Multi-body model modeling method and device

Abstract

The invention provides a multi-body model modeling method and device. The multi-body model modeling method comprises the steps that a first subsystem is established, the first subsystem comprises a first real part and a first topological connection, the first topological connection comprises a first end and a second end, the first end is set to be connected to the first real part, and the second end is set to be in an undetermined state; establishing a second subsystem, wherein the second subsystem comprises a second real part; the second end is set to connect to the second real component such that the first topological connection connects the first real component to the second real component.

Description

Technical Field

[0001] The present application relates to the field of multi-body models, and more specifically, to a multi-body modeling method and device. Background Art

[0002] Multi-body model (also known as multi-body dynamics model) is a mathematical model for describing and analyzing a system composed of multiple rigid or flexible bodies that are interconnected and can move relative to each other, and is widely used in the fields of vehicle manufacturing, robotics, aerospace, biodynamics, etc. The prior art modeling of these multi-body models can usually include: dividing the complete system into multiple subsystems, modeling each subsystem in turn, and assembling each subsystem obtained by modeling into a complete system. In the final assembly process, in order to enable the software system to realize automatic assembly between each subsystem, that is, to establish a topological connection across subsystems, it is usually necessary to establish virtual components and / or abstract components such as communicators while establishing the subsystems, otherwise the software system cannot realize automatic assembly. However, the introduction of virtual components and / or communicators makes the modeling of multi-body models less intuitive and friendly for users. Summary of the invention

[0003] The embodiments of the present application provide a multi-body modeling method and device. The following introduces various aspects involved in the embodiments of the present application.

[0004] In a first aspect, a multi-body modeling method is provided, comprising: establishing a first subsystem, the first subsystem comprising a first real component and a first topological connection, the first topological connection comprising a first end and a second end, the first end being set to be connected to the first real component, and the second end being set to a pending state; establishing a second subsystem, the second subsystem comprising a second real component; setting the second end to be connected to the second real component, so that the first topological connection connects the first real component to the second real component.

[0005] In a possible implementation, the method further includes: establishing a third subsystem, the third subsystem including a third real component; setting the second end to be connected to the third real component, so that the first topological connection connects the first real component to the third real component, and the first real component is disconnected from the second real component.

[0006] In a possible implementation, the second subsystem further includes a fourth real component; the method further includes: setting the second end to be connected to the fourth real component, so that the first topological connection connects the first real component to the fourth real component, and the first real component is disconnected from the second real component.

[0007] In a possible implementation, the method further includes: when the second end is set to be connected to the second subsystem but is not successfully set to be connected to any component in the second subsystem, the second end is automatically set to be connected to any component in the second subsystem, so that the first topological connection connects the first real component to the any component.

[0008] In a possible implementation manner, the method further includes: generating a topological connection table of the multi-body model, wherein the topological connection table includes all topological connections across subsystems of the multi-body model.

[0009] In a possible implementation manner, the method further includes: when any end of any topological connection is set to be connected to the ground component, indicating to the user that the topological connection includes the ground component.

[0010] In a possible implementation, the indication is in the form of an information pop-up window or a highlighted mark.

[0011] In a possible implementation, when the first topological connection successfully connects the first real component and the second real component, neither the first real component nor the second real component can be used to establish a new topological connection.

[0012] In a second aspect, a multi-body modeling device is provided, comprising: a memory for storing a program; and a processor for calling and running the program stored in the memory, so that the multi-body modeling device can execute the method described in any implementation of the first aspect.

[0013] According to a third aspect, a computer-readable storage medium is provided, on which a program is stored. When the program is executed by a computer, the computer executes the method according to any implementation of the first aspect.

[0014] According to a fourth aspect, a computer program product is provided, comprising a program, wherein the program enables a computer to execute the method according to any implementation manner of the first aspect.

[0015] In a fifth aspect, a chip is provided, comprising a processor, wherein the processor is capable of calling and running a computer program from a memory, so that a device equipped with the chip is capable of executing the method described in any implementation manner of the first aspect.

[0016] According to a sixth aspect, a computer program is provided, comprising a code for executing the method described in any implementation manner of the first aspect.

[0017] The embodiments of the present application can avoid introducing abstract concepts such as virtual components, input communicators and output communicators in the modeling of multi-body models, making the modeling process more intuitive and easy to understand. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of two typical steps in vehicle modeling.

[0019] Figure 2 It is a schematic block diagram of one implementation method of vehicle modeling in ADAMS / Car software.

[0020] Figure 3 It is a schematic diagram of the topological connection between the McPherson suspension subsystem and several other subsystems.

[0021] Figure 4 It is a schematic block diagram of a multi-body modeling method provided in one embodiment of the present application.

[0022] Figure 5 and Figure 6 It is a schematic diagram of the improved logic of an embodiment of the present application based on ADAMS / Car software.

[0023] Figure 7 It is a schematic diagram of multiple cross-subsystem topological connections of a whole vehicle multi-body model provided by an embodiment of the present application.

[0024] Figure 8 It is a schematic block diagram of a multi-body modeling device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only embodiments of a part of the present application, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present application should fall within the scope of protection of the present application.

[0026] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0027] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention; the terms "first", "second", and "third" are only used for descriptive purposes and should not be understood as indicating or implying relative importance; in addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be directly connected or indirectly connected through an intermediate medium, or it can be the internal connection of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] Multi-body model (also known as multi-body dynamics model) is a mathematical model for describing and analyzing a system composed of multiple rigid or flexible bodies that are interconnected and can move relative to each other, and is widely used in the fields of vehicle manufacturing, robotics, aerospace, biodynamics, etc. The prior art modeling of these multi-body models can usually include: dividing the complete system into multiple subsystems, modeling each subsystem in turn, and assembling each subsystem obtained by modeling into a complete system. In the final assembly process, in order to enable the software system to realize automatic assembly between each subsystem, that is, to establish a topological connection across subsystems, it is usually necessary to establish virtual components and / or abstract components such as communicators while establishing the subsystems, otherwise the software system cannot realize automatic assembly. However, the introduction of virtual components and / or communicators makes the modeling of multi-body models less intuitive and friendly for users.

[0029] To solve the above problems, the embodiments of the present application can avoid establishing virtual components and / or communicators through the following operations, thereby making the modeling of multi-body models more intuitive for users: establish a first subsystem, the first subsystem includes a first real component and a first topological connection, the first end of the first topological connection is connected to the first real component, and the second end is set to a pending state, which can be set to any real component of other subsystems outside the first subsystem later, so that the first topological connection connects the first real component with any of the real components, that is, a topological connection across subsystems is established.

[0030] It is hoped that the modeling tools for multi-body models are very rich, including automatic analysis of mechanical system dynamics (ADAMS), MATLAB / Simulink, RecurDyn, SIMPACK, etc. When processing multi-body models, these softwares all need to divide the overall system into several subsystems in the logical framework, then model each subsystem, and finally assemble the modeled subsystems into a complete system, wherein the assembly process, i.e., establishing a topological connection across subsystems, can make each subsystem associated and form a complete system. Further, when assembling subsystems, these softwares can usually realize automatic assembly of each subsystem, but to realize automatic assembly, it is usually required to establish virtual components, input / output communicators and / or components with similar functions while establishing subsystems, so that the software system can automatically identify the connection mode between subsystems and assemble them. In particular, these softwares usually have modeling elements such as virtual components and input / output communicators, but these modeling elements may have different names in different softwares. For example, virtual components can be called virtual components, virtual bodies, etc. in some software operating environments. Similarly, communicators can be called, for example, interfaces, connectors, joints, etc. in some software operating environments. Although the modeling tools may be different, and the names of the virtual components and / or communicators may be different accordingly, it does not affect that the embodiments of the present application can also be applied to these modeling tools.

[0031] In addition, I would like to point out that multibody models can be applied in many fields such as vehicles, aerospace, robotics, biodynamics, mechanical engineering, etc.

[0032] As an example, the following uses ADAMS software to model a vehicle multi-body model to describe the embodiments of the present application in detail. However, those skilled in the art should understand that the embodiments of the present application can be similarly applied to other multi-body modeling tools and / or other technical fields.

[0033] When modeling a vehicle, the multi-body model of the whole vehicle is often more complex. The multi-body model of a complete vehicle can contain 500 to 1000 degrees of freedom, which is close to more than 100 rigid bodies. In order to facilitate modeling, in all multi-body model simulation software, the multi-body model of the complete vehicle is artificially divided into several subsystems according to certain rules. For example, in ADAMS / Car software, the complete vehicle is divided into suspension subsystem, steering subsystem, wheel subsystem, body subsystem, power subsystem, etc. It is particularly pointed out that ADAMS / Car is a module customized for the automotive industry in the general ADAMS software, which is specifically used for modeling and simulation of vehicle systems.

[0034] Usually, when users create a complete vehicle model, there are two steps: the first step is to model each subsystem; the second step is to assemble the modeled subsystems into a complete vehicle model. Figure 1 Two typical steps of complete vehicle modeling are shown. In particular, in order to facilitate the automatic realization of cross-subsystem topological connections by the software system in the second step, all multi-body modeling software requires the creation of virtual components, communicators or similar functional elements in the relevant subsystems in the first step.

[0035] Figure 2 FIG. 1 shows a schematic block diagram of an implementation method of vehicle modeling in ADAMS / Car software. Figure 2 As shown, in the subsystem modeling process of the first step, after the real component 1 is created, in order to facilitate the automatic assembly of the subsystem by the software system in the second step, that is, to create a topological connection between the real component 1 and the real components in other subsystems (for example, the real component 2 in the subsystem 220 described below), the user also needs to perform the following operations: create a virtual component (also called installing a virtual component) in the subsystem 210, create a topological connection between the real component 1 and the virtual component, create an input communicator for the topological connection, and specify a matching name for the input communicator. On the other hand, after the subsystem 220 and the real component 2 in the subsystem 220 are created, in order to facilitate the automatic creation of a topological connection between the real component 1 and the real component 2 by the software system in the second step, the user also needs to create an output communicator in the subsystem 220, and specify a matching name and the real component 2 for the output communicator. Note that in order to successfully create a topological connection between the real component 1 and the real component 2, the matching name of the input communicator and the matching name of the output communicator should be completely consistent. In addition, according to the modeling rules of ADAMS / Car, the input communicator needs to be established in the same subsystem as the virtual component, while the output communicator needs to be established in another subsystem that needs to establish a cross-subsystem topological connection.

[0036] Then, when subsystem 210 and subsystem 220 are assembled in the second step, if the matching names of the input communicator and the output communicator are completely consistent, the topological connection between the real component 1 in subsystem 210 and the real component 2 in subsystem 220 is realized. If the matching names are inconsistent, the virtual component will be set to the earth, that is, the real component 1 will establish a fixed topological connection with the earth component.

[0037] Through the above implementation, a cross-subsystem topological connection can be established between the real component 1 of the subsystem 210 and the real component 2 of the subsystem 220. It can be noted that in order to establish this topological connection, it is necessary to additionally establish virtual components, input communicators, and output communicators, and these elements are relatively abstract to the user, causing inconvenience to the modeling of the multi-body model.

[0038] In addition, I would like to point out that Figure 2 In the implementation shown, similar to the real component 1, the imaginary component and the real component 2, the topological connection, the input communicator and the output communicator are all basic modeling elements during modeling.

[0039] After a topological connection is established between the real component 1 and the real component 2, if the topological connection needs to be modified, there are two cases.

[0040] Case 1: The real component 2 in the subsystem 220 is modified to another real component (for example, the real component 3) in the subsystem 220. In this case, the subsystem 220 does not need to be changed, and only the real component specified for the output communicator in the subsystem 220 needs to be replaced, for example, with the real component 3, so that the topological connection between the real component 1 and the real component 3 can be established, and the original connection between the real component 1 and the real component 2 is disconnected.

[0041] Case 2: Modify the real component 2 in subsystem 220 to a real component in another subsystem (for example, real component 4). In this case, the user needs to first delete the output communicator in subsystem 220, then create an output communicator in the other subsystem, and specify the matching name of the output communicator and real component 4. Finally, if the matching names of the input communicator and the output communicator are consistent, a topological connection between real component 1 and real component 4 can be established, and the original connection between real component 1 and real component 2 is disconnected.

[0042] The above introduces the establishment and modification of cross-subsystem topological connections in ADAMS / Car. The following uses the vehicle's McPherson suspension subsystem to illustrate the situation of establishing topological connections with multiple other subsystems at the same time.

[0043] Figure 3 A schematic diagram showing the topological connection between the MacPherson suspension subsystem 310 and several other subsystems. Figure 3 The left side of the diagram represents the MacPherson suspension subsystem 310, as shown in FIG. Figure 3As shown, it includes four real components, namely, a shock absorber piston rod component, a half-axle tripod universal joint component, a steering tie rod component, and a shock absorber shock absorber cylinder component. In order to enable the software system to automatically establish topological connections for these four real components, it is also necessary to establish virtual components 1 to 4 and input communicators 1 to 4 in the McPherson suspension subsystem 310 for these four real components. In addition, topological connections are established between the four real components and the corresponding virtual components, such as bushings, translational pairs, constant velocity pairs, and ball pairs, wherein bushings can represent components that can provide a certain degree of rigidity and damping characteristics, translational pairs can represent a type of joint that allows linear motion between two rigid bodies along a specific axis, constant velocity pairs can represent a type of joint that allows relative rotational motion between two rigid bodies, and ball pairs can represent a type of joint that allows relative motion between two rigid bodies with three degrees of rotational freedom.

[0044] Figure 3 The right side of shows the various subsystems that establish topological connections with the MacPherson suspension subsystem 310, which are the body subsystem 320, the power subsystem 330, the steering subsystem 340 and the stabilizer bar subsystem 350. In these subsystems, corresponding output communicators 1 to 4 are established respectively.

[0045] When the matching names of the corresponding communicators are consistent, the software system can automatically establish the corresponding topological connection. That is, it can establish the topological connection between the shock absorber piston rod component and the body component, the topological connection between the universal joint component and the differential output component, the topological connection between the steering rod component and the rack component, and the topological connection between the shock absorber cylinder component and the suspension rod component.

[0046] Taking the McPherson suspension subsystem as an example, the above introduces the situation when a subsystem establishes cross-subsystem topological connections with multiple other subsystems at the same time.

[0047] As can be seen from the above example, when using ADAMS / Car to establish a topological connection across subsystems, it is necessary to create communicators in the two corresponding subsystems, and to create virtual components that have no practical significance in the subsystem where the input communicator is located. In a multi-body model, when there are many topological connections across subsystems, this modeling method is not only abstract for users, but also makes the procedures for establishing each subsystem more cumbersome. Therefore, users are prone to various omissions or negligence during actual operations. For example, when the user is modeling, he fails to set the matching names of the corresponding input communicator and output communicator to be consistent, which will cause a specific real component to be fixedly connected to the ground component, resulting in simulation failure or even software system crash. For another example, the user misses some virtual components and / or communicators, or the user reverses the positions of the input communicator and the output communicator, etc. These errors will lead to simulation failure or even software crash.

[0048] Specifically, the reasons why virtual components must be introduced in ADAMS / Car are as follows. At the subsystem level, topological connections can be divided into two categories: topological connections within subsystems and topological connections across subsystems. Regardless of the topological connection within a subsystem or the topological connection across subsystems, in terms of the final effect, the topological connection must connect two real components, otherwise the multi-body modeling fails and subsequent simulation cannot be performed. When inside a subsystem, a topological connection between two real components inside the subsystem can be directly established. However, when the topological connection involves cross-subsystems, in order to facilitate the ADAMS / Car software system to implement the second step of the automatic assembly process, virtual components must be established in the first step of establishing the subsystem. The necessity of introducing virtual components is that according to the basic logic of the modeling software to implement automatic assembly, all topological connections must identify two components (even virtual components) to achieve automatic assembly. For example, the shock absorber piston rod component and the virtual component 1 constitute two components of the topological connection "bushing". It should be recognized by those skilled in the art that although the reason for introducing virtual components is explained here using ADAMS / Car as an example, this reason is also applicable to other types of multi-body modeling and simulation tools.

[0049] In order to solve the problem that the modeling process of the multi-body model caused by the introduction of elements such as virtual components and / or communicators is more abstract, the embodiment of the present application proposes to replace the automatic assembly process of the second step of the software system with manual assembly, so that it is not necessary to introduce abstract elements such as virtual components and / or communicators in the subsystem modeling process of the first step. Further, in the modeling process of the first step subsystem, the embodiment of the present application sets one end of the topological connection to be connected to a specific real component in the same subsystem, and sets its second end to "pending state". Then, in the second step assembly process, the automatic assembly of the software system is not performed, but the second end of the topological connection is directly selected as a real component connected to another subsystem, thereby establishing a topological connection across subsystems. It is hoped that the "pending state" can represent that the second end of the topological connection has not yet determined the final connection state, and its connection state can be specifically determined again in the subsequent modeling process.

[0050] Through the embodiments of the present application, it is possible to avoid introducing overly abstract concepts such as virtual components and / or communicators when creating a subsystem in the first step, making the entire modeling process more intuitive and user-friendly.

[0051] In particular, when the number of cross-subsystem topological connections is large, the creation process of the subsystem can be simplified due to the omission of abstract components such as virtual components and / or communicators, making the modeling process less error-prone, reducing the probability of simulation failure and improving robustness.

[0052] The technical principle of the present application is introduced above in combination with the prior art, and the technical solution of the present application is further introduced below in combination with specific embodiments.

[0053] Figure 4 FIG. 4 is a schematic block diagram of a multi-body modeling method 400 provided in an embodiment of the present application. Figure 4 As shown, the multi-body modeling method 400 may include steps 410 to 430 .

[0054] Step 410: Establish a first subsystem, the first subsystem comprising a first real component and a first topological connection, the first topological connection comprising a first end and a second end, the first end is set to be connected to the first real component, and the second end is set to be in a pending state.

[0055] Step 420: Establish a second subsystem, where the second subsystem includes a second real component.

[0056] Step 430: Set the second terminal to be connected to the second real component, so that the first topological connection connects the first real component to the second real component.

[0057] In step 410, the "pending state" may indicate that the connection state of the second end of the first topological connection has not been determined, and its connection state may be determined in a subsequent modeling process, for example, determined to be connected to the second real component in the second subsystem.

[0058] Please note that in the embodiment of the present application, a topological connection can represent a modeling element equivalent to a subsystem or a real component, and the difference between them is only in the logical relationship and / or element attributes, etc. For example, the element attribute of a topological connection requires that when creating a topological connection element, the connection status of the first end and the second end of the topological connection needs to be specified.

[0059] Through this embodiment of the present application, it is possible to avoid introducing relatively abstract concepts such as virtual components, input communicators and / or output communicators when creating a subsystem, making the subsystem creation process more intuitive and concise, and thereby reducing possible errors, especially when there are a large number of cross-subsystem topological connections.

[0060] In addition, through this embodiment of the present application, a topological connection across subsystems can be achieved simply by setting the second end of the first topological connection in the first subsystem to be connected to the second real component, without performing any operations in the second subsystem, thereby simplifying the operation of establishing a topological connection across subsystems.

[0061] In some embodiments, the multi-body modeling method 400 may further include: establishing a third subsystem, the third subsystem including a third real component; and setting the second end of the first topological connection to be connected to the third real component, so that the first topological connection connects the first real component to the third real component, and the first real component is disconnected from the second real component.

[0062] In the prior art solutions, if it is necessary to modify an already established cross-subsystem topological connection to connect to a component in another subsystem (for example, a third subsystem), it is necessary to first delete an abstract component such as a communicator in the original subsystem (for example, the second subsystem), and then recreate the communicator in the other subsystem (for example, the third subsystem), and specify a matching name and real component for the communicator, thereby realizing a new cross-subsystem topological connection.

[0063] However, through this embodiment of the present application, the established cross-subsystem topological connection can be modified to be connected to a real component in another new subsystem only by setting the second end of the topological connection in the first subsystem to be connected to a real component in the other new subsystem. Therefore, the operation required to modify the established cross-subsystem topological connection is simplified.

[0064] In some embodiments, the second subsystem may further include a fourth real component, and the multi-body modeling method 400 may further include: setting the second end of the first topological connection to be connected to the fourth real component, so that the first topological connection connects the first real component to the fourth real component, and the first real component is disconnected from the second real component.

[0065] In the prior art, if it is necessary to modify an established cross-subsystem topology connection to connect to another real component in the same subsystem (eg, the second subsystem), it is necessary to re-specify the corresponding real component for the established output communicator.

[0066] However, through this embodiment of the present application, the established cross-subsystem topological connection can be modified to be connected to another real component in the same subsystem only by setting the second end of the topological connection in the first subsystem to be connected to another new real component in the same subsystem. Therefore, the operation required to modify the established cross-subsystem topological connection is simplified.

[0067] In some embodiments, the multi-body modeling method 400 may further include: when the second end of the first topological connection is set to be connected to the second subsystem but is not successfully set to be connected to any component in the second subsystem, the second end is automatically set to be connected to any component in the second subsystem, so that the first topological connection connects the first real component to the any component.

[0068] For example, in step S430, when the user sets the second end of the first topological connection to be connected to the second real component, due to operation errors and the like, the second end of the first topological connection is set to be connected to the second subsystem, but is not more specifically set to be connected to any real component included in the second subsystem. At this time, through this embodiment of the present application, the first topological connection can be automatically connected to any real component in the second subsystem. Thus, it is possible to avoid the second end of the first topological connection being connected to the earth component by default, thereby causing simulation failure or even software system crash.

[0069] It is particularly pointed out that the first topological connection above can determine which real component in the second subsystem is connected to by various means. For example, various random algorithms can be used to determine which component in the second subsystem the second end of the first topological connection is connected to. For another example, the real components in the second subsystem can be numbered in advance, and then the second end of the first topological connection is automatically connected to the real component with the smallest or largest number among all available real components, wherein the available real component refers to a real component that has not yet been established but can be used to establish a topological connection. The above means are only examples, and those skilled in the art will readily appreciate that there are various other means that can be used to determine which real component in the second subsystem the second end of the first topological connection can be connected to.

[0070] In some embodiments, the multi-body modeling method 400 may further include: generating a topology connection table of the multi-body model, the topology connection table including all topology connections across subsystems of the multi-body model.

[0071] Through this embodiment of the present application, the user can more intuitively understand which cross-subsystem topological connections are included in the existing multi-body model, thereby facilitating the establishment of new topological connections and / or the modification of already established topological connections.

[0072] In some embodiments, the multi-body modeling method 400 may further include: when any end of any topological connection is set to be connected to a ground component, indicating to the user that the topological connection includes a ground component.

[0073] The user may still mistakenly select the earth component when setting the real component. Through this embodiment of the present application, the user can be directly informed which topological connection includes the earth component, so that the user can accurately find the topological connection including the earth component and modify it.

[0074] In some embodiments, indicating to the user that the topological connection includes the earth component may be in the form of an information pop-up window or a highlighted mark. For example, an information pop-up window may be used to specifically indicate to the user which topological connection includes the earth component, or the topological connection including the earth component may be highlighted in a specific color (e.g., yellow) to make it easier for the user to locate the position of the earth component.

[0075] In some embodiments, when the first topological connection successfully connects the first real component and the second real component, neither the first real component nor the second real component can be used to establish a new topological connection.

[0076] Through this embodiment of the present application, it is possible to avoid a certain real component being referenced by more than two cross-subsystem topological connections at the same time, thereby avoiding possible software crashes.

[0077] Through the embodiments of the present application, it is possible to avoid the need to introduce abstract components such as virtual components, input communicators and / or output communicators when creating a subsystem, thereby improving the intuitiveness, convenience and robustness of multi-body modeling.

[0078] The above introduces the multi-body modeling method provided by the embodiment of the present application. The following further introduces the technical solution of the present application by using an embodiment based on ADAMS / Car software.

[0079] Figure 5 and Figure 6 Together they show a schematic diagram of the improved logic of an embodiment of the present application based on ADAMS / Car software.

[0080] Figure 5 The first step of the whole vehicle modeling operation in the prior art solution and the first step of the whole vehicle modeling operation based on this embodiment of the present application are shown. Specifically, Figure 5 The upper part represents the implementation scheme based on ADAMS / Car software in the prior art, wherein, as mentioned above, in the first step of vehicle modeling, it is necessary to additionally establish abstract elements such as virtual components, input communicators, and output communicators. Figure 5 The lower part represents the implementation scheme of the embodiment of the present application, wherein the upper dotted frame 503 ′ is entirely replaced by the pending state 503 in the lower part, and the other parts remain unchanged.

[0081] Figure 6 The schematic diagram of the second step of the whole vehicle modeling of this embodiment of the present application is shown. Specifically, in the second step of the whole vehicle modeling, this embodiment of the present application does not automatically assemble through the software system, but specifically sets the pending state 503 to a specific real component of a subsystem, thereby realizing the topological connection across subsystems.

[0082] For example, Figure 6 It is shown that the pending state 603 is set to the real component 2 of any subsystem through modification 604, so that the topological connection 602 can connect the real component 1 with the real component 2 to achieve the topological connection across the subsystems.

[0083] More specifically, the process of creating and modifying the cross-subsystem topology connection according to this embodiment of the present application is as follows.

[0084] First, a cross-subsystem topological connection 602 can be created in the first subsystem, one end of the topological connection 602 can be set to be connected to the real component 1 in the first subsystem, and the other end of the topological connection 602 can be set to be connected to a specific real component (for example, real component 2) in any subsystem, so that the topological connection 602 can be implemented between the real component 1 and the specific real component.

[0085] Repeat the above steps, such as Figure 7 As shown, a vehicle multi-body model 700 including several subsystems such as subsystem A, subsystem B, and subsystem C and the topological connections therebetween can be established. The vehicle multi-body model 700 can include a first topological connection 701 across subsystem A and subsystem B, a second topological connection 702 across subsystem A and subsystem C, and so on. Those skilled in the art should understand that Figure 7 The numbers of subsystems and topological connections are only examples. In fact, the whole vehicle multibody model can contain any number of subsystems, real components and / or topological connections.

[0086] In the whole vehicle multi-body model 700, when the user does not make any changes, unlike the existing technical solutions, since there are no errors that may be caused by communicator creation errors, inconsistent communicator matching names, etc., the real components will not establish a fixed topological connection with the ground components, and therefore the software system is not easy to crash during use and has better robustness.

[0087] If the user wishes to modify the established cross-subsystem topological connection, it is only necessary to operate in a single subsystem to implement the modification. For example, if the user wishes to modify the first topological connection 701, such as changing one end of the first topological connection 701 from the real component B1 of the current subsystem B to the real component C2 of the subsystem C, the user only needs to operate the real component B1 at this end of the topological connection 701. For example, operate the real component B1 to generate an information pop-up window or dialog box. The information pop-up window or dialog box can be similar to a database of a whole vehicle multi-body model, containing all components of the whole vehicle multi-body model. In some embodiments, the information pop-up window or dialog box can have two levels: the first level can represent the subsystem, which is used to help the user first filter out which subsystem the current cross-subsystem topological connection needs to be connected to, such as whether it is connected to subsystem A, subsystem B or subsystem C, etc.; the second level can represent a specific real component in the subsystem. Therefore, in theory, any real component in any subsystem can be selected to achieve the modification of the topological connection. Therefore, the real component B1 can be directly modified to the real component C2, so as to modify the first topological connection 701 to connect the real component A1 with the real component C2. Thus, the abstract and cumbersome elements such as the input communicator, the output communicator, and the imaginary component can be omitted to directly establish the cross-subsystem topological connection. It is hoped that the pop-up window or dialog box listed above is only an exemplary implementation method, and those skilled in the art can easily think of other alternative implementation methods to achieve the modification of the cross-subsystem topological connection.

[0088] Optionally, when a subsystem (e.g., subsystem B) is specified when establishing or modifying a topological connection, but any real component in the subsystem is not specified, the topological connection can be automatically connected to any real component in the subsystem. For example, when creating or modifying the second topological connection 702, subsystem C is specified, but any real component in subsystem C is not specified, then the second topological connection 702 can be automatically connected to any real component in subsystem C. For example, the second topological connection 702 can be randomly connected to the real component in subsystem C. Alternatively, each real component in the subsystem can be numbered in advance, and the second topological connection 702 can be automatically connected to the real component with the smallest or largest number in subsystem C.

[0089] Optionally, a summary list of all established cross-subsystem topological connections may also be provided. For example, the summary list may be implemented in a simple form of a table to indicate which real components in which subsystems have established cross-subsystem topological connections with which real components in other subsystems.

[0090] Optionally, in the event that the earth component is mistakenly selected when establishing or modifying a topological connection, the user may be indicated which cross-subsystem topological connection contains the earth component. For example, the user may be indicated which cross-subsystem topological connection contains the earth component by highlighting it on the general table of topological connections. For another example, when the software system crashes due to the earth component, the user may be prompted which cross-subsystem topological connection contains the earth component in the form of an information pop-up window. As a result, the user can more quickly locate which topological connections contain the earth component, thereby facilitating the modification of erroneous topological connections, reducing the probability of software system crashes, and improving robustness.

[0091] Optionally, when a certain cross-subsystem topological connection has connected a certain real component, the real component can be excluded from establishing a new cross-subsystem topological connection. For example, when establishing a new cross-subsystem topological connection, the real component can be excluded from the database, or it can be inactive in the database and cannot be selected. In this way, it can be avoided that a certain real component is referenced by more than two cross-subsystem topological connections at the same time, thereby reducing the probability of software system crash and improving robustness.

[0092] Through this embodiment of the present application, it is possible to avoid introducing abstract concepts such as virtual components, input communicators and / or output communicators, making the modeling of multi-body models more intuitive and user-friendly. In addition, when modifying the established cross-subsystem topological connection, the modification can be completed by operating only in one subsystem, which improves convenience. In addition, because it does not involve input communicators and output communicators, it is possible to avoid simulation failures caused by inconsistent matching names of communicators, incorrect installation positions of communicators, and even software crashes, thereby improving the robustness of the software system.

[0093] Combination of the above Figures 1 to 7 The method embodiment of the present application is described in detail. Figure 8 The device embodiment of the present application is described in detail. It should be understood that the description of the method embodiment corresponds to the description of the device embodiment, so the parts not described in detail can refer to the previous method embodiment.

[0094] Figure 8 FIG. 8 is a schematic block diagram of a multi-body modeling device 800 provided in an embodiment of the present application. Figure 8As shown, the multi-body modeling apparatus 800 may include a memory 801 and a processor 802. The memory 801 may store a program. The processor 802 may call and run the program stored in the memory 801, so that the multi-body modeling apparatus 800 may perform the following operations: establish a first subsystem, the first subsystem includes a first real component and a first topological connection, the first topological connection includes a first end and a second end, the first end is set to be connected to the first real component, and the second end is set to be in a pending state; establish a second subsystem, the second subsystem includes a second real component; set the second end to be connected to the second real component, so that the first topological connection connects the first real component to the second real component.

[0095] Optionally, the processor 802 can call and run the program stored in the memory 801, so that the multi-body modeling device 800 can also perform the following operations: establish a third subsystem, the third subsystem includes a third real component; set the second end to be connected to the third real component, so that the first topological connection connects the first real component to the third real component, and the first real component is disconnected from the second real component.

[0096] Optionally, the second subsystem also includes a fourth real component; the processor 802 can call and run the program stored in the memory 801, so that the multi-body modeling device 800 can also perform the following operations: set the second end to be connected to the fourth real component, so that the first topological connection connects the first real component to the fourth real component, and the first real component is disconnected from the second real component.

[0097] Optionally, the processor 802 can call and run the program stored in the memory 801, so that the multi-body modeling device 800 can also perform the following operations: when the second end is set to be connected to the second subsystem but is not successfully set to be connected to any component in the second subsystem, the second end is automatically set to be connected to any component in the second subsystem, so that the first topological connection connects the first real component to the any component.

[0098] Optionally, the processor 802 can call and run the program stored in the memory 801, so that the multi-body modeling device 800 can also perform the following operations: generate a topological connection table of the multi-body model, and the topological connection table includes all topological connections across the subsystems of the multi-body model.

[0099] Optionally, the processor 802 can call and run the program stored in the memory 801, so that the multi-body modeling device 800 can also perform the following operations: when any end of any topological connection is set to be connected to the earth component, it is indicated to the user on the topological connection table that the topological connection includes the earth component.

[0100] Optionally, the indication may be in the form of an information pop-up window or a highlighted mark.

[0101] Optionally, the processor 802 can call and run the program stored in the memory 801, so that the multi-body modeling device 800 can also perform the following operations: when the first topological connection successfully connects the first real component and the second real component, neither the first real component nor the second real component can be used to establish a new topological connection.

[0102] The present application also provides a chip in an embodiment, including a processor, which can be used to call and run a computer program from a memory, so that a device equipped with the chip performs the method described in the above method embodiment. It is understood that the processor can be any type of processor. It is understood that the memory can be independent of the chip or integrated in the chip.

[0103] The embodiments of the present application also provide a computer-readable storage medium for storing a program, and the program enables a computer to execute the methods in the embodiments of the present application.

[0104] The embodiment of the present application also provides a computer program product. The computer program product includes a program, and the program enables a computer to execute the methods in the various method embodiments of the present application.

[0105] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present disclosure is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a machine-readable storage medium, or transmitted from one machine-readable storage medium to another machine-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The machine-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital video disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0106] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments of the present disclosure can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present disclosure.

[0107] In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0108] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0109] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0110] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A multi-body modeling method, characterized in that: include: Establishing a first subsystem, the first subsystem comprising a first real component and a first topological connection, the first topological connection comprising a first end and a second end, the first end being set to be connected to the first real component, and the second end being set to a pending state; establishing a second subsystem, the second subsystem comprising a second real component; The second terminal is set to be connected to the second real component, so that the first topological connection connects the first real component to the second real component.

2. The method according to claim 1, characterized in that Also includes: establishing a third subsystem, wherein the third subsystem includes a third real component; The second end is set to be connected to the third real component, so that the first topological connection connects the first real component to the third real component and the first real component is disconnected from the second real component.

3. The method according to claim 1, characterized in that The second subsystem further includes a fourth real component; and the method further includes: The second end is set to be connected to the fourth real component, so that the first topological connection connects the first real component to the fourth real component and the first real component is disconnected from the second real component.

4. The method according to claim 1, characterized in that: Also includes: In the case where the second end is set to be connected to the second subsystem but is not successfully set to be connected to any component in the second subsystem, the second end is automatically set to be connected to any component in the second subsystem so that the first topological connection connects the first real component to the any component.

5. The method according to claim 1, characterized in that: Also includes: A topological connection table of the multi-body model is generated, wherein the topological connection table includes all topological connections across subsystems of the multi-body model.

6. The method according to claim 1, characterized in that Also includes: In the case where either end of any topological connection is set to be connected to an earth component, it is indicated to the user that the topological connection includes the earth component.

7. The method according to claim 6, characterized in that The indication is in the form of an information pop-up window or a highlighted mark.

8. The method according to claim 1, characterized in that In the case where the first topological connection successfully connects the first real component and the second real component, neither the first real component nor the second real component can be used to establish a new topological connection.

9. A multi-body modeling device, characterized in that: include: Memory, used to store programs; A processor is used to call and run the program stored in the memory, so that the multi-body modeling device can perform the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: A program is stored thereon, which, when executed by a computer, causes the computer to execute the method according to any one of claims 1 to 8.

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