory 11 is used to store the operating system, application programs, BootLoader, 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, and 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 for multi-body system dynamics.

[0154] The above content is a further detailed description of the present invention in combination with specific preferred embodiments. It cannot be determined that the specific implementation of the present invention is only limited to these descriptions. For those of ordinary skill 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 still be made, which should all 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. Any scenario involving limited computing power and limited storage memory can apply the neural network architecture search method mentioned in the present invention to construct a parameter prediction model running on a computing device that meets these constraints.

Claims

1. A data processing method for multi-body system dynamics, characterized in that The method includes: Obtaining physical model parameters and specified working condition requirements input by a user; Determining the types of corresponding physical objects according to the physical model parameters and the contact information between physical objects of different types; Generating a topological connection diagram of the multi-body system according to the types of the respective physical objects and the contact information between physical objects of different types; 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; Wherein, the types of the physical objects include at least one of object objects, constraint objects, drive objects, and force objects; the object objects at least include rigid bodies, mass points, modal flexible bodies, and finite element flexible bodies of the multi-body system; the constraint objects represent the link relationships of the multi-body system; the drive objects at least include unidirectional drives and multi-directional drives; the force objects at least include concentrated forces and distributed forces; Wherein, 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 includes: Determining the connection relationships 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 relationships, and the types of the equations include at least one of differential algebraic equations, non-linear equations, and linear equation systems; Determining an analysis type corresponding to the specified working condition requirements according to the specified working condition requirements, wherein the analysis type includes at least one of dynamic solution analysis, static solution analysis, kinematic solution analysis, and initial equilibrium solution analysis; Determining a corresponding target solution system according to the analysis type, and 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; Solving the target equation by using the target solution system to obtain a simulation processing result that meets the specified working condition requirements.

2. The method according to claim 1, wherein In the case where the analysis type is dynamic solution analysis, the method further includes: Defining first parameters required by the dynamic solution system, and the first parameters at least include an integrator type and integrator parameters; Calling the corresponding integrator and solver of the dynamic solution system according to the analysis type and sequence set by the user to solve the target equation to obtain a first simulation processing result, and the first simulation processing result at least includes the motion state of a moving body and the acting effect of a force element.

3. The method according to claim 1, characterized in that, In the case where the analysis type is static solution analysis, the method further includes: Constructing a static equation system including a constraint system, and the static equation system at least includes complete constraint forces, non-complete constraint forces, and generalized external forces; Defining second parameters required by the static solution system, and the second parameters at least include a solver type and solver parameters; According to the solution sequence set by the user, call the corresponding solver of the defined static analysis system to solve the static equations, and obtain a second simulation result, where the second simulation result at least includes the equilibrium state of the multi-body system and the force conditions of each component.

4. The method according to claim 1, wherein In the case where the analysis type is kinematic analysis, the method further includes: Construct a constrained kinematic equation set according to the constraint equations of the multi-body system; Define the third parameters required for the kinematic analysis system, where the third parameters at least include the error limit and the maximum number of iterations; According to the solution sequence set by the user, call the corresponding solver of the kinematic analysis system to solve the constrained kinematic equation set, obtain the current state of the system, and output a third simulation result, where the third simulation result includes kinematic parameters.

5. The method according to claim 1, characterized in that, In the case where the analysis type is initial equilibrium analysis, the method further includes: Construct an initial equilibrium equation set of the multi-body system, where the initial equilibrium equation set at least includes the initial state and constraint conditions of the multi-body system; Define the fourth parameters required for the initial equilibrium analysis system, where the fourth parameters at least include the error limit and the maximum number of iterations; Call the corresponding solver of the initial equilibrium analysis system to perform iterative solution on the initial equilibrium equation set, and stop the iteration and output a fourth simulation result until the preset requirements of the error limit are met, where the fourth simulation result at least includes the initial equilibrium state of the multi-body system.

6. The method 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 by the modal coordinates; Among them, the rigid body coordinates are used to describe the large-range motion of the modal flexible body, and the modal coordinates are used to describe the small deformation of the modal flexible body.

7. The method according to claim 6, wherein The large-range motion of the modal flexible body at least includes the overall translation and rotational motion of the modal flexible body in space; the small deformation of the modal flexible body at least includes the local tiny deformation generated during vibration or under force.

8. The method according to claim 1, characterized in that, The constrained objects at least include kinematic pairs, basic constraints, coupling pairs, and special constraints; the kinematic pairs at least include fixed pairs, revolute pairs, spherical pairs, constant velocity pairs, Hooke pairs, and planar pairs; the basic constraints at least include parallel constraints, direction constraints, perpendicular constraints, collinear constraints, concurrent constraints, and distance constraints; the coupling pairs are used to represent the relationship between the degrees of freedom of 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.

9. The method according to claim 1, wherein The contact information between different types of physical objects at least includes the contact between entity and entity, the contact between entity and surface, the contact between entity and modal flexible body, the contact between entity and finite element flexible body, and the mutual contact between modal flexible body and finite element flexible body.

10. 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 on the memory. The processor is configured to call the multi-body system dynamics software architecture and run the computer program to execute the relevant steps of the data processing method for multi-body system dynamics according to any one of claims 1 to 9.

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