Soft air refueling hose-taper sleeve dynamic response process analysis method

Abstract

The invention discloses a soft air refueling hose-taper sleeve dynamic response process analysis method, and relates to the technical field of airplane soft air refueling process dynamic response analysis. The aerodynamic force of the refueling hose is simulated by loading the aerodynamic force on the refueling hose, the aerodynamic force of the taper sleeve is simulated by loading the aerodynamic force on the taper sleeve, and hose-taper sleeve dragging balance process modeling is carried out on a beam unit of the hose through an absolute node coordinate method. The method comprises the following steps: modeling a hose-taper sleeve system extension release stabilization process through an absolute node coordinate method based on any Euler Lagrangian description, then loading an external force and determining a boundary condition; constructing and solving a hose-taper sleeve drag balance process multi-body dynamics equation set and a hose-taper sleeve release stability process multi-body dynamics equation set, so that the drag balance process and the extension release stability process of the hose-taper sleeve system can be accurately simulated; and the analysis accuracy of dynamic responses such as hose shape change and taper sleeve posture change is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of dynamic response analysis in the process of aircraft soft air refueling, and particularly relates to a method for analyzing the dynamic response process of a soft air refueling hose - drogue. Background Technique

[0002] Generally, for aircraft soft air refueling, the tanker usually uses a hose - drogue refueling system to refuel the receiver aircraft.

[0003] The hose - drogue refueling system mainly includes a power device, a hose winch mechanism, a refueling hose and its drogue, etc. The power device is arranged on the tanker airframe and is connected to the hose winch mechanism; the hose winch mechanism is arranged inside the refueling pod of the tanker; the refueling hose is wound on the hose winch mechanism, the inlet end is connected to the fuel tank of the tanker, and the outlet end is connected to the drogue. In the hose - drogue refueling system, the power device drives the hose winch mechanism to curl the refueling hose so as to be able to retract the refueling hose together with the drogue into the refueling pod, or release the refueling hose together with the drogue outside the refueling pod.

[0004] Based on the hose - drogue refueling system, when the tanker refuels the receiver aircraft, it releases the refueling hose together with the drogue outside the refueling pod, reaches the towing equilibrium state under the action of aerodynamic force, and then when the receiver aircraft approaches, makes the drogue dock with the refueling connector on the receiver aircraft to refuel the receiver aircraft. When the refueling hose and the drogue are outside the refueling pod, they will be affected by the wake of the tanker, the bow wave of the receiver aircraft, and atmospheric turbulence, and bear large aerodynamic loads, making it difficult to stabilize at a fixed position.

[0005] In practical applications, when the power device drives the hose winch mechanism to release the refueling hose, an unreasonable release speed causes the refueling hose to vibrate and cannot be balanced in a short time. At the same time, under the condition of being disturbed, a whipping phenomenon may occur, resulting in damage and even danger, affecting the subsequent docking process.

[0006] Therefore, accurately analyzing the equilibrium state of the soft air refueling hose - drogue system and the dynamic responses such as the morphological changes of the refueling hose and the attitude changes of the drogue during the release process is of great significance for the design of the hose - drogue refueling system.

[0007] At present, a single CAE finite element software is difficult to simulate the aerodynamic force of the refueling hose. Using CFD finite element software and CAE finite element software can achieve the joint solution of structural dynamics and fluid dynamics, but the calculation cost is too high and it is difficult to be applied to solve engineering problems. Using software such as MATLAB to establish a one - dimensional ball - rod model can perform numerical solutions, but the calculation accuracy is relatively low and it cannot simulate contact nonlinearity and geometric nonlinearity.

[0008] In summary, the current accuracy of the analysis of the dynamic response process of the flexible air refueling hose and drogue is poor. Summary of the Invention

[0009] Based on this, in view of the above technical problems, it is necessary to provide a method for analyzing the dynamic response process of a flexible air refueling hose and drogue.

[0010] The present invention adopts the following technical solutions:

[0011] The present invention provides a method for analyzing the dynamic response process of a flexible air refueling hose and drogue, including:

[0012] Establish a finite element model of the hose using flexible beam elements, model the towing equilibrium process of the hose and drogue for the beam elements of the hose using the absolute nodal coordinate method, and model the release and stabilization process of the hose and drogue for the beam elements of the hose using the absolute nodal coordinate method based on the arbitrary Eulerian-Lagrangian description to obtain a finite element dynamics model of the hose-drogue system; wherein, the drogue is modeled based on a six-degree-of-freedom rigid body.

[0013] Apply aerodynamic forces to the hose and drogue respectively according to the finite element dynamics model of the hose-drogue system, and set the gravity states of the hose and drogue; determine the generalized forces of the hose-drogue system according to the applied aerodynamic forces and gravity states, and determine the boundary conditions of the hose-drogue system.

[0014] Construct and solve a multi-body dynamics equation set for the towing equilibrium process of the hose and drogue according to the boundary conditions of the hose-drogue system, determine the generalized acceleration vectors of each calculation point of the hose at different times, and determine the towing equilibrium state of the hose-drogue system.

[0015] Construct and solve a multi-body dynamics equation set for the release and stabilization process of the hose and drogue according to the boundary conditions of the hose-drogue system, determine the generalized acceleration vectors of each calculation point of the hose at different times, and determine the elongation release - towing equilibrium state of the hose-drogue system.

[0016] Optionally, applying aerodynamic forces to the hose according to the finite element dynamics model of the hose-drogue system specifically includes:

[0017] Apply aerodynamic forces including pressure drag and friction drag to the hose according to the following formula based on the finite element dynamics model of the hose-drogue system:

[0018]

[0019] where F D,n is the pressure drag, F D,t is the friction drag, ρ f is the atmospheric density, d is the outer diameter of the hose, C d is the pressure force coefficient, Cf is the friction coefficient, V is the relative flow velocity of the hose unit, V n is the normal component of the relative flow velocity of a certain point on the hose unit, V t is the tangential component of the relative flow velocity of a certain point on the hose unit, u t is the unit tangent vector along the hose centerline of the hose unit, V f is the local oncoming flow velocity under the combined influence of the oncoming flow velocity and the wake flow field of the fuel dispenser, is the absolute velocity of a certain point on the hose unit.

[0020] Optionally, aerodynamic forces are loaded on the drogue according to the finite element dynamics model of the hose-drogue system, specifically including:

[0021] The aerodynamic forces are loaded on the drogue according to the finite element dynamics model of the hose-drogue system through the following formula:

[0022]

[0023] where, F ad is the aerodynamic force loaded on the drogue, A drogue is the characteristic drag area of the drogue, C drogue is the aerodynamic drag coefficient of the drogue, V drogue is the centroid velocity of the drogue.

[0024] Optionally, setting the gravity states of the hose and the drogue specifically includes:

[0025] Uniform loads are set on the finite element dynamics model of the refueling hose-drogue system, and the value of the uniform load corresponding to the gravitational acceleration is 9.8 m / s 2 .

[0026] Optionally, determining the generalized forces of the hose-drogue system according to the loaded aerodynamic forces and gravity states specifically includes:

[0027] According to the loaded aerodynamic forces and gravity states, the generalized external forces of the hose unit in the hose-drogue system are determined through the following formula:

[0028]

[0029] The generalized elastic forces of the hose unit in the hose-drogue system are determined through the following formula:

[0030]

[0031] The additional inertial forces of the hose unit in the hose-drogue system are determined through the following formula:

[0032]

[0033] where, Qf is the generalized external force of the hose unit in the hose-cone system, p is the material coordinate of the hose unit, p1 and p2 are physical quantities at different material coordinates of the hose unit, S is the shape function of the hose unit, f(p) is the external force including aerodynamic force and gravity acting on the hose unit; Q e is the generalized elastic force of the hose unit in the hose-cone system, E is the elastic modulus of the material, A is the cross-sectional area of the hose, ε is the longitudinal strain, q is the generalized coordinate of the hose unit, J is the sectional moment of inertia of the one-dimensional medium, κ is the element curvature; Q p is the additional inertial force of the hose unit in the hose-cone system, is the slope vector of the hose centerline.

[0034] Optionally, determining the boundary conditions of the hose-cone system specifically includes:

[0035] Setting the hose unit and the cone in the hose-cone system to a free state;

[0036] Constraining the translational degrees of freedom in three directions at the hose towing point;

[0037] Constraining the displacements in three directions of the cone centroid and the end point of the last hose unit to be consistent.

[0038] Optionally, constructing and solving the multi-body dynamics equations of the towing equilibrium process of the hose-cone, determining the generalized acceleration vectors of each calculation point of the hose at different times, and determining the towing equilibrium state of the hose-cone system specifically includes:

[0039] Constructing the multi-body dynamics equations of the towing equilibrium process of the hose-cone through the following formula:

[0040]

[0041] Performing discrete iteration according to the following formula through the generalized-α method, determining the generalized acceleration vectors of each calculation point of the hose at different times, and determining the towing equilibrium state of the hose-cone system:

[0042]

[0043] where M is the overall generalized mass matrix of the hose-cone system, is the overall generalized acceleration vector of the hose at the calculation point, Q is the generalized force vector of the hose-cone system, C q is the constraint Jacobian matrix of the hose-cone system, λ is the overall constraint multiplier vector of the hose-cone system, C(q,t) is the overall constraint equation of the hose-cone system, is the generalized velocity vector of the hose at the nth step at the calculation point, h is the time step, is the generalized acceleration vector of the hose at the nth step of the calculation point, q n is the generalized coordinate vector of the hose at the nth step of the calculation point, and γ and β are related parameters.

[0044] The present invention provides a device for analyzing the dynamic response process of a flexible air refueling hose and drogue, including:

[0045] A modeling module, which is used to establish a finite element model of the hose by using flexible beam elements, model the drag balance process of the hose and drogue for the beam elements of the hose by using the absolute nodal coordinate method, and model the release and stabilization process of the hose and drogue for the beam elements of the hose by using the absolute nodal coordinate method based on the arbitrary Euler-Lagrange description; wherein, the drogue is modeled based on a six-degree-of-freedom rigid body;

[0046] An external force loading module, which is used to respectively load aerodynamic forces on the hose and the drogue according to the modeling results, and set the gravity state of the hose-drogue system; determine the generalized forces of the hose-drogue system according to the loaded aerodynamic forces and the gravity state, and determine the boundary conditions of the hose-drogue system;

[0047] A first analysis module, which is used to construct and solve a multi-body dynamics equation set for the drag balance process of the hose and drogue according to the boundary conditions of the hose-drogue system, determine the generalized acceleration vectors of each calculation point of the hose at different times, and determine the drag balance state of the hose-drogue system;

[0048] A second analysis module, which is used to construct and solve a multi-body dynamics equation set for the release and stabilization process of the hose and drogue according to the boundary conditions of the hose-drogue system, determine the generalized acceleration vectors of each calculation point of the hose at different times, and determine the elongation release-drag balance state of the hose-drogue system.

[0049] The present invention provides a computer-readable storage medium, and the storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned method for analyzing the dynamic response process of a flexible air refueling hose and drogue is realized.

[0050] The present invention provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the program, the above-mentioned method for analyzing the dynamic response process of a flexible air refueling hose and drogue is realized.

[0051] The above-mentioned at least one technical solution adopted by the present invention can achieve the following beneficial effects:

[0052] In the present invention, a finite element model of the hose is first established using flexible beam elements. The absolute nodal coordinate method is used to model the towing equilibrium process of the hose - cone sleeve for the beam elements of the hose. The absolute nodal coordinate method based on the arbitrary Euler - Lagrange description is used to model the release and stabilization process of the hose - cone sleeve for the beam elements of the hose. The cone sleeve is modeled based on a six - degree - of - freedom rigid body to obtain a finite element dynamic model of the hose - cone sleeve system. Then, external forces are applied and boundary conditions are determined, and the multi - body dynamics equations for the towing equilibrium process of the hose - cone sleeve and the multi - body dynamics equations for the release and stabilization process of the hose - cone sleeve are constructed and solved to determine the towing equilibrium state of the hose - cone sleeve system and the elongation release - towing equilibrium state of the hose - cone sleeve system.

[0053] In the present invention, the aerodynamic force on the refueling hose is simulated by loading an aerodynamic force on the hose, the aerodynamic force on the cone sleeve is simulated by loading an aerodynamic force on the cone sleeve, the absolute nodal coordinate method is used to model the towing equilibrium process of the hose - cone sleeve for the beam elements of the hose, and the absolute nodal coordinate method based on the arbitrary Euler - Lagrange description is used to model the elongation release and stabilization process of the hose - cone sleeve system, which can accurately simulate the towing equilibrium process and the elongation release and stabilization process of the hose - cone sleeve system, and improve the analysis accuracy of the dynamic responses such as the hose shape change and the cone sleeve attitude change. Description of the Drawings

[0054] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0055] Figure 1 It is a schematic flow chart of a method for analyzing the dynamic response process of a flexible air - to - air refueling hose - cone sleeve provided by the present invention;

[0056] Figure 2 It is a specific flow chart of a method for analyzing the dynamic response process of a flexible air - to - air refueling hose - cone sleeve provided by the present invention;

[0057] Figure 3 It is a schematic diagram of an ANCF unit provided by the present invention;

[0058] Figure 4 It is a schematic diagram of a typical one - dimensional moving medium unit provided by the present invention;

[0059] Figure 5 It is a schematic diagram of the absolute and relative flow velocity vectors and their components in the normal and tangential directions of a hose unit provided by the present invention;

[0060] Figure 6 It is a schematic diagram of the constraint between the hose and the cone sleeve provided by the present invention;

[0061] Figure 7 Schematic diagram of a dynamic grid division process provided by the present invention;

[0062] Figure 8 Schematic diagram of the release process of a refueling hose - cone system provided by the present invention;

[0063] Figure 9 Schematic diagram of two refueling methods, namely belly refueling and under - wing refueling, provided by the present invention;

[0064] Figure 10 Schematic diagram of the system balance state with the same altitude but different flight speeds in the belly refueling method provided by the present invention;

[0065] Figure 11 Schematic diagram of the system balance process under a certain working condition in the belly refueling method provided by the present invention;

[0066] Figure 12 Schematic diagram of the system balance state with the same altitude but different flight speeds in the under - wing refueling method provided by the present invention;

[0067] Figure 13 Schematic diagram of the dynamic capture of the system during the elongation and release process of the hose - cone system under a certain working condition in the belly refueling method provided by the present invention;

[0068] Figure 14 Schematic diagram of the X - direction trajectory of the centroid of the cone during the elongation and release process of the hose - cone system under a certain working condition in the belly refueling method provided by the present invention;

[0069] Figure 15 Schematic diagram of the Y - direction trajectory of the centroid of the cone during the elongation and release process of the hose - cone system under a certain working condition in the belly refueling method provided by the present invention;

[0070] Figure 16 Schematic diagram of the dynamic capture of the system during the elongation and release process of the hose - cone system under a certain working condition in the under - wing refueling method provided by the present invention;

[0071] Figure 17 Schematic diagram of the X - direction trajectory of the centroid of the cone during the elongation and release process of the hose - cone system under a certain working condition in the under - wing refueling method provided by the present invention;

[0072] Figure 18 Schematic diagram of the Y - direction trajectory of the centroid of the cone during the elongation and release process of the hose - cone system under a certain working condition in the under - wing refueling method provided by the present invention;

[0073] Figure 19 Schematic diagram of the Z - direction trajectory of the centroid of the cone during the elongation and release process of the hose - cone system under a certain working condition in the under - wing refueling method provided by the present invention;

[0074] Figure 20 Schematic diagram of an analysis device for the dynamic response process of a flexible air refueling hose and drogue provided by the present invention;

[0075] Figure 21 Schematic diagram of a computer device for implementing a method for analyzing the dynamic response process of a flexible air refueling hose and drogue provided by the present invention. Specific embodiments

[0076] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of 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.

[0077] The following will detail the technical solutions provided by each embodiment of the present invention with reference to the drawings.

[0078] Figure 1 Schematic flowchart of a method for analyzing the dynamic response process of a flexible air refueling hose and drogue in the present invention, specifically including the following steps:

[0079] S101: Establish a finite element model of the hose using flexible beam elements, model the towing balance process of the hose-drogue using the absolute nodal coordinate method for the beam elements of the hose, and model the release and stabilization process of the hose-drogue using the absolute nodal coordinate method based on the arbitrary Eulerian-Lagrangian description for the beam elements of the hose, to obtain a finite element dynamics model of the hose-drogue system; wherein, the drogue is modeled based on a six-degree-of-freedom rigid body.

[0080] S102: Apply aerodynamic forces to the hose and the drogue respectively according to the finite element dynamics model of the hose-drogue system, and set the gravity states of the hose and the drogue; determine the generalized forces of the hose-drogue system according to the applied aerodynamic forces and gravity states, and determine the boundary conditions of the hose-drogue system.

[0081] S103: Construct and solve a multi-body dynamics equation set for the towing balance process of the hose-drogue according to the boundary conditions of the hose-drogue system, determine the generalized acceleration vectors of each calculation point of the hose at different times, and determine the towing balance state of the hose-drogue system.

[0082] S104: Construct and solve a multi-body dynamics equation set for the release and stabilization process of the hose-drogue according to the boundary conditions of the hose-drogue system, determine the generalized acceleration vectors of each calculation point of the hose at different times, and determine the elongation release - towing balance state of the hose-drogue system.

[0083] For the sake of convenience, the following description is made only with the server as the execution entity. The server mentioned in the present invention can be a server set up on a service platform, or a device such as a desktop computer or a laptop computer that can execute the solution of the present invention.

[0084] Figure 2 This is a schematic diagram of the specific process of a method for analyzing the dynamic response process of a flexible air refueling hose and drogue in the present invention. Refer to Figure 2 , generally, when analyzing the dynamic response process of a flexible air refueling hose and drogue, the server can first establish finite element dynamics models for the towing balance process and the release-stabilization process of the hose and drogue.

[0085] Among them, the finite element model of the hose can be established using flexible beam elements, where the length of the beam elements along the axial direction is the same, and the elastic modulus E, density ρ, and length L of the refueling hose are given.

[0086] For the free towing state, the hose element modeling method can adopt the Absolute Node Coordinate Formulation (ANCF); for the elongation release-stabilization process, the hose elements adopt the Absolute Node Coordinate Method based on the Arbitrary Lagrangian-Eulerian description (ALE-ANCF). As Figure 3 shown, Figure 3 This is a schematic diagram of an ANCF unit in the present invention. According to the absolute node coordinate method, the spatial position, slope vector, and material coordinates of the unit nodes are taken as generalized coordinates to characterize the hose unit:

[0087]

[0088] where: r = [x y z] T ,

[0089] The vector composed of the unit mesh coordinates:

[0090]

[0091] To describe the motion of any point inside the unit, the Hermite interpolation function is introduced, and there is:

[0092] r(p) = s1r1 + s2r1' + s3r2 + s4r2'

[0093] The expressions of s1 to s4 in the above formula are respectively:

[0094]

[0095] For the convenience of derivation, an intermediate variable is introduced:

[0096] S e = [s1I s2I s3I s4I]

[0097] where I is a 3×3 identity matrix and S e is a cubic function. Thus, for any point inside the element, we have:

[0098] r(p) = S e q e

[0099] The actual length of the element is given by the difference in material coordinates at the two nodes:

[0100] l e = p2 - p1

[0101] It should be noted that the shape functions of the element cannot restrict the movement of the internal medium points along the axis of the element. Define the rates of change of the material coordinates at the element nodes as If then it indicates that this element is in the elongation state, and vice versa. If then the length of the element does not change, but there is material transport inside the element. This can respectively correspond to the free-dragging problem and the elongation-release - stabilization problem.

[0102] Taking the first and second material derivatives of the equation with respect to time, the velocity at any point inside the element is obtained:

[0103]

[0104] where S is the shape function, and its expression is

[0105]

[0106] Obviously, if there is no material transport at the element nodes, that is, l e = constant or and then the equation degenerates into the velocity expression of a traditional medium element.

[0107] The conical sleeve is regarded as a rigid body with six degrees of freedom, and no detailed structure is established. Its structural weight is the weight of the conical sleeve, and the moment of inertia corresponds to the moment of inertia of the conical sleeve.

[0108] Then, the server can apply aerodynamic forces on the hose and the conical sleeve respectively. Specifically, the aerodynamic forces including the pressure drag F D,n and the frictional drag F Dt can be applied on the hose according to the finite element dynamics model of the hose-conical sleeve system through the following formula:

[0109]

[0110] In the formula, ρ f is the atmospheric density, d is the outer diameter of the hose, C d is the pressure differential force coefficient, C f is the friction coefficient, V is the relative flow velocity of the hose unit, V n V is the normal component of the relative velocity of the incoming flow at a point on the hose unit. t is the tangential component of the relative flow velocity at a point on the hose unit, u t V is the unit tangent vector of the hose unit along the hose centerline, f is the local incoming flow velocity under the combined influence of the incoming flow velocity and the tanker wake field, is the absolute velocity at a point on the hose unit.

[0111] Correspondingly, the aerodynamic force can be loaded on the cone sleeve according to the finite element dynamics model of the hose-cone sleeve system by the following formula:

[0112]

[0113] Among them, F ad is the aerodynamic force on the cone sleeve, A drogue is the characteristic resistance area of ​​the cone sleeve, C drogue is the aerodynamic drag coefficient of the drogue, V drogue is the velocity of the cone sleeve center of mass.

[0114] In addition, the server can also set the gravity state of the hose-cone sleeve system, and set a uniform load on the finite element dynamics model of the refueling hose-cone sleeve system. The uniform load corresponds to the gravity acceleration value, which can be 9.8m / s 2 .

[0115] Further, the server may calculate the generalized force of the hose-cone system. Specifically, the server may determine the generalized external force of the hose unit in the hose-cone system according to the loaded aerodynamic force and the gravity state by the following formula:

[0116]

[0117] The generalized elastic force of the hose element in the hose-cone system is determined by the following formula:

[0118]

[0119] The additional inertia force of the hose element in the hose-cone system is determined by the following formula:

[0120]

[0121] In the formula, Q fis the generalized external force of the hose unit in the hose-cone system, p is the material coordinate of the hose unit, p1 and p2 are physical quantities at different material coordinates of the hose unit, S is the shape function of the hose unit, and f(p) is the external force including aerodynamic force and gravity acting on the hose unit; Q e is the generalized elastic force of the hose unit in the hose-cone system, E is the elastic modulus of the material, A is the cross-sectional area of the hose, ε is the longitudinal strain, q is the generalized coordinate of the hose unit, J is the sectional moment of inertia of the one-dimensional medium, and κ is the element curvature; Q p is the additional inertial force of the hose unit in the hose-cone system, is the slope vector of the hose centerline. Figure 4 is a schematic diagram of a typical one-dimensional moving medium unit in the present invention. Figure 5 is a schematic diagram of the absolute and relative flow velocity vectors and their components in the normal and tangential directions of a hose unit in the present invention.

[0122] Furthermore, the boundary conditions of the hose-cone system can be set. Specifically, the fueling hose unit and the cone can be set to be in a free state, and the translational degrees of freedom in the X, Y, and Z directions at the towing point of the fueling hose can be constrained, while the rotational degrees of freedom do not need to be constrained. The displacements of the centroid of the cone and the end point of the end unit of the hose in the X, Y, and Z directions are constrained to be consistent, and the rotational degrees of freedom do not need to be constrained. Figure 6 is a schematic diagram of the constraints between the hose and the cone in the present invention.

[0123] Finally, the state of the hose-cone system in free towing of the hose-cone system can be determined, and the state of the hose-cone system during the elongation release-stabilization process of the hose-cone system can be calculated to analyze the dynamic response process of the hose-cone system. Figure 7 is a schematic diagram of the process of dynamically dividing the mesh in the present invention, Figure 8 is a schematic diagram of the release process of the fueling hose-cone system in the present invention.

[0124] Taking the determination of the state of the hose-cone system in free towing of the hose-cone system as an example, the server can construct a multi-body dynamics equation set for the towing balance process of the hose-cone through the following formula:

[0125]

[0126] Through the generalized-α method, discrete iteration is performed according to the following formula to determine the generalized acceleration vector of each calculation point of the hose at different times and determine the towing balance state of the hose-cone system:

[0127]

[0128] In the formula, M is the overall generalized mass matrix of the hose-cone system, is the overall generalized acceleration vector of the hose at the calculation point, Q is the generalized force vector of the hose-cone system, C q is the constraint Jacobian matrix of the hose-cone system, λ is the overall constraint multiplier vector of the hose-cone system, and C(q,t) is the overall constraint equation of the hose-cone system. is the generalized velocity vector of the hose at the nth step at the calculation point, h is the time step. is the generalized acceleration vector of the hose at the nth step at the calculation point, q n is the generalized coordinate vector of the hose at the nth step at the calculation point, and γ, β are related parameters.

[0129] For the obtained state of the hose-cone system, by extracting data and through data processing, the data can be converted into graphs to visualize the data. Graphs of the morphological change process of the refueling hose and time history curves of the attitude parameters of the cone sleeve, etc. are obtained, realizing the analysis of the dynamic response process of the flexible in-air refueling hose-cone.

[0130] Figure 9 is a schematic diagram of two refueling methods, belly refueling and wing-mounted refueling, in the present invention. The free-dragging state of the refueling hose-cone under different working conditions is calculated, such as Figure 10 and Figure 12 shown. Figure 10 is a schematic diagram of the system equilibrium state with the same altitude and different flight speeds for a belly refueling method in the present invention. Figure 12 is a schematic diagram of the system equilibrium state with the same altitude and different flight speeds for a wing-mounted refueling method in the present invention.

[0131] The dynamic capture diagram of the equilibrium process of the free-dragging state of the hose-cone during belly refueling under a certain working condition is calculated, such as Figure 11 shown. Figure 11 is a schematic diagram of the system equilibrium process under a certain working condition for a belly refueling method in the present invention.

[0132] The dynamic capture diagrams of the elongation and release equilibrium processes of the hose-cone under different refueling methods under a certain working condition are calculated, such as Figure 13 and Figure 16 shown. Figure 13 is a schematic diagram of the dynamic capture of the elongation and release process of the hose-cone system under a certain working condition for a belly refueling method in the present invention. Figure 16 is a schematic diagram of the dynamic capture of the elongation and release process of the hose-cone system under a certain working condition for a wing-mounted refueling method in the present invention.

[0133] The trajectory diagrams of the X and Y directions of the centroid of the cone sleeve during the elongation and release equilibrium process of the hose-cone during belly refueling under a certain working condition are calculated, such as Figure 14 and Figure 15 shown. Figure 14This is a belly refueling method in the present invention. Under a certain working condition, it is a schematic diagram of the trajectory of the centroid of the drogue in the X direction during the elongation and release process of the hose-drogue system. Figure 15 This is a belly refueling method in the present invention. Under a certain working condition, it is a schematic diagram of the trajectory of the centroid of the drogue in the Y direction during the elongation and release process of the hose-drogue system.

[0134] The trajectory diagrams of the centroid of the drogue in the X, Y, and Z directions during the elongation and release balance process of the hose-drogue system under a certain working condition are calculated, as shown in Figure 17 , Figure 18 and Figure 19 . Figure 17 This is a wing-mounted refueling method in the present invention. Under a certain working condition, it is a schematic diagram of the trajectory of the centroid of the drogue in the X direction during the elongation and release process of the hose-drogue system;

[0135] Figure 18 This is a wing-mounted refueling method in the present invention. Under a certain working condition, it is a schematic diagram of the trajectory of the centroid of the drogue in the Y direction during the elongation and release process of the hose-drogue system; Figure 19 This is a wing-mounted refueling method in the present invention. Under a certain working condition, it is a schematic diagram of the trajectory of the centroid of the drogue in the Z direction during the elongation and release process of the hose-drogue system.

[0136] Based on Figure 1 the analysis method of the dynamic response process of the flexible air refueling hose-drogue shown, the present invention first uses flexible beam elements to establish a finite element model of the hose, uses the absolute nodal coordinate method to model the towing balance process of the hose-drogue for the beam elements of the hose, uses the absolute nodal coordinate method based on the arbitrary Eulerian-Lagrangian description to model the release and stabilization process of the hose-drogue for the beam elements of the hose, and models the drogue based on a six-degree-of-freedom rigid body to obtain a finite element dynamics model of the hose-drogue system. Then, external forces are loaded and boundary conditions are determined, and the multi-body dynamics equations of the towing balance process of the hose-drogue and the multi-body dynamics equations of the release and stabilization process of the hose-drogue are constructed and solved to determine the towing balance state of the hose-drogue system and the elongation, release, and towing balance state of the hose-drogue system.

[0137] The present invention simulates the aerodynamic force of the refueling hose by loading aerodynamic force on the refueling hose, simulates the aerodynamic force of the drogue by loading aerodynamic force on the drogue, models the towing balance process of the hose-drogue for the beam elements of the hose by the absolute nodal coordinate method, and models the elongation, release, and stabilization process of the hose-drogue system by the absolute nodal coordinate method based on the arbitrary Eulerian-Lagrangian description, which can accurately simulate the towing balance process and the elongation, release, and stabilization process of the hose-drogue system, and improve the analysis accuracy of the dynamic responses such as the shape change of the hose and the attitude change of the drogue.

[0138] In the method for analyzing the dynamic response during in-air refueling of an aircraft provided by the present invention, it is designed to simulate the aerodynamic force of the refueling hose by loading the analytical solution of the aerodynamic force on the refueling hose, simulate the aerodynamic force of the drogue by loading the numerical solution of the aerodynamic force on the drogue, and model the elongation and release process of the hose-drogue system by the ALE-ANCF method. Finally, the dynamic responses such as the change in the shape of the hose and the change in the attitude of the drogue are calculated and solved. Through this method, the high-efficiency and accurate analysis of the dynamic response characteristics of the flexible in-air refueling hose-drogue system is ultimately realized.

[0139] When applying the method for analyzing the dynamic response process of the flexible in-air refueling hose-drogue provided by the present invention, it is not necessary to execute according to Figure 1 the order of the steps shown. The specific execution order of each step can be determined according to needs, and the present invention does not limit this.

[0140] In addition, in one or more embodiments of the present invention, including different oncoming flow velocities V, altitude H, etc., the hose-drogue system may have the same equivalent aerodynamic area of the drogue S = 0.2826 m 2 , the weight of the drogue m = 29.5 kg, the outer diameter of the refueling hose D = 67.3 mm, the inner diameter of the refueling hose d = 50.8 mm, the linear density of the refueling hose ρ = 4 kg / m 2 , the elastic modulus of the refueling hose E = 265 MPa, and the hose length L = 14.3256 m.

[0141] The above is the method for analyzing the dynamic response process of the flexible in-air refueling hose-drogue provided by one or more embodiments of the present invention. Based on the same idea, the present invention also provides a corresponding device for analyzing the dynamic response process of the flexible in-air refueling hose-drogue, as Figure 20 shown.

[0142] Figure 20 is a schematic diagram of a device for analyzing the dynamic response process of a flexible in-air refueling hose-drogue provided by the present invention, including:

[0143] A modeling module 201, configured to establish a finite element model of the hose using flexible beam elements, model the towing balance process of the hose-drogue using the absolute nodal coordinate method for the beam elements of the hose, and model the release and stabilization process of the hose-drogue using the absolute nodal coordinate method based on the arbitrary Euler-Lagrange description for the beam elements of the hose; wherein, the drogue is modeled based on a six-degree-of-freedom rigid body;

[0144] An external force loading module 202, configured to respectively load aerodynamic forces on the hose and the drogue according to the modeling results, and set the gravity state of the hose-drogue system; determine the generalized forces of the hose-drogue system according to the loaded aerodynamic forces and the gravity state, and determine the boundary conditions of the hose-drogue system;

[0145] The first analysis module 203 is configured to construct and solve a multi-body dynamics equation set for the towing balance process of the hose-cone system according to the boundary conditions of the hose-cone system, determine the generalized acceleration vectors of each calculation point of the hose at different times, and determine the towing balance state of the hose-cone system.

[0146] The second analysis module 204 is configured to construct and solve a multi-body dynamics equation set for the release and stabilization process of the hose-cone system according to the boundary conditions of the hose-cone system, determine the generalized acceleration vectors of each calculation point of the hose at different times, and determine the elongation release - towing balance state of the hose-cone system.

[0147] For the specific limitations of the soft air refueling hose-cone dynamic response process analysis device, reference can be made to the limitations of the soft air refueling hose-cone dynamic response process analysis method described above, which will not be elaborated here. Each module in the above-mentioned soft air refueling hose-cone dynamic response process analysis device can be implemented in whole or in part by software, hardware, and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory of the computer device in the form of software, so as to facilitate the processor to call and execute the operations corresponding to the above-mentioned modules.

[0148] The present invention also provides a computer-readable storage medium, which stores a computer program that can be used to execute the above Figure 1 provided soft air refueling hose-cone dynamic response process analysis method.

[0149] The present invention also provides Figure 21 the structural schematic diagram of the computer device shown in, as Figure 3 shown, at the hardware level, the computer device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory. Of course, other hardware required for other services may also be included. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement the above Figure 1 provided soft air refueling hose-cone dynamic response process analysis method.

[0150] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided by the present invention can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0151] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope recorded by the present invention.

Claims

1. A method for analyzing the dynamic response process of a soft aerial refueling hose-drogue, characterized in that: include: The flexible beam unit is used to establish the finite element model of the hose, the absolute node coordinate method is used to model the dragging balance process of the hose-cone sleeve with the beam unit of the hose, and the absolute node coordinate method based on arbitrary Euler Lagrangian description is used to model the release stability process of the hose-cone sleeve with the beam unit of the hose, and the finite element dynamic model of the hose-cone sleeve system is obtained; among which, the cone sleeve is modeled based on a six-degree-of-freedom rigid body; According to the finite element dynamics model of the hose-drogue system, aerodynamic forces are loaded on the hose and the drogue respectively, and the gravity states of the hose and the drogue are set; according to the loaded aerodynamic forces and gravity states, the generalized forces of the hose-drogue system are determined, and the boundary conditions of the hose-drogue system are determined; According to the boundary conditions of the hose-drogue system, the multi-body dynamics equations of the dragging equilibrium process of the hose-drogue are constructed and solved, the generalized acceleration vectors of each calculation point of the hose at different times are determined, and the dragging equilibrium state of the hose-drogue system is determined; According to the boundary conditions of the hose-drogue system, the multi-body dynamics equations of the release stability process of the hose-drogue are constructed and solved, the generalized acceleration vectors of each calculation point of the hose at different times are determined, and the elongation release-drag equilibrium state of the hose-drogue system is determined.

2. The method for analyzing the dynamic response process of the soft aerial refueling hose-drogue according to claim 1, characterized in that: According to the finite element dynamic model of the hose-drogue system, aerodynamic forces are applied to the hose, including: The aerodynamic force including pressure difference resistance and friction resistance is loaded on the hose according to the finite element dynamic model of the hose-drogue system by the following formula: Among them, F D,n is the pressure difference resistance, F D,t is the friction resistance, ρ f is the atmospheric density, d is the outer diameter of the hose, C d is the pressure differential force coefficient, C f is the friction coefficient, V is the relative flow velocity of the hose unit, V n V is the normal component of the relative velocity of the incoming flow at a point on the hose unit. t is the tangential component of the relative flow velocity at a point on the hose unit, u t V is the unit tangent vector of the hose unit along the hose centerline, f is the local incoming flow velocity under the combined influence of the incoming flow velocity and the tanker wake field, is the absolute velocity at a point on the hose unit.

3. The method for analyzing the dynamic response process of the soft aerial refueling hose-drogue according to claim 2, characterized in that: According to the finite element dynamics model of the hose-drogue system, aerodynamic forces are applied to the drogue, including: The aerodynamic force is applied to the drogue according to the finite element dynamics model of the hose-drogue system by the following formula: Among them, F ad is the aerodynamic force on the cone sleeve, A drogue is the characteristic resistance area of ​​the cone sleeve, C drogue is the aerodynamic drag coefficient of the drogue, V drogue is the velocity of the cone sleeve center of mass.

4. The method for analyzing the dynamic response process of the flexible aerial refueling hose-drogue according to claim 1, characterized in that: The setting of the gravity state of the hose and the cone sleeve specifically includes: A uniform load is set on the finite element dynamics model of the refueling hose-drogue system. The uniform load corresponds to a gravity acceleration value of 9.8 m / s. 2 .

5. The method for analyzing the dynamic response process of a flexible aerial refueling hose-drogue according to claim 1, characterized in that: The generalized force of the hose-drogue system is determined according to the loaded aerodynamic force and gravity state, specifically including: According to the loaded aerodynamic force and gravity state, the generalized external force of the hose unit in the hose-cone system is determined by the following formula: The generalized elastic force of the hose element in the hose-cone system is determined by the following formula: The additional inertia force of the hose element in the hose-cone system is determined by the following formula: Among them, Q f is the generalized external force of the hose unit in the hose-cone system, p is the material coordinate of the hose unit, p1 and p2 are the physical quantities of the hose unit material at different coordinates, S is the shape function of the hose unit, and f(p) is the external force on the hose unit including aerodynamic force and gravity; Q e is the generalized elastic force of the hose unit in the hose-cone sleeve system, E is the elastic modulus of the material, A is the cross-sectional area of ​​the hose, ε is the longitudinal strain, q is the generalized coordinate of the hose unit, J is the section inertia moment of the one-dimensional medium, and κ is the element curvature; Q p is the additional inertia force of the hose unit in the hose-cone system, is the hose centerline slope vector.

6. The method for analyzing the dynamic response process of the flexible aerial refueling hose-drogue according to claim 1, characterized in that: The boundary conditions of the hose-cone sleeve system are determined, specifically including: The hose unit and the drogue in the hose-drogue system are set to a free state; Constrain the translational freedom in three dimensions at the hose dragging point; The constraint is that the displacement of the cone sleeve center of mass and the end point of the hose end unit in the three-dimensional direction should be consistent.

7. The method for analyzing the dynamic response process of a flexible aerial refueling hose-drogue according to claim 1, characterized in that: The method of constructing and solving the multi-body dynamics equations of the dragging balance process of the hose-drogue sleeve, determining the generalized acceleration vectors of each calculation point of the hose at different times, and determining the dragging balance state of the hose-drogue sleeve system specifically includes: The multi-body dynamics equations of the hose-cone drag equilibrium process are constructed by the following formula: The generalized-α method is used to perform discrete iterations according to the following formula to determine the generalized acceleration vectors of each calculation point of the hose at different times and the drag equilibrium state of the hose-drogue system: Where M is the overall generalized mass matrix of the hose-cone system, is the overall generalized acceleration vector of the hose at the calculation point, Q is the generalized force vector of the hose-cone sleeve system, C q is the constraint Jacobian matrix of the hose-drogue system, λ is the overall constraint multiplier vector of the hose-drogue system, C(q,t) is the overall constraint equation of the hose-drogue system, is the generalized velocity vector of the hose at the calculation point nth step, h is the time step, is the generalized acceleration vector of the hose at the calculation point at step n, q n is the generalized coordinate vector of the hose at the calculation point in the nth step, and γ and β are related parameters.

8. A soft aerial refueling hose-drogue dynamic response process analysis device, characterized in that: include: A modeling module is used to establish a finite element model of the hose using a flexible beam unit, to model the dragging balance process of the hose-cone sleeve using the absolute node coordinate method for the hose beam unit, and to model the release stabilization process of the hose-cone sleeve using the absolute node coordinate method based on arbitrary Euler Lagrangian description for the hose beam unit; wherein the cone sleeve is modeled based on a six-degree-of-freedom rigid body; The external force loading module is used to load aerodynamic forces on the hose and the drogue respectively according to the modeling results, and set the gravity state of the hose-drogue system; determine the generalized force of the hose-drogue system according to the loaded aerodynamic forces and gravity state, and determine the boundary conditions of the hose-drogue system; The first analysis module is used to construct and solve the multi-body dynamics equations of the dragging equilibrium process of the hose-drogue according to the boundary conditions of the hose-drogue system, determine the generalized acceleration vectors of each calculation point of the hose at different times, and determine the dragging equilibrium state of the hose-drogue system; The second analysis module is used to construct and solve the multi-body dynamics equations of the release stability process of the hose-cone sleeve according to the boundary conditions of the hose-cone sleeve system, determine the generalized acceleration vectors of each calculation point of the hose at different times, and determine the elongation release-drag equilibrium state of the hose-cone sleeve system.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

10. A computer device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method according to any one of claims 1 to 7 is implemented.

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