Load dynamic balance method, device, equipment and medium in aircraft dynamics analysis under non-inertial system

Abstract

The present application discloses a load dynamic balance method, device, equipment and medium in the dynamic analysis of an aircraft in a non-inertial system, which relates to the field of structural dynamics analysis, and includes: determining the inertial parameters of the finite element model of the aircraft, and calculating the position vectors of the element integration points based on the coordinates of the element nodes; solving the rigid body motion based on the inertial parameters and the external loads of the finite element model to obtain the target vectors, and determining the acceleration vectors of the element integration points according to the position vectors and the target vectors; determining the inertial loads of the element integration points based on the acceleration vectors, generating equivalent nodal inertial loads through the inertial loads, and adding up the equivalent nodal inertial loads and the non-inertial system external load vectors to obtain the nodal load vector of the non-inertial system; determining the unbalanced force and the unbalanced moment according to the nodal load vector and the non-inertial system coordinate origin, and correcting the equivalent nodal inertial loads to complete the load balance. The present application realizes the dynamic balance of the loads in the non-inertial system.

Description

Technical Field

[0001] The present invention relates to the field of structural dynamics analysis, and particularly to a load dynamic balance method, device, equipment and medium in the dynamics analysis of an aircraft in a non-inertial system. Background Art

[0002] In recent years, due to the rapid development of computer hardware technology and computational methods, computational structural dynamics (CSD) based on the finite element method (FEM) has played an increasingly important role in structural design, strength checking and scientific research, and has been widely used in the numerical simulation of various complex structures. Especially in the aerospace field, CSD has become an important tool for aircraft performance analysis and design. With the widespread application of systems such as flexible appendages, multi-segment satellite antennas and flexible robotic arms, the demand for the analysis of such large-range motion structures in engineering has gradually increased. However, due to the strong coupling characteristics of the rigid body motion and flexible deformation of such structures, their dynamic characteristics have changed greatly, and the dynamic solution is relatively difficult.

[0003] At present, the main methods for solving such structures are divided into two categories: the absolute coordinate method and the relative coordinate method. The former is solved in the inertial system, using the slope vector to replace the node rotation coordinates in the traditional finite element method, which can accurately calculate the structural deformation under large rotation and large deformation, but the calculation amount is relatively large. For the latter, its rigid body motion is calculated in the inertial system, and the deformation of the structure is calculated in the non-inertial system following the rigid body motion by adding inertial loads, which can accurately calculate the structural motion with large rotation and small deformation, and the calculation amount is relatively small. When using the relative coordinate method for dynamic analysis, since the strain description method of small deformation is adopted, it is necessary to ensure that the structure does not produce large rigid body displacements in the non-inertial coordinate system. This requires that the loads on the structure in the non-inertial system be balanced to avoid the accumulation of rigid body displacements. For a flexible structure in the non-inertial system, the inertial force it receives can theoretically reach dynamic balance with the external load, but due to the discrete error in the numerical solution process, there are still unbalanced loads on the structure after applying the inertial load. Currently, the commonly used load dynamic balance method is mainly to apply inertial loads to the nodes based on the mass matrix, and at the same time apply constraints to the relevant nodes to limit the rigid body displacement of the structure, so as to achieve the balance between the inertial load and the external force. This method can prevent the structure from generating rigid body displacements and ensure the reliability of the calculation in the non-inertial system. However, since only the acceleration at the nodes is considered when calculating the inertial load, the equivalent integration accuracy of the element inertial force field is relatively low. When the mesh size is large and large rigid body rotation occurs, the load on the element is quite different from the actual inertial load. At the same time, due to the neglect of the changes in the inertial load and the external load within the time step, the analysis results have high requirements for the time step length. For a structure with a relatively large time step setting or insufficient mesh density, in the non-inertial coordinate system, the inertial load and the external load cannot reach balance, resulting in a large support reaction force at the constrained nodes. Local high stress points are generated in the structure, which deviates from the actual state. Therefore, how to achieve load balance in the non-inertial system is an urgent problem to be solved at present. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a load dynamic balance method, device, equipment and medium for aircraft dynamic analysis in a non-inertial system, which can eliminate unbalanced loads, make the loads in the non-inertial system reach dynamic balance, effectively improve the convenience and accuracy of structural deformation calculation in the non-inertial system, and avoid the local high stress phenomenon at the constrained nodes. The specific solutions are as follows:

[0005] In the first aspect, the present application discloses a load dynamic balance method for aircraft dynamic analysis in a non-inertial system, including:

[0006] Construct a finite element model of the aircraft, determine the inertial parameters corresponding to the finite element model, and calculate the position vectors of the element integration points of the finite element model based on the coordinates of the element nodes of the finite element model by using the element shape function;

[0007] Based on the rigid body dynamics algorithm, solve the rigid body motion according to the inertial parameters and the external load of the finite element model to obtain the target vector corresponding to the non-inertial system, and determine the acceleration vector of each unit integration point according to the position vector and the target vector;

[0008] Based on the acceleration vector, determine the inertial load of the unit integration point, and generate the equivalent nodal inertial load by performing equivalent integration on the inertial load. Accumulate each equivalent nodal inertial load and the non-inertial system external load vector determined based on the nodal external load vector in the inertial system to obtain the nodal load vector of the non-inertial system;

[0009] According to the nodal load vector and the non-inertial system coordinate origin, determine the unbalanced force and unbalanced moment, and correct the equivalent nodal inertial load based on the unbalanced force and the unbalanced moment to complete the load balance of the aircraft.

[0010] Optionally, after determining the inertial parameters corresponding to the finite element model, it further includes:

[0011] Determine the centroid of the finite element model as the non-inertial system coordinate origin, and bind the non-inertial system coordinate origin to the rigid body motion of the finite element model, so as to solve the rigid body motion according to the inertial parameters and the external load of the finite element model based on the rigid body dynamics algorithm to obtain the target vector corresponding to the non-inertial system; the inertial parameters include the centroid, mass and moment of inertia of the unit; the target vector includes acceleration vector, angular velocity vector, angular acceleration vector and rotation angle vector.

[0012] Optionally, the calculating the position vector of the unit integration point of the finite element model based on the coordinates of the unit nodes of the finite element model by using the unit shape function includes:

[0013] Calculate the coordinate vector of the unit integration point of the finite element model in the non-inertial system based on the unit shape function and the coordinate vector calculation formula; the coordinate vector calculation formula is:

[0014] ;

[0015] where, is the coordinate vector of the th integration point of the finite element model unit in the non-inertial system; is the coordinate of the th node of the finite element model unit in the inertial system; n is the number of unit nodes, is the unit shape function; are respectively the The coordinates of a Gaussian integration point in the local coordinate system of the element;

[0016] Determine the position vector of the element integration point of the finite element model based on the difference between the coordinate vector of the element integration point of the finite element model in the non-inertial system and the origin coordinate vector of the non-inertial system.

[0017] Optionally, the determining the acceleration vector of each of the element integration points according to the position vector and the target vector includes:

[0018] Determine the acceleration vector of each of the element integration points according to the position vector and the target vector through a preset acceleration vector calculation formula; the preset acceleration vector calculation formula is:

[0019] ;

[0020] ;

[0021] ;

[0022] ;

[0023] ;

[0024] Wherein, is the acceleration vector of the element integration point; is the acceleration vector of the non-inertial system; is the angular velocity vector of the non-inertial system; is the angular acceleration vector of the non-inertial system; is the rotation angle vector of the non-inertial system; , , are the Coriolis acceleration, tangential acceleration and normal acceleration respectively; is the coordinate vector of the th integration point of the finite element model element in the non-inertial system; is the velocity of the integration point in the non-inertial system; is the initial velocity vector of the element integration point; is the initial velocity vector of the non-inertial system origin.

[0025] Optionally, the determining the inertial load of the element integration point based on the acceleration vector and generating an equivalent nodal inertial load by performing equivalent integration on the inertial load includes:

[0026] Determine the inertial load of the element integration point according to the product of the acceleration vector and the material density corresponding to the element integration point;

[0027] Perform Gaussian integration on the inertial loads at the integration points of the element in the local coordinate system of the element to obtain the equivalent nodal inertial loads of the element;

[0028] Accumulate the equivalent nodal inertial loads of each element to obtain the equivalent nodal inertial loads.

[0029] Optionally, the accumulating the equivalent nodal inertial loads and the non-inertial frame external load vector determined based on the nodal external load vector in the inertial frame to obtain the nodal load vector of the non-inertial frame includes:

[0030] Perform vector transformation on the nodal external load vector in the inertial frame according to the vector rotation formula to obtain the non-inertial frame external load vector;

[0031] Accumulate the equivalent nodal inertial loads corresponding to the common nodal positions of different elements to obtain the target equivalent nodal inertial loads;

[0032] Accumulate the target equivalent nodal inertial loads and the non-inertial frame external load vector to obtain the nodal load vector of the non-inertial frame.

[0033] Optionally, the determining the unbalanced force and the unbalanced moment according to the nodal load vector and the non-inertial frame coordinate origin includes:

[0034] Determine the unbalanced force based on a preset unbalanced force calculation formula and the nodal load vector; the preset unbalanced force calculation formula is:

[0035] ;

[0036] Wherein, is the unbalanced force; N is the total number of nodes of the finite element model; is the nodal load vector at the j-th node of the finite element model element;

[0037] Determine the unbalanced moment based on a preset unbalanced moment calculation formula and the nodal load vector; the preset unbalanced moment calculation formula is:

[0038] ;

[0039] Wherein, is the unbalanced moment; is the position vector of the node with the overall node number j.

[0040] Optionally, the correcting the equivalent nodal inertial loads based on the unbalanced force and the unbalanced moment to complete the load balance of the aircraft includes:

[0041] Determine whether the unbalanced force and the unbalanced moment satisfy a preset condition;

[0042] If so, directly end;

[0043] If not, correct the acceleration vector of the current element integration point, determine the corresponding corrected acceleration vector as the acceleration vector of the current element integration point, and re-jump to the step of determining the inertial load of the element integration point based on the acceleration vector until the unbalanced force and the unbalanced moment satisfy the preset condition.

[0044] In a second aspect, the present application discloses a load dynamic balance device in the dynamic analysis of an aircraft in a non-inertial system, including:

[0045] A position vector determination module, configured to construct a finite element model of the aircraft, determine the inertial parameters corresponding to the finite element model, and calculate the position vector of the element integration point of the finite element model based on the coordinates of the element nodes of the finite element model by using the element shape function;

[0046] An acceleration vector determination module, configured to perform rigid body motion solution based on the inertial parameters and the external load of the finite element model according to the rigid body dynamics algorithm to obtain a target vector corresponding to the non-inertial system, and determine the acceleration vector of each element integration point according to the position vector and the target vector;

[0047] A node load vector acquisition module, configured to determine the inertial load of the element integration point based on the acceleration vector, and generate an equivalent node inertial load by performing equivalent integration on the inertial load, and accumulate each equivalent node inertial load and the non-inertial system external load vector determined based on the node external load vector in the inertial system to obtain the node load vector of the non-inertial system;

[0048] A load balance module, configured to determine an unbalanced force and an unbalanced moment according to the node load vector and the non-inertial system coordinate origin, and correct the equivalent node inertial load based on the unbalanced force and the unbalanced moment to complete the load balance of the aircraft.

[0049] In a third aspect, the present application discloses an electronic device, including:

[0050] A memory, configured to store a computer program;

[0051] A processor, configured to execute the computer program to implement the load dynamic balance method in the dynamic analysis of an aircraft in a non-inertial system as described above.

[0052] Fourthly, the present application discloses a computer-readable storage medium for storing a computer program, wherein when the computer program is executed by a processor, it implements the load dynamic balance method in the aircraft dynamics analysis in a non-inertial system as described above.

[0053] The present application first constructs a finite element model of the aircraft, determines the inertial parameters corresponding to the finite element model, and calculates the position vectors of the element integration points of the finite element model based on the coordinates of the element nodes of the finite element model by using the element shape function; then, based on the rigid body dynamics algorithm, rigid body motion solution is performed based on the inertial parameters and the external loads of the finite element model to obtain the target vectors corresponding to the non-inertial system, and the acceleration vectors of each element integration point are determined according to the position vectors and the target vectors; then, the inertial loads of the element integration points are determined based on the acceleration vectors, and by performing equivalent integration on the inertial loads, equivalent nodal inertial loads are generated, and the equivalent nodal inertial loads and the non-inertial system external load vectors determined based on the nodal external load vectors in the inertial system are accumulated to obtain the nodal load vectors of the non-inertial system; finally, the unbalanced forces and unbalanced moments are determined according to the nodal load vectors and the non-inertial system coordinate origin, and the equivalent nodal inertial loads are corrected based on the unbalanced forces and the unbalanced moments to complete the load balance of the aircraft. It can be seen that the present application first calculates the positions of the element integration points through the shape function, secondly calculates the accelerations at the element integration points based on the calculation results of the rigid body dynamics, then calculates the inertial loads at the integration points based on the integration point accelerations and performs equivalent integration on the inertial load field of the element to generate equivalent nodal loads, then calculates the unbalanced loads of the structure relative to the non-inertial system coordinate origin, and then corrects the inertial forces at the structure nodes according to the calculation results to make the loads in the non-inertial system reach dynamic balance. In this way, the present application does not need to add additional nodal constraints, eliminates the unbalanced loads by correcting the acceleration field, can effectively improve the convenience and accuracy of the structural deformation calculation in the non-inertial system, and avoids the local high stress phenomenon at the constrained nodes. Description of the Drawings

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0055] Figure 1 It is a flow chart of a load dynamic balance method in the aircraft dynamics analysis in a non-inertial system disclosed in the present application;

[0056] Figure 2Schematic diagram of an aircraft geometric model disclosed in this application;

[0057] Figure 3 Schematic diagram of a finite element mesh of an aircraft disclosed in this application;

[0058] Figure 4 Schematic diagram of integral point acceleration calculation disclosed in this application;

[0059] Figure 5 Schematic diagram of the structure of a load dynamic balance device in the dynamic analysis of an aircraft in a non-inertial system disclosed in this application;

[0060] Figure 6 Schematic diagram of the structure of an electronic device disclosed in this application.

[0061] Reference numerals:

[0062] 1 - hexahedron solid element; 2 - element integral point (global coordinates); 3 - non-inertial coordinate system; 4 - element integral point (local coordinates); 5 - element local coordinate system; 6 - element integral domain. Detailed implementation manners

[0063] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0064] The currently commonly used load dynamic balance method mainly applies inertial loads to nodes based on the mass matrix, and at the same time applies constraints to relevant nodes to limit the rigid body displacement of the structure, so as to achieve the balance between inertial loads and external forces. This method can prevent the structure from generating rigid body displacement and ensure the reliability of calculations in the non-inertial system. However, since only the acceleration at the nodes is considered in the calculation of inertial loads, the equivalent integration accuracy of the element inertial force field is relatively low. When the mesh size is large and there is a large rigid body rotation, the loads on the elements are quite different from the actual inertial loads. At the same time, due to the neglect of the changes in inertial loads and external loads within the time step, the analysis results have relatively high requirements for the time step length. For structures with a relatively large time step setting or insufficient mesh density, in the non-inertial coordinate system, the inertial loads and external loads cannot reach balance, resulting in relatively large support reactions at the constrained nodes. Local high stress points are generated in the structure, which deviates from the actual state. To solve the above technical problems, the present application discloses a load dynamic balance method in the non-inertial system for aircraft dynamics analysis, which can achieve dynamic balance of loads in the non-inertial system, effectively improve the convenience and accuracy of structure deformation calculation in the non-inertial system, and avoid the occurrence of local high stress phenomena at the constrained nodes.

[0065] See Figure 1 As shown, an embodiment of the present invention discloses a load dynamic balance method in the non-inertial system for aircraft dynamics analysis, including:

[0066] Step S11: Construct a finite element model of the aircraft, determine the inertial parameters corresponding to the finite element model, and calculate the position vectors of the element integration points of the finite element model based on the coordinates of the element nodes of the finite element model using the element shape function.

[0067] When performing dynamics analysis in the non-inertial system, the influence of the non-inertial system on the deformation of the flexible body is exerted by inertial loads. The unbalanced loads of the non-inertial system under the combined action of external loads and inertial loads are mainly caused by the discretization errors of the finite element analysis in space and time. Therefore, the equivalent distribution of the inertial load field at the nodes and the timely correction of the acceleration field within each time increment step are the keys to eliminating the unbalanced loads. The present application first meshes the geometric model that needs to perform rigid-flexible coupling analysis, and sets node constraints, node loads, material properties, and time step length according to boundary conditions, material types, and analysis requirements to obtain a structural finite element model. Specifically, due to the symmetry of the geometric model and loads of the test case, half of the aircraft model is selected for dynamics analysis. The specific steps are as follows: For the given aircraft geometric model as Figure 2 shown, based on the symmetry of the geometric model and loads, select half of the model for meshing to obtain Figure 3The finite element mesh of the shown structure; apply constraints perpendicular to the symmetry plane at the nodes of the symmetry plane of the model, that is, apply symmetric boundary conditions, set the material property as an isotropic linear elastic material, with an elastic modulus of 180 GPa and a Poisson's ratio of 0.3, apply equivalent nodal loads along the normal direction at the wing, apply a gravitational load vertically downward to the entire model, and set the time increment step , and obtain the finite element model of the aircraft. It should be noted that this application is not limited to load balancing of aircraft in a non-inertial system, and the same applies to other solid structures that can build finite element models.

[0068] After that, use the finite element model to calculate the centroid, mass, and moment of inertia of each element one by one using the coordinate mapping method, and calculate several types of inertial parameters of the aircraft model using the weighted average method, the cumulative method, and the parallel axis formula respectively. Set the origin of the non-inertial coordinate system at the centroid of the model. At the same time, based on the inertial parameters and external loads of the model, use the rigid body dynamics algorithm to solve the rigid body motion of the structure, and obtain the acceleration vector, angular velocity vector, angular acceleration vector, and rotation angle vector in the non-inertial system. And after determining the inertial parameters corresponding to the finite element model, determine the centroid of the finite element model as the origin of the non-inertial coordinate system, and bind the origin of the non-inertial coordinate system to the rigid body motion of the finite element model, so as to solve the rigid body motion based on the inertial parameters and the external loads of the finite element model according to the rigid body dynamics algorithm to obtain the target vectors corresponding to the non-inertial system; the inertial parameters include the centroid, mass, and moment of inertia of the element; the target vectors include the acceleration vector, angular velocity vector, angular acceleration vector, and rotation angle vector.

[0069] Then, based on the coordinates of the element nodes, use the element shape function for interpolation to calculate the position vector of the element integration point in the non-inertial coordinate system. Taking Figure 4 the given 1-hexahedron solid element as an example, calculate the coordinate vector of the element integration point of the finite element model in the non-inertial system using the element shape function and the coordinate vector calculation formula; the coordinate vector calculation formula is:

[0070] ;

[0071] where is the coordinate vector of the th integration point of the finite element model element in the non-inertial system; is the coordinate of the th node of the finite element model element in the inertial system; n is the number of element nodes, is the element shape function, which can be selected according to the element type; are respectively the The coordinates of the Gaussian integration points in the local coordinate system of the element; the position vector of the element integration point of the finite element model is determined based on the difference between the coordinate vector of the element integration point of the finite element model in the non-inertial system and the origin coordinate vector of the non-inertial system.

[0072] Step S12: Based on the rigid body dynamics algorithm, perform rigid body motion solution based on the inertial parameters and the external load of the finite element model to obtain the target vector corresponding to the non-inertial system, and determine the acceleration vector of each element integration point based on the position vector and the target vector.

[0073] In this embodiment, after binding the origin of the non-inertial system coordinates to the rigid body motion of the finite element model, the vector corresponding to the inertia of the non-inertial system is convenient to correspond to the inertial system. Therefore, the rigid body motion can be solved based on the inertial parameters and the external load of the finite element model according to the rigid body dynamics algorithm to obtain the target vector corresponding to the non-inertial system; the inertial parameters include the centroid, mass, and moment of inertia of the element; the target vector includes the acceleration vector, angular velocity vector, angular acceleration vector, and rotation angle vector.

[0074] After obtaining the acceleration vector, angular velocity vector, angular acceleration vector, and rotation angle vector corresponding to the non-inertial system, calculate the acceleration vector of each element integration point in a loop. For the i-th integration point in the element, use the obtained integration point position vector and the acceleration vector, angular velocity vector, angular acceleration vector, and rotation angle vector of the non-inertial system, and based on the acceleration calculation formula of the particle system, calculate the acceleration at the element integration point, that is, determine the acceleration vector of each element integration point according to the position vector and the target vector through the preset acceleration vector calculation formula; the preset acceleration vector calculation formula is:

[0075] ;

[0076] ;

[0077] ;

[0078] ;

[0079] ;

[0080] Where is the acceleration vector of the element integration point; is the acceleration vector of the non-inertial system; is the angular velocity vector of the non-inertial system; is the angular acceleration vector of the non-inertial system; is the rotation angle vector of the non-inertial system; 、 、 They are the Coriolis acceleration, the tangential acceleration, and the normal acceleration, respectively; is the coordinate vector of the th integration point of the finite element model element in the non-inertial system; is the velocity of the integration point in the non-inertial system, which is updated through subsequent finite element dynamics analysis in the non-inertial system; is the initial velocity vector of the element integration point; is the initial velocity vector of the origin of the non-inertial system.

[0081] Step S13: Determine the inertial load of the element integration point based on the acceleration vector, and generate an equivalent nodal inertial load by performing equivalent integration on the inertial load. Accumulate each equivalent nodal inertial load and the non-inertial system external load vector determined based on the nodal external load vector in the inertial system to obtain the nodal load vector of the non-inertial system.

[0082] In this embodiment, the inertial load of the element integration point is determined according to the product of the acceleration vector and the material density corresponding to the element integration point; it is illustrated by the formula. Using the acceleration obtained at each integration point and the material density at the integration point , calculate the inertial load of the inertial distributed load at the integration point according to D'Alembert's principle:

[0083] .

[0084] Calculate the structural equivalent nodal inertial load. First, use the value of the inertial distributed load at the integration point to perform Gaussian integration in the element local coordinate system to obtain the element equivalent nodal inertial load . Perform Gaussian integration on the inertial load of the element integration point in the element local coordinate system to obtain the element equivalent nodal inertial load; accumulate the element equivalent nodal inertial loads to obtain the target equivalent nodal inertial load. Specifically,

[0085] ;

[0086] ;

[0087] where is the number of integration points of each element, is the value of the inertial distributed load at the th integration point. Among them , , are the coordinates of the th node in the element, is the element shape function of the th node, , , is the vector of the element integration point in the local coordinate system.

[0088] Then, the equivalent nodal inertial loads of different elements are accumulated to obtain the target equivalent nodal inertial load of the structure. :

[0089] ;

[0090] where m is the total number of elements containing the node with the overall node number k. is the load on this node in the above-mentioned kk-th element.

[0091] When accumulating the equivalent nodal inertial load and the non-inertial frame external load vector determined based on the nodal external load vector in the inertial frame to obtain the nodal load vector of the non-inertial frame, the vector transformation is performed on the nodal external load vector in the inertial frame according to the vector rotation formula to obtain the non-inertial frame external load vector; the equivalent nodal inertial loads corresponding to the common node positions of different elements are accumulated to obtain the target equivalent nodal inertial load; finally, the target equivalent nodal inertial load and the non-inertial frame external load vector are accumulated to obtain the nodal load vector of the non-inertial frame. Specifically, first, when calculating the external load vector in the non-inertial frame, for the nodal external load vector , through vector transformation according to the vector rotation transformation formula, the nodal external load vector in the non-inertial frame is obtained:

[0092] ;

[0093] where is the external load vector at the -th node, is the axis direction of the structure rotating around the origin of the non-inertial frame coordinates, is the rotation angle of the structure around . Then, calculate the external load vector in the non-inertial frame. The inertial load vector and the external load vector at each node are accumulated to obtain the nodal load vector in the non-inertial frame.

[0094] Step S14: Determine the unbalanced force and unbalanced moment according to the nodal load vector and the origin of the non-inertial frame coordinates, and correct the equivalent nodal inertial load based on the unbalanced force and the unbalanced moment to complete the load balance of the aircraft.

[0095] In this embodiment, when determining the unbalanced force and the unbalanced moment according to the nodal load vector and the origin of the non-inertial coordinate system, that is, when calculating the residual unbalanced load of the structure relative to the origin of the non-inertial coordinate system under the combined action of the nodal inertial load and the external load in the non-inertial system, the unbalanced force is determined based on a preset unbalanced force calculation formula and the nodal load vector; the preset unbalanced force calculation formula is:

[0096] ;

[0097] Wherein, is the unbalanced force; N is the total number of nodes of the finite element model; is the nodal load vector at the j-th node of the finite element model element.

[0098] The unbalanced moment is determined based on a preset unbalanced moment calculation formula and the nodal load vector; the preset unbalanced moment calculation formula is:

[0099] ;

[0100] Wherein, is the unbalanced moment; is the position vector of the node with the overall node number j.

[0101] After that, the acceleration at the integration point can be corrected based on the residual unbalanced load, and the inertial load on each node can be corrected to achieve dynamic balance of the load. In this process, it is judged whether the unbalanced force and the unbalanced moment meet the preset conditions; if so, it ends directly; if not, the acceleration vector of the current element integration point is corrected, and the corresponding corrected acceleration vector is determined as the acceleration vector of the current element integration point, and then it jumps back to the step of determining the inertial load of the element integration point based on the acceleration vector until the unbalanced force and the unbalanced moment meet the preset conditions. That is to say, when correcting the acceleration at the integration point, the rigid body angular acceleration and acceleration generated by the unbalanced load are calculated again using the rigid body dynamics program, and the acceleration vector and angular acceleration vector of the non-inertial system obtained in the above process are corrected:

[0102] ;

[0103] ;

[0104] After the correction, the step of determining the inertial load of the element integration point based on the acceleration vector is re-executed using the corrected acceleration parameters until the unbalanced force and the unbalanced moment Meet the accuracy requirements to achieve the load balance of the aircraft. In addition, this application can also use the structural finite element dynamics integration algorithm to calculate the corrected nodal load vector The displacements of the nodes at the origin of the non-inertial coordinate system and the rotations of the boundary nodes relative to the origin of the coordinate system under the action. Output an evaluation report on the dynamic balance effect of the loads in the non-inertial system of the object. The staff can further determine the dynamic balance effect based on the output evaluation report.

[0105] It can be seen that this application first calculates the positions of the element integration points through the shape function, then calculates the accelerations at the element integration points based on the results of rigid body dynamics, then calculates the inertial loads at the integration points based on the integration point accelerations and performs equivalent integration on the inertial load field of the element to generate equivalent nodal loads, then calculates the unbalanced loads of the structure relative to the origin of the non-inertial coordinate system, and then corrects the inertial forces at the structure nodes according to the calculation results to make the loads in the non-inertial system reach dynamic balance. In this way, this application does not need to add additional nodal constraints and eliminates the unbalanced loads by correcting the acceleration field, which can effectively improve the convenience and accuracy of the structural deformation calculation in the non-inertial system and avoid the local high stress phenomenon at the constrained nodes.

[0106] Based on the previous embodiment, this application discloses a method for dynamic load balance in the dynamics analysis of an aircraft in a non-inertial system. Next, the implementation process of the dynamic load balance in the dynamics analysis of a specific aircraft in a non-inertial system will be described.

[0107] This application first, for a given geometric model of the aircraft, based on the symmetry of the geometric model and the loads, selects half of the model for mesh division to obtain a structural finite element mesh; applies constraints perpendicular to the symmetry plane at the nodes of the symmetry plane of the model, that is, applies symmetric boundary conditions, sets the material property as an isotropic linear elastic material, with an elastic modulus of 180 GPa and a Poisson's ratio of 0.3, applies equivalent nodal loads along the normal direction at the wing, applies a vertical downward gravity load to the entire model, and sets the time increment step to obtain the finite element model of the aircraft. Then, using the finite element model, the centroid, mass, and moment of inertia of each element are calculated one by one using the coordinate mapping method, and several types of inertial parameters of the aircraft model are calculated using the weighted average method, the accumulation method, and the parallel axis formula respectively. Set the origin of the non-inertial coordinate system at the centroid of the model. At the same time, based on the inertial parameters and external loads of the model, the rigid body motion of the structure is solved using the rigid body dynamics algorithm to obtain the acceleration vector, angular velocity vector, angular acceleration vector, and rotation angle vector of the non-inertial system.

[0108] Then, the position vectors of each element integration point are obtained in a loop. Use the element shape function and the coordinate vector calculation formula to calculate the coordinate vectors of the element integration points of the finite element model in the non-inertial system based on the coordinates of the element nodes of the finite element model; the coordinate vector calculation formula is:[[]]

[0109] ;

[0110] wherein, is the coordinate vector of the th integration point of the finite element model unit in the non-inertial system; is the coordinate of the th node of the finite element model unit in the inertial system; n is the number of unit nodes, is the unit shape function, which can be selected according to the unit type; are respectively the coordinates of the th Gauss integration point in the local coordinate system of the unit; The position vector of the integration point of the finite element model is determined based on the difference between the coordinate vector of the integration point of the finite element model unit in the non-inertial system and the origin coordinate vector of the non-inertial system.

[0111] After binding the origin of the non-inertial system coordinates to the rigid body motion of the finite element model, the vector corresponding to the inertia of the non-inertial system is convenient for correspondence with the inertial system. Therefore, the rigid body motion can be solved based on the inertial parameters and the external load of the finite element model according to the rigid body dynamics algorithm to obtain the target vector corresponding to the non-inertial system; The inertial parameters include the centroid, mass, and moment of inertia of the unit; The target vectors include the acceleration vector, angular velocity vector, angular acceleration vector, and rotation angle vector. After obtaining the acceleration vector, angular velocity vector, angular acceleration vector, and rotation angle vector corresponding to the non-inertial system, the acceleration vector of each unit integration point is calculated iteratively. For the

[0112] ;

[0113] ;

[0114] ;

[0115] ;

[0116] ;

[0117] wherein, is the acceleration vector of the unit integration point; is the acceleration vector of the non-inertial system; is the angular velocity vector of the non-inertial system; is the angular acceleration vector of the non-inertial system; is the angular displacement vector of the non-inertial system; , , are the Coriolis acceleration, tangential acceleration, and normal acceleration respectively; is the coordinate vector of the -th integration point of the finite element model element in the non-inertial system; is the velocity of the integration point in the non-inertial system, which is updated through subsequent finite element dynamics analysis in the non-inertial system; is the initial velocity vector of the element integration point; is the initial velocity vector of the origin of the non-inertial system.

[0118] Next, using the accelerations obtained at each integration point and the material density at the integration point, calculate the inertial load of the inertial distributed load at the integration point according to D'Alembert's principle:

[0119] .

[0120] Calculate the equivalent nodal inertial load of the structure. First, use the values of the inertial distributed load at the integration point to perform Gaussian integration in the local coordinate system of the element to obtain the equivalent nodal inertial load ,

[0121] ;

[0122] ;

[0123] where n is the number of integration points of each element, is the value of the inertial distributed load at the i-th integration point. Among them , , are the coordinates of the j-th node in the element, is the shape function of the element of the j-th node, , , are the vectors of the element integration points in the local coordinate system. Then, accumulate the equivalent nodal inertial loads of different elements to obtain the target equivalent nodal inertial load of the structure:

[0124] ;

[0125] where m is the total number of elements containing the node with the overall node number k. is the load on this node in the above-mentioned kk-th element.

[0126] When calculating the external load vector in a non-inertial system, for the nodal external load vector in the inertial system , according to the vector rotation transformation formula, the nodal external load vector in the non-inertial system is obtained through vector transformation :

[0127] ;

[0128] wherein, is the external load vector at the th node, is the axis direction of the structure rotating around the origin of the non-inertial system coordinates, is the rotation angle of the structure around . Then calculate the external load vector in the non-inertial system. Add the inertial load vector and the external load vector at the node to obtain the nodal load vector in the non-inertial system.

[0129] Finally, simplify it with respect to the origin of the non-inertial system coordinates to obtain the unbalanced force and the unbalanced moment :

[0130] ;

[0131]

[0132] wherein, is the unbalanced force; N is the total number of nodes of the finite element model; is the nodal load vector at the jth node of the finite element model element; is the unbalanced moment; is the position vector of the node with the overall node number j.

[0133] Finally, the integration point acceleration can be corrected based on the residual unbalanced load, and the inertial loads at each node can be corrected to achieve dynamic balance of the load. When correcting the integration point acceleration, use the rigid body dynamics program to recalculate the rigid body angular acceleration and acceleration generated by the unbalanced load, and correct the acceleration vector and angular acceleration vector of the non-inertial system obtained in the above process:

[0134] ;

[0135] ;

[0136] After correction, use the corrected acceleration parameters to re-execute the step of determining the inertial load of the element integration point based on the acceleration vector until the unbalanced force and unbalanced moment Meet the accuracy requirements to achieve the load balance of the aircraft.

[0137] It can be seen that this application uses an inertial load application method based on integration points to equivalent the distributed inertial load to the nodes, and corrects the acceleration field according to the unbalanced load to achieve the dynamic balance of the load. At the same time, there is no need to add additional node constraints. By correcting the acceleration field to eliminate the unbalanced load, it can effectively improve the convenience and accuracy of the structural deformation calculation in the non-inertial system, and avoid the local high stress phenomenon at the constrained nodes.

[0138] See Figure 5 As shown, the embodiment of the present invention discloses a load dynamic balance device in the aircraft dynamics analysis in the non-inertial system, including:

[0139] A position vector determination module 11, configured to construct a finite element model of the aircraft, determine the inertial parameters corresponding to the finite element model, and calculate the position vectors of the unit integration points of the finite element model based on the coordinates of the unit nodes of the finite element model by using the unit shape function;

[0140] An acceleration vector determination module 12, configured to perform rigid body motion solution based on the inertial parameters and the external load of the finite element model according to the rigid body dynamics algorithm to obtain a target vector corresponding to the non-inertial system, and determine the acceleration vectors of the unit integration points according to the position vectors and the target vectors;

[0141] A node load vector acquisition module 13, configured to determine the inertial load of the unit integration point based on the acceleration vector, and generate an equivalent node inertial load by performing equivalent integration on the inertial load, and accumulate the equivalent node inertial loads and the non-inertial system external load vectors determined based on the node external load vectors in the inertial system to obtain the node load vector of the non-inertial system;

[0142] A load balance module 14, configured to determine the unbalanced force and unbalanced moment according to the node load vector and the non-inertial system coordinate origin, and correct the equivalent node inertial load based on the unbalanced force and the unbalanced moment to complete the load balance of the aircraft.

[0143] It can be seen that in this application, first, the position of the integration point of the element is calculated through the shape function. Secondly, the acceleration at the integration point of the element is calculated based on the calculation result of rigid body dynamics. Then, the inertial load at the integration point is calculated based on the acceleration of the integration point, and the inertial load field of the element is equivalently integrated to generate an equivalent nodal load. Next, the unbalanced load of the structure relative to the origin of the non-inertial coordinate system is calculated. Then, according to the calculation result, the inertial force at the structure node is corrected to make the load in the non-inertial system reach dynamic balance. In this way, this application does not need to add additional nodal constraints, eliminates the unbalanced load by correcting the acceleration field, can effectively improve the convenience and accuracy of the structural deformation calculation in the non-inertial system, and avoids the local high stress phenomenon at the constrained nodes.

[0144] In some specific embodiments, the device may further include:

[0145] A rigid body motion binding module, configured to determine the centroid of the finite element model as the origin of the non-inertial coordinate system, and bind the origin of the non-inertial coordinate system to the rigid body motion of the finite element model, so as to solve the rigid body motion based on the inertial parameters and the external load of the finite element model according to the rigid body dynamics algorithm to obtain the target vectors corresponding to the non-inertial system; the inertial parameters include the centroid, mass, and moment of inertia of the element; the target vectors include the acceleration vector, angular velocity vector, angular acceleration vector, and rotation angle vector.

[0146] In some specific embodiments, the position vector determination module 11 may specifically include:

[0147] A coordinate vector calculation unit, configured to calculate the coordinate vector of the integration point of the finite element model in the non-inertial system based on the element shape function and the coordinate vector calculation formula using the coordinates of the element nodes of the finite element model; the coordinate vector calculation formula is:

[0148] ;

[0149] Wherein, is the coordinate vector of the th integration point of the finite element model element in the non-inertial system; is the coordinate of the th node of the finite element model element in the inertial system; n is the number of element nodes, is the element shape function; are the coordinates of the th Gaussian integration points in the local coordinate system of the element respectively;

[0150] A position vector determination unit for determining the position vector of the element integration points of the finite element model based on the difference between the coordinate vector of the element integration points of the finite element model in the non-inertial system and the origin coordinate vector of the non-inertial system.

[0151] In some specific embodiments, the acceleration vector determination module 12 may specifically include:

[0152] An acceleration vector calculation unit for determining the acceleration vector of each element integration point according to a preset acceleration vector calculation formula based on the position vector and the target vector; the preset acceleration vector calculation formula is:

[0153] ;

[0154] ;

[0155] ;

[0156] ;

[0157] ;

[0158] Wherein, is the acceleration vector of the element integration point; is the acceleration vector of the non-inertial system; is the angular velocity vector of the non-inertial system; is the angular acceleration vector of the non-inertial system; is the rotation angle vector of the non-inertial system; , , are the Coriolis acceleration, tangential acceleration and normal acceleration respectively; is the coordinate vector of the th integration point of the finite element model element in the non-inertial system; is the velocity of the integration point within the non-inertial system; is the initial velocity vector of the element integration point; is the initial velocity vector of the non-inertial system origin.

[0159] In some specific embodiments, the node load vector acquisition module 13 may specifically include:

[0160] An inertial load determination unit for determining the inertial load of the element integration point according to the product of the acceleration vector and the material density corresponding to the element integration point;

[0161] The element equivalent nodal inertial load acquisition unit is used to perform Gaussian integration on the inertial load at the integration points of the element in the local coordinate system of the element to obtain the element equivalent nodal inertial load;

[0162] The equivalent nodal inertial load acquisition unit is used to accumulate the equivalent nodal inertial loads of the respective elements to obtain the equivalent nodal inertial load.

[0163] In some specific embodiments, the nodal load vector acquisition module 13 may specifically include:

[0164] The non-inertial frame external load vector acquisition unit is used to perform vector transformation on the nodal external load vector in the inertial frame according to the vector rotation formula to obtain the non-inertial frame external load vector;

[0165] The target equivalent nodal inertial load acquisition unit is used to accumulate the equivalent nodal inertial loads corresponding to the common nodal positions of different elements to obtain the target equivalent nodal inertial load;

[0166] The nodal load vector acquisition unit of the non-inertial frame is used to accumulate the target equivalent nodal inertial load and the non-inertial frame external load vector to obtain the nodal load vector of the non-inertial frame.

[0167] In some specific embodiments, the load balancing module 14 may specifically include:

[0168] The unbalanced force determination unit is used to determine the unbalanced force based on a preset unbalanced force calculation formula and the nodal load vector; the preset unbalanced force calculation formula is:

[0169] ;

[0170] Wherein, is the unbalanced force; N is the total number of nodes of the finite element model; is the nodal load vector at the j-th node of the finite element model element;

[0171] The unbalanced moment determination unit is used to determine the unbalanced moment based on a preset unbalanced moment calculation formula and the nodal load vector; the preset unbalanced moment calculation formula is:

[0172] ;

[0173] Wherein, is the unbalanced moment; is the position vector of the node with the overall node number j.

[0174] In some specific embodiments, the load balancing module 14 may specifically include:

[0175] A determination unit for determining whether the unbalanced force and the unbalanced moment satisfy preset conditions;

[0176] A first judgment result execution unit for directly ending if so;

[0177] A second judgment result execution unit for, if not, correcting the acceleration vector of the current element integration point, determining the corresponding corrected acceleration vector as the acceleration vector of the current element integration point, and re-jumping to the step of determining the inertial load of the element integration point based on the acceleration vector until the unbalanced force and the unbalanced moment satisfy the preset conditions.

[0178] Furthermore, an embodiment of the present application also discloses an electronic device. Figure 6 It is a structural diagram of an electronic device 20 shown according to an exemplary embodiment. The content in the figure should not be regarded as any limitation on the scope of use of the present application.

[0179] Figure 6 It is a schematic structural diagram of an electronic device 20 provided by an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. Among them, the memory 22 is used to store a computer program, and the computer program is loaded and executed by the processor 21 to implement the relevant steps in the load dynamic balance method in the non-inertial system aircraft dynamics analysis disclosed in any of the foregoing embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0180] In this embodiment, the power supply 23 is used to provide working voltages for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows is any communication protocol applicable to the technical solution of the present application, and no specific limitation is imposed on it here; the input / output interface 25 is used to obtain external input data or output data to the outside, and its specific interface type can be selected according to specific application needs, and no specific limitation is imposed here.

[0181] In addition, as a carrier for resource storage, the memory 22 may be a read-only memory, a random access memory, a magnetic disk, or an optical disc, etc. The resources stored thereon may include an operating system 221, a computer program 222, etc., and the storage method may be short-term storage or permanent storage.

[0182] Among them, the operating system 221 is used to manage and control each hardware device and computer program 222 on the electronic device 20, and it can be Windows Server, Netware, Unix, Linux, etc. In addition to the computer program that can be used to complete the load dynamic balance method in the non-inertial system aircraft dynamics analysis executed by the electronic device 20 disclosed in any of the foregoing embodiments, the computer program 222 can further include computer programs that can be used to complete other specific tasks.

[0183] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the load dynamic balance method in the non-inertial system aircraft dynamics analysis disclosed above. For the specific steps of this method, reference can be made to the corresponding content disclosed in the foregoing embodiments, and details will not be repeated here.

[0184] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and reference can be made to the method part for related parts.

[0185] Those skilled in the art can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this article can be implemented by electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0186] The steps of the method or algorithm described in combination with the embodiments disclosed in this article can be directly implemented by hardware, a software module executed by a processor, or a combination of both. The software module can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, register, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field.

[0187] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising said element.

[0188] The technical solutions provided in this application have been introduced in detail above. Specific examples are used in this text to elaborate on the principles and implementation manners of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application. At the same time, for those of ordinary skill in the art, based on the idea of this application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to this application.

Claims

1. A method for dynamic load balance in aircraft dynamics analysis under non-inertial system, characterized in that: include: Constructing a finite element model of the aircraft, determining inertia parameters corresponding to the finite element model, and calculating position vectors of unit integration points of the finite element model based on coordinates of unit nodes of the finite element model using unit shape functions; Solving rigid body motion based on the inertial parameters and the external load of the finite element model according to a rigid body dynamics algorithm to obtain a target vector corresponding to a non-inertial system, and determining an acceleration vector of each unit integration point according to the position vector and the target vector; Determine the inertia load of the unit integration point based on the acceleration vector, and generate an equivalent node inertia load by equivalently integrating the inertia load, accumulate each of the equivalent node inertia loads and a non-inertial system external load vector determined based on a node external load vector in an inertial system, and obtain a node load vector of the non-inertial system; Determining an unbalanced force and an unbalanced moment according to the node load vector and the non-inertial system coordinate origin, and correcting the equivalent node inertial load based on the unbalanced force and the unbalanced moment to complete load balancing of the aircraft; The calculating the position vector of the unit integration point of the finite element model based on the coordinates of the unit nodes of the finite element model by using the unit shape function comprises: The coordinate vector of the unit integration point of the finite element model in the non-inertial system is calculated based on the coordinates of the unit nodes of the finite element model using the unit shape function and the coordinate vector calculation formula; the coordinate vector calculation formula is: ； in, The finite element model element The coordinate vectors of the integration points in the non-inertial system; The finite element model unit The coordinates of the nodes in the inertial system; n is the number of unit nodes, is the unit shape function; Respectively The coordinates of the Gaussian integration points in the local coordinate system of the element; Determine the position vector of the unit integration point of the finite element model based on the difference between the coordinate vector of the unit integration point of the finite element model in the non-inertial system and the origin coordinate vector of the non-inertial system; The step of accumulating the equivalent nodal inertial loads and the non-inertial system external load vector determined based on the nodal external load vector in the inertial system to obtain the nodal load vector of the non-inertial system includes: Performing vector transformation on the node external load vector in the inertial system according to the vector rotation formula to obtain the external load vector of the non-inertial system; Accumulating the equivalent nodal inertia loads corresponding to the common node positions of different units to obtain the target equivalent nodal inertia load; The target equivalent nodal inertia load is accumulated with the non-inertial system external load vector to obtain the nodal load vector of the non-inertial system.

2. The method for dynamic load balance in aircraft dynamics analysis under non-inertial system according to claim 1, characterized in that: After determining the inertia parameters corresponding to the finite element model, the method further includes: The center of mass of the finite element model is determined as the origin of the non-inertial coordinate system, and the origin of the non-inertial coordinate system is bound to the rigid body motion of the finite element model, so as to solve the rigid body motion based on the inertial parameters and the external load of the finite element model according to the rigid body dynamics algorithm to obtain the target vector corresponding to the non-inertial system; the inertial parameters include the center of mass, mass and moment of inertia of the unit; the target vector includes the acceleration vector, angular velocity vector, angular acceleration vector and angle vector.

3. The method for dynamic load balance in aircraft dynamics analysis under non-inertial system according to claim 2, characterized in that: The step of determining the acceleration vector of each unit integration point according to the position vector and the target vector comprises: The acceleration vector of each unit integration point is determined according to the position vector and the target vector by a preset acceleration vector calculation formula; the preset acceleration vector calculation formula is: ； ； ； ； ； in, is the acceleration vector of the unit integration point; is the acceleration vector of the non-inertial system; is the angular velocity vector of the non-inertial system; is the angular acceleration vector of the non-inertial system; is the rotation angle vector of the non-inertial system; , , They are Coriolis acceleration, tangential acceleration and normal acceleration respectively; The finite element model element The coordinate vectors of the integration points in the non-inertial system; is the velocity of the integration point in the non-inertial system; is the initial velocity vector of the unit integration point; is the initial velocity vector of the origin of the non-inertial system.

4. The method for dynamic load balance in aircraft dynamics analysis under non-inertial system according to claim 1, characterized in that: The step of determining the inertia load of the unit integration point based on the acceleration vector and generating an equivalent node inertia load by equivalently integrating the inertia load comprises: Determine the inertia load of the unit integration point according to the product of the acceleration vector and the material density corresponding to the unit integration point; Performing Gaussian integration on the inertia load of the unit integration point in the unit local coordinate system to obtain the unit equivalent node inertia load; The equivalent node inertia loads of each unit are accumulated to obtain the equivalent node inertia load.

5. The load dynamic balancing method in the aircraft dynamics analysis in a non-inertial system according to any one of claims 1 to 4, characterized in that: The determining of the unbalanced force and unbalanced moment according to the node load vector and the non-inertial system coordinate origin comprises: The unbalanced force is determined based on a preset unbalanced force calculation formula and the node load vector; the preset unbalanced force calculation formula is: ； in, is the unbalanced force; N is the total number of nodes of the finite element model; is the node load vector at the jth node of the finite element model unit; The unbalanced moment is determined based on a preset unbalanced moment calculation formula and the node load vector; the preset unbalanced moment calculation formula is: ； in, is the unbalanced moment; is the position vector of the node with overall node number j.

6. The method for dynamic load balance in aircraft dynamics analysis under non-inertial system according to claim 1, characterized in that: The correcting the equivalent node inertia load based on the unbalanced force and the unbalanced moment to complete the load balancing of the aircraft includes: Determining whether the unbalanced force and the unbalanced moment meet preset conditions; If so, end directly; If not, the acceleration vector of the current unit integration point is corrected, the corresponding corrected acceleration vector is determined as the acceleration vector of the current unit integration point, and the process jumps again to the step of determining the inertia load of the unit integration point based on the acceleration vector until the unbalanced force and the unbalanced torque meet the preset conditions.

7. A load dynamic balancing device for aircraft dynamics analysis in a non-inertial system, characterized in that: include: A position vector determination module, used to construct a finite element model of the aircraft, determine the inertia parameters corresponding to the finite element model, and calculate the position vector of the unit integration point of the finite element model based on the coordinates of the unit nodes of the finite element model using the unit shape function; An acceleration vector determination module is used to perform a rigid body motion solution based on the inertial parameters and the external load of the finite element model according to a rigid body dynamics algorithm to obtain a target vector corresponding to a non-inertial system, and determine an acceleration vector of each unit integration point according to the position vector and the target vector; A node load vector acquisition module, used for determining the inertia load of the unit integration point based on the acceleration vector, and generating an equivalent node inertia load by equivalently integrating the inertia load, accumulating each of the equivalent node inertia loads and a non-inertial system external load vector determined based on a node external load vector in an inertial system, and acquiring a node load vector of the non-inertial system; A load balancing module, used to determine an unbalanced force and an unbalanced moment according to the node load vector and the non-inertial system coordinate origin, and to correct the equivalent node inertial load based on the unbalanced force and the unbalanced moment to complete the load balancing of the aircraft; The position vector determination module comprises: A coordinate vector calculation unit is used to calculate the coordinate vector of the unit integration point of the finite element model in the non-inertial system based on the coordinates of the unit nodes of the finite element model using the unit shape function and the coordinate vector calculation formula; the coordinate vector calculation formula is: ； in, The finite element model element The coordinate vectors of the integration points in the non-inertial system; The finite element model unit The coordinates of the nodes in the inertial system; n is the number of unit nodes, is the unit shape function; Respectively The coordinates of the Gaussian integration points in the local coordinate system of the element; a position vector determining unit, configured to determine the position vector of the unit integration point of the finite element model based on the difference between the coordinate vector of the unit integration point of the finite element model in the non-inertial system and the origin coordinate vector of the non-inertial system; The node load vector acquisition module includes: A non-inertial system external load vector acquisition unit, used for performing vector transformation on the node external load vector in the inertial system according to a vector rotation formula to obtain the non-inertial system external load vector; A target equivalent nodal inertia load acquisition unit, used for accumulating the equivalent nodal inertia loads corresponding to the common node positions of different units to acquire the target equivalent nodal inertia load; The non-inertial system node load vector acquisition unit is used to accumulate the target equivalent node inertial load and the non-inertial system external load vector to obtain the non-inertial system node load vector.

8. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor is used to execute the computer program to implement the load dynamic balancing method in the aircraft dynamics analysis under the non-inertial system as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: Used to store a computer program, wherein when the computer program is executed by a processor, the load dynamic balancing method in the aircraft dynamics analysis under a non-inertial system as claimed in any one of claims 1 to 6 is implemented.

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