Dynamic simulation system, dynamic simulation method and teaching aid for low-temperature propellant filling

Abstract

The invention provides a dynamic simulation system, a dynamic simulation method and a teaching aid for low-temperature propellant filling, and belongs to the field of analogue simulation. The dynamic simulation method comprises the steps that three-dimensional modeling rendering is conducted on an actual filling system and a plurality of assemblies of the actual filling system so as to obtain a simulation filling system comprising a plurality of simulation assemblies, and the assemblies comprise a filling pipeline, a launching device, an injection tank and a valve; in response to an external input instruction, starting a set function module so as to dynamically render at least one simulation component in the plurality of simulation components; and displaying the at least one simulation component and the dynamic rendering process thereof. The actual combat training scene is provided through the vivid virtual training platform, the reality problem of post training can be effectively solved, the equipment use loss is reduced, the training quality is improved, the method can be used for school classroom teaching and post personnel training, and therefore the method can be popularized in a large range.

Description

Technical Field

[0001] The present application relates to the field of simulation, and in particular to a dynamic simulation system, a dynamic simulation method and a teaching aid for low-temperature propellant filling. Background Art

[0002] In the process of space launch, cryogenic propellant filling is one of the key links. Before the operator officially takes up the post, he needs to conduct good theoretical learning and practical training, and conduct in-depth study of the internal and external structure, working principle, filling process and other processes of the rocket and filling equipment. However, the actual cryogenic propellant filling link has complex equipment structure, high operation risk, high equipment value and site restrictions. Therefore, the current common practice is that students receive classroom theoretical teaching in school, and at the same time combine learning and training with field observation at the launch site.

[0003] However, this learning method cannot truly and dynamically observe the actual filling process, let alone measure the filling parameters. Therefore, the learning efficiency is low and it is difficult to meet the requirements of teaching and practical training. Summary of the invention

[0004] The purpose of this application is to provide a dynamic simulation system, a dynamic simulation method and teaching aids for cryogenic propellant filling, so as to provide a practical training scenario through a realistic virtual training platform, which can effectively solve the reality problem of job training, reduce equipment loss and improve training quality.

[0005] In order to achieve the above-mentioned objectives, the present application provides a dynamic simulation method for cryogenic propellant filling, the dynamic simulation method comprising: performing three-dimensional modeling and rendering of an actual filling system and its multiple components to obtain a simulated filling system including multiple simulated components, wherein the multiple components include a filling pipe, a launch device, an injection tank and a valve; in response to an external input instruction, starting a setting function module to dynamically render at least one simulated component among the multiple simulated components; and displaying the at least one simulated component and its dynamic rendering process.

[0006] Optionally, the set function module includes at least one of the following: a demonstration module, used to perform appearance demonstration, function demonstration and structural decomposition of at least one simulated component in the simulated filling system; a filling simulation module, used to perform filling process simulation and filling process simulation of the simulated filling system; a disassembly and assembly simulation module, used to perform component disassembly, component assembly and troubleshooting of the simulated filling system; and an assessment module, including theoretical test assessment and practical assessment of the filling process simulation and the filling process simulation.

[0007] Optionally, the filling process simulation includes: simulating the state change process of the cryogenic propellant according to the filling temperature, filling pressure and filling speed in the input instructions, wherein the cryogenic propellant includes liquid hydrogen, liquid oxygen and liquid nitrogen.

[0008] Optionally, the filling process simulation includes a filling process simulation of the liquid nitrogen and a filling process simulation of the liquid oxygen. The filling process simulation of the liquid nitrogen includes: pipeline precooling, small flow filling of the subcooler, large flow filling of the subcooler, stop filling, heat exchanger precooling, small flow filling of cold helium heat exchange gas, large flow filling of cold helium heat exchange gas, stop filling, and pressure relief; the filling process simulation of the liquid oxygen includes: large flow process, stop filling process, hot liquid oxygen discharge, hot liquid oxygen discharge in the pipeline, replenishment process, and pre-shooting replenishment.

[0009] Optionally, the demonstration module performs appearance demonstration, function demonstration and structural decomposition of at least one of the following simulation components: liquid nitrogen storage tank, liquid oxygen storage tank, oxygen exhaust tower, filter, vacuum pipeline, vacuum shut-off valve, turbine flowmeter, exhaust connector and liquid oxygen pump.

[0010] Optionally, the dynamic rendering is implemented through Unity3D three-dimensional visualization engine technology, wherein the Unity3D three-dimensional visualization engine technology includes: graphics rendering through Shader technology and control program, filling dynamic effect control through custom shaders and step functions, filling speed control through speed parameters, and filling process simulation through color parameters and difference calculation method Lerp.

[0011] Optionally, the input instruction is input through at least one of the following: a control handle, a keyboard, a mouse, a touch screen, a microphone, an eye movement recognition device; optionally, the type of the input instruction includes at least one of the following: a key instruction, a voice instruction, a gesture instruction.

[0012] On the other hand, the present application also provides a dynamic simulation system for the filling of cryogenic propellants, the dynamic simulation system comprising: a static rendering device, used to perform three-dimensional modeling and rendering of an actual filling system and its multiple components to obtain a simulated filling system including multiple simulated components, wherein the multiple components include a filling pipe, a launching device, an injection tank and a valve; an input device, used to accept external input instructions and convert the input instructions into control instructions; a dynamic rendering device, electrically connected to the input device, used to start a setting function module in response to the control instruction to dynamically render at least one of the multiple simulated components; and a display device, electrically connected to the static rendering device and the dynamic rendering device, used to display the at least one simulated component and its dynamic rendering process.

[0013] On the other hand, the present application also provides a teaching aid, which includes: a VR device; and a dynamic simulation system for the filling of cryogenic propellants as described above.

[0014] Through the above technical scheme, the beneficial effect of this application is that it provides a practical training scene through a realistic virtual training platform, which can effectively solve the reality problem of job training, reduce equipment use loss, and improve training quality. It can not only be used in school classroom teaching, but also in job personnel training, so it can be promoted on a large scale.

[0015] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0017] Figure 1 is a structural schematic diagram of a dynamic simulation system for cryogenic propellant filling provided according to an embodiment of the present application;

[0018] Figure 2a-2d is a schematic diagram of an interface for an execution function of a demonstration module provided according to an embodiment of the present application;

[0019] Figure 3a-3b It is a schematic diagram of an interface for executing functions of a disassembly and assembly simulation module provided according to an embodiment of the present application;

[0020] Figure 4 It is a flow chart of a dynamic simulation method for cryogenic propellant filling provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0021] The specific implementation of the embodiment of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present application, and is not used to limit the embodiment of the present application.

[0022] The present application first provides a dynamic simulation system 100 for charging cryogenic propellants, such as Figure 1 As shown, the dynamic simulation system 100 may include: a static rendering device 110 , an input device 120 , a dynamic rendering device 130 and a display device 140 .

[0023] The static rendering device 110 may be used to perform three-dimensional modeling and rendering of the actual filling system and its multiple components at a set scale to obtain a simulated filling system including multiple simulated components.

[0024] For example, the multiple components may include a filling pipe, a launching device, an injection tank, and a valve.

[0025] First, 3DMax can be used to create a three-dimensional digital model of the actual filling system (such as liquid hydrogen, liquid nitrogen, and liquid oxygen filling systems) and build the overall architecture of the filling system, that is, the filling system's filling pipelines, rockets, filling tanks, valves and other components need to be 3D modeled according to actual proportions. Among them, the liquid nitrogen filling system mainly includes liquid nitrogen storage tanks, vacuum pipelines, filters, vacuum valves, cold helium heat exchangers, nitrogen exhaust systems and other equipment. By consulting technical information, on-site investigations and other means, data information on the main equipment of the liquid nitrogen filling system can be obtained, and 3DMAX and other engineering software can be used to build a three-dimensional digital model of the above equipment.

[0026] Then, UnityShader technology can be used to control the 3D graphics rendering. Specifically, the drawing steps of 3D modeling rendering using UnityShader include:

[0027] 1) Geometry stage: through vertex shader, tessellation shader, geometry shader, clipping, screen mapping stage;

[0028] 2) Rasterization: triangle setup, triangle traversal, fragment shader, and fragment-by-fragment operation stages;

[0029] 3) Finally, the rendered model is visualized and the visualized model is output to the screen.

[0030] The input device 120 can be used to receive external input instructions and convert the input instructions into control instructions. The dynamic rendering device 130 is electrically connected to the input device 120 and can be used to start the corresponding setting function module in response to the control instruction to dynamically render at least one of the multiple simulation components of the simulated filling system. The display device 140 is electrically connected to the static rendering device 110 and the dynamic rendering device 130 and can be used to display the dynamic rendering process of the simulated filling system and at least one simulation component in the simulated filling system.

[0031] For example, the input device 120 may include: a joystick, a keyboard, a mouse, a touch screen, a microphone, an eye movement recognition device, etc. The types of input instructions are key instructions, voice instructions, gesture instructions, etc.

[0032] Among them, the sensor of the control handle can support SteamVR TMTracking technology 2.0, its input can be achieved through a multi-function touch panel, which may include a grip key, a two-stage trigger, a system key, a menu key, etc. The eye movement recognition device can be installed on a VR headset (for example, the HTC Vive Pro 2), which is equipped with sensors including G-sensor correction, gyroscope, distance sensor, IPD sensor, SteamVR positioning tracking (2.0), etc. The supported field of view is up to 120 degrees (horizontally). For a better immersive effect, the audio can choose a Hi-Res certified head-mounted device (via USB-C analog signal) and use Hi-Res certified headphones (detachable), thereby supporting high-impedance headphones (via USB-C analog signal). In addition, the refresh rate of the VR headset needs to reach 90 / 120Hz, and its single-eye resolution reaches 2448x2448, and the binocular resolution reaches 4896x2448.

[0033] In one embodiment, in order to realize the operation and training functions of the liquid nitrogen filling system based on VR technology, the present application can create a training system with functions such as filling training scenes, control process logic, filling process operation assessment, troubleshooting, etc. through the Unity virtual simulation engine. Among them, dynamic rendering can be achieved through the Unity3D three-dimensional visualization engine technology, that is, the filling direction and speed of the cryogenic propellant in the corresponding pipeline can be controlled according to the process, and the propellant state change can be controlled according to the filling parameters.

[0034] Among them, Unity3D three-dimensional visualization engine technology includes: graphics rendering through Shader technology and control program, dynamic filling effect control through custom shaders and step functions, filling speed control through speed parameters, and filling process simulation through color parameters and difference calculation method Lerp.

[0035] The setting function module includes at least one of the following modules:

[0036] 1) Demonstration module 131, used to perform appearance demonstration, function demonstration and structural decomposition of at least one simulated component in the simulated filling system.

[0037] Among them, the demonstration module 131 can perform appearance demonstration, function demonstration and structural decomposition of at least one of the following simulation components: liquid nitrogen storage tank, liquid oxygen storage tank, oxygen exhaust tower, filter, vacuum pipeline, vacuum stop valve, turbine flowmeter, exhaust connector and liquid oxygen pump.

[0038] Specifically, the demonstration module 131 can be applied to equipment explanation demonstration, and can introduce the structure and function of each equipment component in detail from multiple dimensions such as system function overview, principle explanation, and component parts. This module can comprehensively apply text, image, animation video multimedia technology to enable students to quickly master relevant theoretical knowledge. Figure 2a-2d The specific content is shown:

[0039] a) If Figure 2a-2b As shown, the system introduction can be selected through the handle laser beam, thereby introducing the overall functional overview of the liquid nitrogen storage tank in a static form of graphics and text.

[0040] b) If Figure 2c As shown, you can use the handle laser beam to select the principle demonstration, so as to introduce the working principle of the liquid nitrogen storage tank through video explanation.

[0041] Among them, you can click the "Play" button in the figure to play the principle demonstration video; and click the "Stop" button to stop the demonstration video.

[0042] c) If Figure 2d As shown, the structure can be selected by the handle laser beam, so that the structure of the liquid nitrogen storage tank can be displayed. Among them, the components are displayed on the right. The different components of the storage tank can be displayed by sliding left and right. After selecting a component, a detailed introduction of the component can also be displayed.

[0043] In addition, the functions of the "liquid hydrogen storage tank" and the "liquid oxygen storage tank" are similar to those of the "liquid nitrogen storage tank" described above, and will not be described in detail in this application.

[0044] 2) Filling simulation module 132, used to perform filling process simulation and filling technology simulation on the simulated filling system. Specifically, it may include the following contents:

[0045] In order to clearly calibrate each pipeline line of the simulated filling system, the filling pipelines can be numbered first. That is, the corresponding pipelines need to be found strictly in the order of the actual filling process and numbered sequentially. For example, you can start with number 1 and number them incrementally.

[0046] Then, a pipeline filling simulation can be performed, which may include the following a)-d):

[0047] a) Calculation of pipe length. First, after importing the pipe into Unity, the Bound Size parameter in the Mesh parameter can be used to represent the size of the object bounding box, so as to find the longest side as the length of the pipe. Then, the fill parameter defined in the [0,1] interval is used to represent the proportion of cryogenic propellant in the empty pipe. In this way, the liquid flow effect can be achieved by controlling the gradual increase of the fill value.

[0048] b) Dynamic filling effect control. Custom shaders can be used to control the rendering pipeline to achieve flow effects. For example, by writing a step function, you can input the distance value x from a certain point to the beginning of the tube to determine whether the current position belongs to the cryogenic propellant part or the empty part. The beginning of the tube can be obtained by subtracting 1 / 2 of the BoundSize from the Bound Center.

[0049] In addition, for the pipeline atmosphere shell and liquid part, the transparency of the shell can be adjusted, for example, adjusted to 30-70%; and for the control of the cryogenic propellant liquid part, it can be drawn according to the actual color, and then the above fill value can be dynamically adjusted to achieve the filling effect.

[0050] c) Filling speed control: You can add the speed parameter to control the speed of the fill parameter step increase, thereby adjusting the filling speed.

[0051] d) Control the transmission sequence of the filling pipeline. The flow sequence of each pipeline can be controlled according to the pipeline sequence of the actual filling process number. At the same time, the delay parameter can be added according to the different propellant types to control the sequence in multiple pipelines.

[0052] For the filling process simulation, due to the characteristics of cryogenic propellants (such as liquid hydrogen, liquid oxygen, liquid nitrogen), they will show different colors and state changes according to pressure changes. At the same time, in multiple filling processes, the pressure changes greatly. Therefore, dynamic adjustments are required according to process parameters. Specifically, it can include the following a)-b):

[0053] a) You can use the color parameter to preset the corresponding color according to the pressure value in different filling processes.

[0054] b) In the main control program, the color attributes of the cryogenic propellant in the custom shader can be controlled according to the current processing steps. For example, the difference calculation method Lerp can be used to control the state change.

[0055] In summary, the key point of this application is to use the Unity platform to render the processing procedures and processes of cryogenic propellants, so as to realize dynamic simulation of the actual processing procedures and processes. This application can support the corresponding adjustment of the propellant flow rate and state changes according to the characteristics of the launch site environment and the physical and chemical properties of the cryogenic propellant. At the same time, this application also supports the filling simulation of various cryogenic propellants such as liquid hydrogen, liquid oxygen, and liquid nitrogen, and can be applied to a variety of working conditions.

[0056] 3) A disassembly and assembly simulation module 133, used to perform component disassembly, component assembly and troubleshooting of the simulated filling system.

[0057] The purpose of the disassembly simulation module 133 is to provide students with opportunities for further hands-on practice after they have learned the theory and basic knowledge, so as to deepen their understanding of the internal structure of the equipment. For example, this application currently selects three types of components, namely, using VR motion perception, collision detection, spatial positioning and other technologies to achieve equipment disassembly. And it can also be Figure 3a As shown, the above objectives can be achieved by performing repeated exercises using animation techniques and restoration equipment.

[0058] Specifically, Figure 3b As shown, you can perform the following steps:

[0059] a) Touch: This function can be realized by using the joystick. When approaching the device, VR performs collision detection and a joystick graphic appears, indicating that the object has been touched;

[0060] b) Select: You can click the "trigger" button to select a target component;

[0061] c) Move: Select the target component and move it to any position in the space;

[0062] d) Hover: The target component can be hovered in the air until all components are disassembled.

[0063] e) Reset: When all parts are disassembled, you can click the "Reset" button through the laser beam. At this time, the system will start the animation to demonstrate the return of each part to its original position.

[0064] In addition, the disassembly and assembly simulation module 133 can also be used for troubleshooting training, the purpose of which is to train troubleshooting. For example, the faulty filter can be found through the warning light prompt, the filter can be disassembled, and a new filter that needs to be replaced can be found in the tool box for replacement, and finally the filter can be operated normally.

[0065] The specific functions can be performed according to the following process:

[0066] a) Fault alarm. When the filter warning light is red, it means that there is a problem with the filter and it needs to be repaired;

[0067] b) Fault disassembly and replacement. Disassemble the filter and use the handle to take out the faulty filter element. Then replace the new filter element on the maintenance table with the filter;

[0068] c) Troubleshooting: Once the new filter element is installed and the fault is eliminated, the warning light turns green.

[0069] In this way, the 3D structure, composition, function, principle and other contents of the main equipment of the liquid nitrogen and liquid oxygen filling system can be demonstrated, and training on disassembly and assembly of some equipment can be carried out. Operation training and assessment of the liquid nitrogen and liquid oxygen filling process as well as troubleshooting can be carried out, which makes up for the lack of training methods for filling process operation in course teaching and ultimately achieves better learning and training goals.

[0070] 4) Assessment module 134, including theoretical examination questions and practical examination of filling process simulation and filling technology simulation.

[0071] The function of the assessment module 134 is to design test questions in advance according to the actual operation process and steps of the filling system. After the trainees have learned the theoretical knowledge and practiced the operation, they can evaluate and assess their learning effects through the assessment module 134. This module can achieve the effects of interactive assessment, status visualization, and instant feedback of assessment scores.

[0072] In one embodiment, the filling process simulation may include: simulating the state change process of the cryogenic propellant according to the filling temperature, filling pressure and filling speed in the input command, wherein the cryogenic propellant includes liquid hydrogen, liquid oxygen and liquid nitrogen. The filling process simulation of liquid nitrogen may include: pipeline precooling, low-flow filling of the subcooler, high-flow filling of the subcooler, stopping filling, precooling of the heat exchanger, low-flow filling of cold helium heat exchange gas, high-flow filling of cold helium heat exchange gas, stopping filling, pressure relief, etc.

[0073] Specifically, the theoretical test questions of the test module 134 can be divided into liquid nitrogen filling test and liquid oxygen filling test, and the test panel can be called up / hidden at any time by clicking the upper and middle keys of the handle. In addition, the trigger key of the handle can be operated to switch between liquid nitrogen filling test and liquid oxygen filling test using rays.

[0074] In one embodiment, the assessment system may include the following parts:

[0075] a) Practical objects: mainly concentrated in the valve control of liquid nitrogen (oxygen) storage tanks and pipeline valve control areas;

[0076] b) Test panel: a virtual panel that can be displayed (hidden) by the handle. The panel records the operation status, test question status, score, pressure value, and time information;

[0077] c) Examination and Assessment: This button is a control button. When clicked, it starts the preparation process and begins the countdown, indicating that the examination has begun;

[0078] d) Countdown: the format is "minutes:seconds";

[0079] e) Score: For example, liquid nitrogen filling and liquid oxygen filling both have 10 questions, with a full score of 100 points. You will get 10 points for each question you complete.

[0080] f) Valve status: Displays the valve's on / off status, gray when closed and green when open;

[0081] g) Question list: The question list is on the far left of the panel. It is blue by default and each question will be highlighted when you enter it.

[0082] In one embodiment, the filling process simulation of the assessment module 134 may include: simulating the state change process of the cryogenic propellant according to the filling temperature, filling pressure and filling speed in the input instruction, wherein the cryogenic propellant includes liquid hydrogen, liquid oxygen and liquid nitrogen. For example, for liquid nitrogen, the practical objects are mainly concentrated in the valve control area of ​​the liquid nitrogen storage tank. This assessment will involve 8 valves, namely: liquid inlet valve, self-pressurization valve, regulating valve, pressure relief valve, nitrogen 5 valve, nitrogen 6 valve, nitrogen 7 valve and nitrogen 8 valve. The examination panel is a virtual panel that can be used to record operation status, test question status, score, time information, etc. The control button includes a start assessment button, which starts the preparation program when clicked. It is mainly used to fill the storage tank with liquid nitrogen and start the assessment. The valve state is used to display the switch state of the valve, which is gray when closed and green when opened. The leftmost side of the panel of the test question list is the entity list, which is blue by default. Click "Start Answering Questions" to enter each test question, and the question will be highlighted. The simulation of the liquid nitrogen filling process may include: pipeline precooling, small flow filling of the subcooler, large flow filling of the subcooler, stopping filling, heat exchanger precooling, small flow filling of cold helium heat exchange gas, large flow filling of cold helium heat exchange gas, stopping filling, pressure relief, etc.

[0083] In addition, for liquid oxygen, the practical objects are mainly concentrated in the valve control area of ​​the liquid oxygen storage tank. This assessment will involve 17 valves, namely: self-boosting valve, regulating valve, inlet and outlet valve, 17 valve, pump 17 valve, pump 31 valve, pump 32 valve, pump 33 valve, No. 25 valve, nitrogen No. 8 valve, No. 30 valve, 27-1 valve, 27-2 valve, 29-1 valve, 29-2 valve, 43 valve, pump (independent display). The test panel is also a virtual panel, which is used to record operation status, test status, score, time information, etc. The control button includes a start test button, which starts the preparation program when clicked. It is mainly used to add liquid oxygen to the storage tank and start the assessment. The valve status is used to display the switch status of the valve, which is gray when closed and green when opened. The leftmost side of the panel of the test list is the entity list, which is blue by default. Click "Start Answering" to enter each test question, and the question will be highlighted. The simulation of the liquid oxygen filling process may include: large flow process, stopping the filling process, hot liquid oxygen discharge, hot liquid oxygen discharge in the pipeline, replenishment process, pre-shooting replenishment, etc.

[0084] In summary, the dynamic simulation system for cryogenic propellant filling provided by this application can simulate the cryogenic propellant link in teaching activities, and students can observe, learn, and train filling equipment, procedures, and processes in the classroom. The learning effect is greatly improved, while saving costs and reducing operational risks. In scientific research activities, researchers can dynamically adjust the filling temperature, filling pressure, filling speed, etc. according to the climate characteristics of the launch site. Simulate the filling process to optimize the filling process and improve the filling equipment.

[0085] In addition, based on the results of this application, a "cryogenic propellant filling training system" and a "cryogenic propellant filling simulation system" have been further developed, and the above systems have been applied in real teaching environments and scientific research. Therefore, this application provides a realistic training scenario through a realistic virtual training platform, which can effectively solve the reality problem of job training, reduce equipment loss, and improve training quality. It can be used not only in school classroom teaching, but also in job personnel training, so it can be widely promoted.

[0086] On the other hand, the present application also provides a teaching aid, which may include: a VR device and a dynamic simulation system 100 for low-temperature propellant filling according to the above.

[0087] Among them, the model of VR headset is, for example, HTC Vive Pro 2, which is equipped with sensors including G-sensor correction, gyroscope, distance sensor, IPD sensor, SteamVR positioning tracking (2.0), etc. The supported field of view is up to 120 degrees (horizontally). For a better immersive effect, its audio can choose Hi-Res certified head-mounted devices (via USB-C analog signal) and use Hi-Res certified headphones (detachable) to support high-impedance headphones (via USB-C analog signal). In addition, the refresh rate of the VR headset needs to reach 90 / 120Hz, its single-eye resolution reaches 2448x2448, and its binocular resolution reaches 4896x2448.

[0088] On the other hand, the present application also provides a method 200 for dynamic simulation of cryogenic propellant filling, which can be implemented based on the above-mentioned system 100 for dynamic simulation of cryogenic propellant filling. Figure 4 As shown, the dynamic simulation method 200 may include:

[0089] Step S210, performing three-dimensional modeling and rendering of the actual filling system and its multiple components at a set scale to obtain a simulated filling system including multiple simulated components, wherein the multiple components include a filling pipeline, a launching device, an injection tank and a valve.

[0090] Step S220 , in response to an external input instruction, starting a corresponding setting function module to dynamically render at least one simulation component among a plurality of simulation components of the simulated filling system.

[0091] Step S230: display at least one simulation component and its dynamic rendering process.

[0092] Optionally, the set function module includes at least one of the following: a demonstration module, used to perform appearance demonstration, function demonstration and structural decomposition of at least one simulated component in the simulated filling system; a filling simulation module, used to perform filling process simulation and filling process simulation of the simulated filling system; a disassembly and assembly simulation module, used to perform component disassembly, component assembly and troubleshooting of the simulated filling system; and an assessment module, including theoretical test assessment and practical assessment of the filling process simulation and the filling process simulation.

[0093] Optionally, the filling process simulation includes: simulating the state change process of the cryogenic propellant according to the filling temperature, filling pressure and filling speed in the input instructions, wherein the cryogenic propellant includes liquid hydrogen, liquid oxygen and liquid nitrogen.

[0094] Optionally, the simulation of the filling process of the liquid nitrogen includes: pipeline pre-cooling, small flow filling of the subcooler, large flow filling of the subcooler, stop filling, heat exchanger pre-cooling, small flow filling of cold helium heat exchange gas, large flow filling of cold helium heat exchange gas, stop filling, and pressure relief; the simulation of the filling process of the liquid oxygen includes: large flow process, stop filling process, hot liquid oxygen discharge, hot liquid oxygen discharge in the pipeline, replenishment process, and pre-shooting replenishment.

[0095] Optionally, the demonstration module performs appearance demonstration, function demonstration and structural decomposition of at least one of the following simulation components: liquid nitrogen storage tank, liquid oxygen storage tank, oxygen exhaust tower, filter, vacuum pipeline, vacuum shut-off valve, turbine flowmeter, exhaust connector and liquid oxygen pump.

[0096] Optionally, the dynamic rendering is implemented through Unity3D three-dimensional visualization engine technology, wherein the Unity3D three-dimensional visualization engine technology includes: graphics rendering through Shader technology and control program, filling dynamic effect control through custom shaders and step functions, filling speed control through speed parameters, and filling process simulation through color parameters and difference calculation method Lerp.

[0097] Optionally, the external input command is input through a control handle, keyboard, mouse, touch screen, microphone, or eye movement recognition device; optionally, the type of the input command is a key command, a voice command, or a gesture command.

[0098] In summary, the dynamic simulation method of cryogenic propellant filling provided by this application can be used in teaching activities. For the cryogenic propellant link, students can observe, learn, and train filling equipment, procedures, and processes in the classroom. The learning effect is greatly improved, while saving costs and reducing operational risks. In scientific research activities, researchers can dynamically adjust the filling temperature, filling pressure, filling speed, etc. according to the climate characteristics of the launch site. Simulate the filling process. Optimize the filling process and improve the filling equipment.

[0099] To sum up, this application provides a practical training scenario through a realistic virtual training platform, which can effectively solve the reality problem of job training, reduce equipment loss, and improve the quality of training. It can not only be used in school classroom teaching, but also in job personnel training, so it can be promoted on a large scale.

[0100] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0101] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A dynamic simulation method for cryogenic propellant filling, characterized in that: The dynamic simulation method comprises: Performing three-dimensional modeling and rendering of an actual filling system and multiple components thereof to obtain a simulated filling system including multiple simulated components, wherein the multiple components include a filling pipeline, a launching device, an injection tank, and a valve; In response to an external input instruction, starting a setting function module to dynamically render at least one simulation component among the plurality of simulation components; and The at least one simulation component and its dynamic rendering process are displayed.

2. The dynamic simulation method according to claim 1, characterized in that: The setting function module includes at least one of the following: A demonstration module, used to perform appearance demonstration, function demonstration and structural decomposition of at least one simulated component in the simulated filling system; A filling simulation module, used for performing a filling procedure simulation and a filling process simulation on the simulated filling system; A disassembly and assembly simulation module, used for performing component disassembly, component assembly and troubleshooting of the simulated filling system; as well as The assessment module includes a theoretical test and a practical assessment of the filling process simulation and the filling technology simulation.

3. The dynamic simulation method according to claim 2, characterized in that: The filling process simulation includes: simulating the state change process of the cryogenic propellant according to the filling temperature, filling pressure and filling speed in the input instructions, wherein the cryogenic propellant includes liquid hydrogen, liquid oxygen and liquid nitrogen.

4. The dynamic simulation method according to claim 3, characterized in that: The filling process simulation includes a filling process simulation for the liquid nitrogen and a filling process simulation for the liquid oxygen. The simulation of the filling process of the liquid nitrogen includes: pipeline precooling, filling with a small flow rate of the subcooler, filling with a large flow rate of the subcooler, stopping filling, precooling of the heat exchanger, filling with a small flow rate of cold helium heat exchange gas, filling with a large flow rate of cold helium heat exchange gas, stopping filling, and pressure relief; The simulation of the liquid oxygen filling process includes: a large flow process, a filling stop process, hot liquid oxygen discharge, hot liquid oxygen discharge in the pipeline, a replenishment process, and pre-shooting replenishment.

5. The dynamic simulation method according to claim 2, characterized in that: The demonstration module performs appearance demonstration, function demonstration and structural decomposition on at least one of the following simulation components: Liquid nitrogen storage tank, liquid oxygen storage tank, oxygen exhaust tower, filter, vacuum pipeline, vacuum shut-off valve, turbine flowmeter, exhaust connector and liquid oxygen pump.

6. The dynamic simulation method according to claim 1, characterized in that: The dynamic rendering is implemented by Unity3D three-dimensional visualization engine technology, wherein the Unity3D three-dimensional visualization engine technology includes: Graphics rendering is achieved through Shader technology and control program, dynamic filling effect control is achieved through custom shaders and step functions, filling speed control is achieved through speed parameters, and filling process simulation is achieved through color parameters and difference calculation method Lerp.

7. The dynamic simulation method according to claim 1, characterized in that: The input instruction is input through at least one of the following: a control handle, a keyboard, a mouse, a touch screen, a microphone, and an eye movement recognition device.

8. The dynamic simulation method according to claim 1 or 7, characterized in that: The type of the input instruction includes at least one of the following: a key instruction, a voice instruction, and a gesture instruction.

9. A dynamic simulation system for low temperature propellant filling, characterized in that: The dynamic simulation system comprises: A static rendering device, used for performing three-dimensional modeling and rendering of an actual filling system and its multiple components to obtain a simulated filling system including multiple simulated components, wherein the multiple components include a filling pipeline, a launching device, an injection tank, and a valve; An input device, used to receive external input instructions and convert the input instructions into control instructions; a dynamic rendering device, electrically connected to the input device, for starting a setting function module in response to the control instruction to dynamically render at least one simulation component among the plurality of simulation components; and The display device is electrically connected to the static rendering device and the dynamic rendering device, and is used to display the at least one simulation component and its dynamic rendering process.

10. A teaching aid, characterized in that: The teaching aids include: VR devices; and A dynamic simulation system for cryogenic propellant filling according to claim 9.

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