A method for modeling and numerical simulation of shipborne tethered balloon multi-body dynamics

Abstract

The application discloses a kind of shipborne tethered balloon multi-body dynamics modeling and numerical simulation method, the multi-body dynamics model of shipborne tethered balloon is established, then the modeling process is programmed using program language and is completed secondary development modeling and simulation in multi-body dynamics calculation software, submit solver for calculation.The application is based on the advantage that flexible connection such as shaft sleeve force can be equivalent to replace rigid connection such as ball hinge pair in the system, so as to reduce the number of constraint equations in the vehicle multi-body system dynamics equation, and then realize more efficient real-time simulation and control of shipborne tethered balloon.

Description

Technical Field

[0001] This invention belongs to the field of shipborne tethered balloon technology, and particularly relates to a method for multibody dynamics modeling and numerical simulation of shipborne tethered balloons. Background Technology

[0002] A tethered balloon is an aerostat that uses a lighter-than-air gas within its body for buoyancy to rise and remain suspended in the air. It is connected to mooring equipment via tethering cables and is currently the most technologically advanced and widely used type of aerostat. Shipborne tethered balloons, as a branch of tethered balloons, can use ships as mooring platforms, enabling them to conduct wide-area sea condition observations and weather warnings.

[0003] As the application fields of tethered balloons gradually expand, the requirements for their ascent altitude, cruising time, anti-interference capabilities, and shape are becoming increasingly stringent. This necessitates further optimization of the performance, strength, and stability of the tethered balloon system and its components in various aspects. However, the tethering cables are heavy, span a large wind field, experience complex forces, exhibit significant horizontal wind resistance integration, and suffer from large wind speed differences between the troposphere and stratosphere. This makes the cables and balloon body prone to abnormal attitudes and failures, making dynamic analysis quite difficult. Therefore, modeling and mechanical analysis of tethered balloon systems are of significant theoretical and engineering practical value for promoting the development of tethered balloons.

[0004] In recent years, research by experts and scholars both domestically and internationally has covered mainstream solutions for tethered balloon attitude and stress analysis. Most solutions primarily utilize structural mechanics, computational fluid dynamics, and thermodynamics, focusing on three aspects: stress and strain on the tethered balloon surface, overall shape changes, and overall system stress analysis. Solutions considering multibody system dynamics mainly concentrate on the stress and attitude changes of individual balloon components, and further in-depth research is possible. However, using structural mechanics, computational fluid dynamics, and thermodynamics for stress analysis and attitude change calculations on tethered balloons is time-consuming, and the predominantly finite element method (FEM) software used by third-party commercial software is highly packaged and cannot handle specific external load settings for particular operating conditions. Summary of the Invention

[0005] Purpose of the invention

[0006] To address the technical problem that tethered balloon cables and balloon bodies are prone to abnormal attitudes and failures, making dynamic analysis difficult, this invention provides a method for multibody dynamics modeling and numerical simulation of shipborne tethered balloons.

[0007] Invention Technology Solutions

[0008] A method for multibody dynamics modeling and numerical simulation of a shipborne tethered balloon includes: (1) establishing a discrete multi-rigid-shoulder force / moment model of the shipborne tethered balloon rope system. First, the tethering rope is discretized into a combination of multiple cylindrical rigid body components, with adjacent components connected by ball joints. Based on the force conditions, all other rigid ball joint connections except those directly connected to the hull and balloon are equivalently replaced by bushing force / moment connections. Based on the rope material properties and the calculation formula of bushing force, a discrete multi-rigid-shoulder mechanical model of the tethering rope is established.

[0009] (2) Considering the effects of wind load on the moored balloon and waves on the ship, mechanical models corresponding to different external loads were established. For the external wind load mechanical model, calculation formulas for aerodynamic lift, aerodynamic drag, aerodynamic lateral force, aerodynamic pitching moment, aerodynamic yaw moment, and aerodynamic rolling moment were constructed. Simultaneously, an external wave load driving function model was constructed, compiling the displacement and rotation of the ship under wave load into a time-series data table. At each moment, the corresponding displacement and rotation were input, and the forces and moments were calculated using the dynamics formulas of a rigid body. When the analysis object is a ship, the value of the wind load mechanical model is 0; when the calculation object is a cable or moored balloon, the value of the wave load constraint driving function is 0.

[0010] (3) Establish the multi-rigid-body dynamic equations for the entire shipborne tethered balloon system. The shipborne tethered balloon system is decomposed into components: the hull, the balloon, and several cable subsystems. The hull and balloon are considered as 6-DOF rigid bodies, and each cable is discretized into a subsystem composed of multiple cylindrical rigid body components. A global Cartesian reference coordinate system for the multi-body system is established, with the geometric center of the tethered balloon at rest as the origin. Simultaneously, a local Cartesian reference coordinate system is established, using virtual reference points on each component extending to the origin of the global coordinate system as the origin of the local reference coordinate system. This allows the acquisition of the position and direction vectors of each component. Considering the forces / torques of the multi-rigid-shoulder system and external wind loads, based on the principle of virtual work and by introducing system and wave load constraints through the Lagrange multiplier method, the multi-body system dynamic equations for the entire system are obtained.

[0011] (4) The modeling process is programmed in a programming language and secondary development is completed in multibody dynamics software. The geometry, kinematic pair relationship, bushing force and external load model of each component are constructed in a loop through Python script. Measurement parameters are set, and finally calculation and evaluation are performed in Adams / View to realize real-time analysis of the motion response of each component of the shipborne tethered balloon system.

[0012] Advantages of this invention: Based on the mechanical formula of bushing force, this invention can effectively decompose the cable into several discrete rigid bodies and perform equivalent replacement of the rigidly connected ball joint, thereby reducing the number of constraint equations in the shipborne tethered balloon system and achieving more efficient real-time simulation calculations. By combining Python programming language and Adams' Python-oriented API interface, this invention designs a procedural modeling method for shipborne tethered balloons and establishes a multibody system dynamic model. Simulation verification and evaluation of the motion response of the shipborne tethered balloon system were conducted under specific sea states, wind speeds, and different wind directions. This method achieves the goal of simulation analysis under simulated actual working conditions, providing model support and design reference for the theoretical design and actual flight tests of shipborne tethered balloons, and has significant theoretical value for the study of system attitude changes under different sea states. Attached Figure Description

[0013] Figure 1 Schematic diagram of the equivalent replacement of the discrete multi-rigid-body-spherical joint model with the discrete multi-rigid-body-sleeve force model for the mooring cable;

[0014] Figure 2 This is a diagram showing the connection of kinematic pairs for each component in the system;

[0015] Figure 3 This is a fitting plot of aerodynamic coefficient data;

[0016] Figure 4 The diagram shows the wave load driving function.

[0017] Figure 5 This is a multibody dynamics model of a shipborne tethered balloon built through secondary development in Adams.

[0018] Figure 6 The motion of a shipborne tethered balloon under the combined loads of wind and waves;

[0019] Figure 7 The diagram shows the pitch angle changes of the balloon under three conditions: wind speed of 15 m / s, meaningful wave height of 6.894 m, wave load of 12.13 s across zero period, 320 discrete rigid body segments, and wind direction facing the balloon head with 0°, 5° and 10° deflection.

[0020] Figure 8 The graph shows the changes in the balloon's sway angle under three conditions: wind speed of 15 m / s, meaningful wave height of 6.894 m, wave load across zero period of 12.13 s, 320 discrete rigid body segments, and wind direction facing the balloon's head with 0°, 5°, and 10° deflection.

[0021] Figure 9The graph shows the changes in the balloon's roll angle under three conditions: wind speed of 15 m / s, meaningful wave height of 6.894 m, wave load across zero period of 12.13 s, 320 discrete rigid body segments, and wind direction facing the balloon's head with 0°, 5°, and 10° deflection.

[0022] Figure 10 (a) and (b) are force and moment diagrams of the discrete rigid body numbered 100 in the middle of the cable under three conditions: wind speed of 15 m / s, meaningful wave height of 6.894 m, wave load across zero period of 12.13 s, 320 discrete rigid body segments, and wind direction facing the balloon head with 0° deflection, 5° deflection and 10° deflection.

[0023] Figure 11 The process of modeling a specific physical model using the discrete multi-rigid-spherical joint method.

[0024] Figure 12 The wave load is 12.13s with a wind speed of 15m / s, a meaningful wave height of 6.894m, a zero-cycle period of 12.13s, a wind direction deflected at 0° to the balloon head, and displacement diagrams of the tethered balloon in the X direction under conditions with 220, 320, and 420 segments of tethering cable.

[0025] Figure 13 The diagram shows the Y-direction displacement of the tethered balloon under the following conditions: wind speed of 15 m / s, meaningful wave height of 6.894 m, wave load of 12.13 s across zero period, wind direction directly facing the balloon head with 0° deflection, and tether cable segments of 220, 320, and 420 segments.

[0026] Figure 14 The diagram shows the pitch angle changes of the tethered balloon under the following conditions: wind speed of 15 m / s, meaningful wave height of 6.894 m, wave load of 12.13 s across zero period, wind direction directly facing the balloon head with 0° deflection, and tether cable segments of 220, 320 and 420 segments.

[0027] Figure 15 The time-series data of displacement and attitude of the tethered balloon are statistically presented in violin plots under the following conditions: wind speed of 15 m / s, meaningful wave height of 6.894 m, wave load of 12.13 s across zero period, wind direction directly facing the balloon head with 0° deflection, and tether cable segments of 220, 320 and 420 segments.

[0028] Figure 16 This is a system model architecture diagram. Detailed Implementation

[0029] The present invention is achieved through the following technical solution.

[0030] See Figures 1 to 6 , Figures 11-15A method for multibody dynamics modeling and numerical simulation of shipborne tethered balloons includes the following steps: the discrete multi-rigid-body-spherical-joint method modeling principle is as follows: Figure 13 As shown.

[0031] 1. Establish a dynamic model for a shipborne tethered balloon.

[0032] (1) Establish a multi-rigid-body dynamic model of the shipborne tethered balloon as a whole. The multi-body system is the shipborne tethered balloon.

[0033] The steps to establish the multi-rigid-body dynamics equations for a shipborne tethered balloon include:

[0034] ① Decompose the components of the multibody system to obtain several rigid bodies with 6 degrees of freedom, and write them into the component set N.

[0035] ② Establish a global Cartesian reference coordinate system for the multibody system; the origin of the global Cartesian coordinate system is the geometric center of the tethered balloon when it is stationary.

[0036] ③ Select component i from the component set N, and establish a local Cartesian reference coordinate system with the virtual reference point s on component i that extends to the origin of the global coordinate system as the origin of the local reference coordinate system. The initial value of i is 1.

[0037] ④ Determine whether i≥n holds true. If yes, proceed to step ⑤; otherwise, let i = i+1 and return to step ③. n is the number of elements in the component set N.

[0038] ⑤ Establish the Cartesian coordinates q of the multibody system, that is:

[0039] q i ≡[x i ,y i ,z i ,ψ i ,θ i ,φ i ] T =(r i z i ) T (1)

[0040] In the formula, r = (r1 r2…r) n ) T Let z be the position matrix of the rigid body in the global coordinate system, where z = (z1z2…z…). n ) T Let be the direction matrix of the local coordinates of the rigid body in the global coordinate system.

[0041] ⑥ Based on the principle of virtual work, constraint equations are introduced using Lagrange multipliers to obtain the multibody mechanics of the system:

[0042]

[0043] In the formula, M is the rigid body mass matrix of the system, Φ is the constraint equation of the system, F is the external force matrix of the system, p is the external torque matrix of the system, J′ is the inertia tensor matrix of the system, and ω is the angular velocity matrix of the system.

[0044] (2) Establish the discrete multi-rigid-body-shoulder force dynamics equations for the shipborne tethered balloon multibody system. The steps include:

[0045] ①Establish the discrete multi-rigid-body dynamics equations of the mooring cable constrained by the ball joint, as follows: Figure 1 As shown, that is:

[0046]

[0047] In the formula, A i Let be the Euler rotation matrix of the local coordinates of the discrete rigid body i of the cable relative to the global coordinates, and s be the vector of the center of the ball joint in the local coordinate system of the discrete rigid body.

[0048] ② The rigid constraint equations of some ball joints are equivalently replaced by the force / moment constraint equations of the bushing model, such as... Figure 1 As shown, that is:

[0049]

[0050] Q bu =[F bu p bu ] T =K·Δq (9)

[0051] In the formula, F bu P is the bushing force generated when adjacent discrete rigid bodies undergo displacement. bu Q is the bushing torque generated when adjacent discrete rigid bodies rotate. bu Let K be the generalized bushing force, and K be the stiffness coefficient matrix of the bushing, whose matrix is ​​diag(k 11 k 22 k 33 k 44 k 55 k 66 It is a diagonal matrix of the form ), where the value of k is related to the material properties, and Δq is the generalized relative displacement between adjacent discrete rigid bodies.

[0052] ③ Combining the Newton-Euler dynamics equations of the spatial constraint system, the ball joint constraint equations, and the force / moment constraint equations of the bushing model, the discrete multi-rigid-body-shoulder force dynamics equations for the mooring cable are established, namely:

[0053]

[0054]

[0055] In the formula, n represents the number of discrete rigid bodies in the cable, and i represents the number of connections between these discrete rigid bodies. When i is 1 or n+1, it represents the connection between the beginning and end of the cable and the remaining components of the shipborne tethered balloon system, such as... Figure 2 As shown.

[0056] (3) The rigid connection of some ball joints is equivalently replaced by a force / moment model of the bushing model. An equivalent bushing force model is established using the cable material properties and the calculation formula for bushing force, namely:

[0057] Q bu =[F bu p bu ] T =K·Δq=K·(ΔrΔz) T (14)

[0058] F bu =diag(k) 11 k 22 k 33 )·Δr (15)

[0059] p bu =diag(k) 44 k 55 k 66 )·Δz (16)

[0060] In the formula, Δr is the relative displacement between adjacent discrete rigid bodies, and Δz is the relative rotation angle between adjacent discrete rigid bodies. In formulas 10 and 11, when the bushing force and moment between discrete rigid bodies are not zero, their magnitudes can be calculated according to formulas 15-16.

[0061] (4) Establish mechanical models corresponding to different external loads, including the wind load on the tethered balloon and the wave force acting on the hull, and introduce the external loads into the dynamic equations.

[0062] ① Construct an external wind load mechanical model, namely:

[0063]

[0064] In the formula, F L For aerodynamic lift, F D For aerodynamic drag, F Z For aerodynamic lateral force, T a T Y T R These are the aerodynamic pitching moment, aerodynamic yaw moment, and aerodynamic rolling moment, respectively. Correspondingly, C L C D C Z Ca C Y C R These are the aerodynamic lift coefficient, aerodynamic drag coefficient, aerodynamic lateral force coefficient, aerodynamic pitching moment coefficient, aerodynamic yaw moment coefficient, and aerodynamic rolling moment coefficient, ρ. air For air density, v air The calculation of the aerodynamic coefficient is as follows: (This refers to the calculation of the aerodynamic coefficient for airflow velocity, i.e., wind speed.) Figure 3 As shown.

[0065] ② Construct an external wave load driving function model, namely:

[0066]

[0067] In the formula, Ф S The driving constraint function of the ship in the shipborne moored balloon system is divided into the movement constraint Ф. K and rotational constraint Ф D The system consists of two parts. It compiles the displacement and rotation of the ship under wave load into a time-series data table. At each moment, the corresponding displacement and rotation are input, and the forces and moments are calculated using the dynamic formulas of the rigid body.

[0068] ③ The external load model is loaded into the unified dynamic model of the shipborne tethered balloon, that is:

[0069]

[0070] The effect of wind load on the ship has been calculated using the driving function. When the unified dynamic formula is used to calculate the ship, the wind load mechanical model F... b and p b The value is 0, while when the unified dynamic formula calculates the objects of cables and tethered balloons, the constraint driving function Ф of the wave load is 0. K and Ф D The constraint driving function of the ship under wave load is 0, as shown below. Figure 4 As shown.

[0071] 2. The modeling process is programmed using a programming language, and secondary development simulation is completed in multibody dynamics software. The steps include:

[0072] (1) Using the variable n in Python, the shape of each component in the system and its initial position and orientation in the global coordinate system are established through the program loop structure and point and rigid body modeling statements in the API.

[0073] (2) Using the variable i in Python, the kinematic pair relationship of each component in the system is established through the program loop structure and the kinematic pair modeling statement in the API;

[0074] (3) Using the string format in Python, the bushing force and external wind load on each component in the system are established through the program loop structure and the bushing force and generalized force modeling statements in the API;

[0075] (4) Using the string format in Python, the wave load driving force of the ship components in the system is established through the program loop structure and the spline curve and driving function modeling statement in the API;

[0076] (5) Using the measurement statements in the API, the simulation quantities to be measured are preset, including the pitch angle, yaw angle, roll angle of the balloon component, and the displacement, force, and torque of the discrete rigid body of the cable.

[0077] (6) Open the .py file written in Python and combined with Adams API in Adams / View, perform calculations and solve the problem, and evaluate the measurement items under different working conditions. It can effectively evaluate the motion response of each component in the shipborne tethered balloon system in real time.

[0078] A multibody dynamics model of a shipborne tethered balloon, built in Adams using a programming language and API interfaces, is shown below. Figure 5 As shown. The external load parameters under different operating conditions are characterized by: the number of discrete rigid bodies being 220, 320, and 420 segments respectively; the wind speed being determined to be 15 m / s; the wind direction being determined to be 0° deflection directly towards the balloon's head; the sea state being determined to be sea state 4; the significant wave height being 6.894 m; the period being 12.13 s; and the wave direction being determined to be 45° towards the ship. The motion of the system under the combined wind and wave loads is as follows: Figure 6 As shown.

[0079] 3. The modeling principle of the discrete multi-rigid-body-spherical joint method is as follows: Figure 11 As shown, the working condition analysis of shipborne tethered balloons under different numbers of discrete rigid bodies on the cables is compared to... Figure 12-15 As shown.

[0080] (1) In terms of the absolute value of the displacement of the tethered balloon, the X displacement of the tethered cable with 420 segments increased by 0.65m and the Y displacement increased by 0.43m compared with the case with 220 segments. The change was less than 0.1%, while the pitch angle increased by 0.61°, with an increase of more than 3.6%. The overall change was not greater than 5%. This means that the current number of cable segments has reached the convergence value of the number of cable segments. Continuing to increase the number of cable segments will not cause a significant change in the balloon's motion attitude and will tend to be stable.

[0081] Table 1. Kinematic response of the cable system under different number of segments.

[0082]

[0083]

[0084] (2) From the time-series data, the number of cable segments significantly affects the attitude of the tethered balloon. The time-series dataset of the model with 220 segments is generally narrow, while the time-series data of the other two models are more concentrated when the pitch angle is 1-2°. This phenomenon indicates that the pitch angle of the model with 220 segments changes faster than the other two models throughout the simulation. The models with 320 and 420 segments maintain a stable pitch angle within a certain range for a longer period during the simulation. Therefore, under greater external loads, the model with 220 segments may cause abnormal balloon attitude or even failure due to the rapid change in the balloon's pitch angle.

[0085] (3) When the external load increases, the model with 420 segments has a longer time in a larger pitch angle than other models, so its attitude is more likely to be abnormal. Therefore, the number of cable segments has a certain impact on the overall motion response of the system. It is necessary to select an appropriate number of segments to ensure that the possibility of system failure is small, so as to maintain the long-term operation of the tethered balloon.

[0086] In summary, the sample parameters analyzed in this embodiment cover the modeling and simulation analysis of the motion response of shipborne tethered balloons under different numbers of segments and wind directions. The results show that, for different wind conditions, the current tethered balloon needs further optimization in terms of balloon shape and tether cable placement to ensure the crosswind resistance of the tethered balloon system. Through simple comparison, considering computation time, accuracy, and the degree of consistency between the model and the real system, a tether cable segment count of 320 segments is considered ideal for the dynamic simulation analysis of the shipborne tethered balloon.

[0087] The scope of protection of this invention is not limited to the embodiments described above. Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its scope. If such modifications and variations fall within the scope of the claims of this invention and their equivalents, then the intent of this invention also includes these modifications and variations.

Claims

1. A method for multibody dynamics modeling and numerical simulation of a shipborne tethered balloon, characterized in that, This method establishes a multi-rigid-body dynamics model for a shipborne tethered balloon. The steps for establishing the multi-rigid-body dynamics model for a shipborne tethered balloon include: Step (1) Establish a multi-rigid-body dynamic model of the shipborne tethered balloon as a whole; Step (2) Divide the mooring cable into several cylindrical discrete rigid bodies, and connect the rigid bodies through the bushing force to establish the discrete multi-rigid body-shoulder force dynamic equation; In step (2), the external wind load and wave load are considered first, and the discrete multi-rigid-body dynamic equations of the cable constrained by the ball joint are established: ， In the formula, M is the rigid body mass matrix of the system; These are the motion and rotation drive constraint functions of the ship in the shipborne moored balloon system. The displacement and rotation of the ship under wave load are organized into a time series data table. At each moment, the corresponding displacement and rotation are input, and the force and torque are calculated by the dynamic formula of the rigid body. These are the constraint equations for the bushing model; For Lagrange multipliers; and These are the force and equivalent moment matrices of the wind load, respectively; F bu P bu These are the bushing force and torque, respectively. Let be the system's inertia tensor matrix. The system angular velocity matrix is ​​given; the effect of wind load on the ship has been calculated using the driving function. When the unified dynamic formula is used to calculate the ship, the wind load mechanical model F... b and p b The value is 0, while when the unified dynamic formula calculates the objects of cables and tethered balloons, the constraint driving function Ф of the wave load is 0. K and Ф D =0; Step (3) Determine the dynamic evaluation parameters: balloon pitch angle, balloon yaw angle, balloon roll angle, discrete rigid body displacement, discrete rigid body forces and moments; Step (4) replaces the rigid connection of part of the ball joint with the force and moment model of the bushing model; Step (5) Determine the external load parameters: number of discrete rigid bodies, wind speed, wind direction, sea state rating, and wave direction; In step (5), an external wind load model is established in the form of forces: ， In the formula, For aerodynamic lift, For aerodynamic drag, It is an aerodynamic lateral force. , , These are the aerodynamic pitching moment, aerodynamic yaw moment, and aerodynamic rolling moment, respectively; correspondingly, , , , , , These are the aerodynamic lift coefficient, aerodynamic drag coefficient, aerodynamic lateral force coefficient, aerodynamic pitching moment coefficient, aerodynamic yaw moment coefficient, and aerodynamic rolling moment coefficient, respectively. air density, This refers to the speed of airflow, i.e., wind speed. Step (6) Establish mechanical models corresponding to different external loads and import them into the established multi-rigid-body dynamics model; finally, program the modeling process using a programming language.

2. The method for multibody dynamics modeling and numerical simulation of a shipborne tethered balloon as described in claim 1, characterized in that, Step (1) includes: establishing a global Cartesian reference coordinate system for the multibody system and a local Cartesian reference coordinate system for each component, with the virtual reference point extending from the center of gravity or geometric center to the origin of the global coordinate system as the origin of the coordinate system. This allows for further representation of the Cartesian coordinates of component i. : In the formula, Let be the position matrix of the local coordinates of rigid body i in the global coordinate system, including displacements in the X, Y, and Z directions. ;α i Let be the orientation matrix of the local coordinates of rigid body i in the global coordinate system, including rotations in the X, Y, and Z directions. .

3. The method for multibody dynamics modeling and numerical simulation of a shipborne tethered balloon as described in claim 1, characterized in that, The rope structure in the mooring cable system is decomposed into a combination of multiple cylindrical rigid bodies and connected by an equivalent bushing. The equivalent bushing force in step (4) is calculated by the following formula: ， In the formula, K is the stiffness coefficient matrix of the bushing force, k 11 ~k 66 ∆r is the translational or rotational stiffness coefficient of the bushing force, ∆r is the relative displacement of adjacent discrete rigid bodies, and ∆z is the relative rotation angle of adjacent discrete rigid bodies. In formulas (2) and (3), when the bushing force and torque between discrete rigid bodies are not zero, their magnitudes are calculated according to formulas (5) and (6). The constraint equations of the equivalent bushing model are expressed as follows: （7） In the formula, Let be the Euler rotation matrix of the local coordinates of the discrete rigid body i of the cable relative to the global coordinates. Let be the vector of the center of the ball joint in the local coordinate system of the discrete rigid body. The vector representing the distance from the center of the rigid body j-ball joint to the origin of the global coordinate system. This represents the vector representing the center of the ball joint on rigid body j in the discrete rigid body local coordinate system.

4. The method for multibody dynamics modeling and numerical simulation of a shipborne tethered balloon as described in claim 1, characterized in that, The programming language is Python, and the API interface that has been further developed in Adams is used.

5. The method for multibody dynamics modeling and numerical simulation of a shipborne tethered balloon as described in claim 4, characterized in that, The programming process includes: using the Python programming language, establishing the shape, initial position, and orientation of each component in the system through loop structures and the Adams API, defining the kinematic pair relationships, calculating the bushing force and external wind load, and simulating wave load through spline curves and driving functions; simultaneously, setting measurement parameters; and finally running the generated .py file in Adams / View to perform calculations and solve the problem, so as to evaluate the motion response of each component in the shipborne tethered balloon system in real time.

6. The method for multibody dynamics modeling and numerical simulation of a shipborne tethered balloon as described in claim 5, characterized in that, The measured parameters include the balloon's pitch angle and the cable displacement.

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