A dynamic response analysis method for a flexible aerial refueling hose-drogue

Abstract

The present invention discloses a method for analyzing the dynamic response process of a soft aerial refueling hose-drogue sleeve, and relates to the technical field of dynamic response analysis of a soft aerial refueling process of an aircraft. 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 sleeve by loading aerodynamic force on the drogue sleeve, models the drag equilibrium process of the hose-drogue sleeve using the absolute node coordinate method for the beam unit of the hose, models the elongation and release stabilization process of the hose-drogue sleeve system using the absolute node coordinate method based on an arbitrary Euler Lagrangian description, then loads external force and determines boundary conditions, constructs and solves a multi-body dynamics equation set for the drag equilibrium process of the hose-drogue sleeve and a multi-body dynamics equation set for the release stabilization process of the hose-drogue sleeve, and accurately simulates the drag equilibrium process and the elongation and release stabilization process of the hose-drogue sleeve system, thereby improving the accuracy of the analysis of dynamic responses such as changes in hose morphology and changes in drogue sleeve posture.

Description

Technical Field

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

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

[0003] The refueling hose-drogue refueling system primarily consists of a power unit, a hose reel mechanism, a refueling hose, and its drogue. The power unit is mounted on the refueling machine and connected to the hose reel mechanism, which is located inside the refueling pod. The refueling hose is wound around the hose reel mechanism, with the inlet end connected to the refueling machine's fuel tank and the outlet end connected to the drogue. In the refueling hose-drogue refueling system, the power unit drives the hose reel mechanism, which reels the refueling hose, allowing the refueling hose and drogue to be retracted into the refueling pod or released out of the pod.

[0004] Based on the refueling hose-drogue refueling system, when the tanker refuels the receiving aircraft, the refueling hose and the drogue are released outside the refueling pod, and under the action of aerodynamic force, they reach a drag equilibrium state. Then, when the receiving aircraft approaches, the drogue is docked with the refueling connector on the receiving aircraft to refuel the receiving aircraft. When the refueling hose and drogue are outside the refueling pod, they will be affected by the wake of the tanker, the nose wave of the receiving aircraft, and atmospheric turbulence, and will bear a large aerodynamic load, making it difficult to stabilize in a fixed position.

[0005] In actual applications, when the power unit drives the hose winch mechanism to release the refueling hose, the unreasonable release speed causes the refueling hose to vibrate and cannot be balanced in a short time. At the same time, it may produce whiplash when disturbed, resulting in damage or even danger, affecting the subsequent docking process.

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

[0007] At present, it is difficult to simulate the aerodynamics of the refueling hose using a single CAE finite element software. The use of CFD finite element software and CAE finite element software can achieve a joint solution of structural dynamics and fluid dynamics, but the computational cost is too high to be applied to solving engineering problems. The use of MATLAB and other software to establish a one-dimensional ball-and-bar model can perform numerical solutions, but the calculation accuracy is low and it cannot simulate contact nonlinearity and geometric nonlinearity.

[0008] In summary, the accuracy of the current analysis of the dynamic response process of the soft aerial refueling hose-drogue is poor. Summary of the Invention

[0009] Based on this, it is necessary to provide a dynamic response process analysis method for a soft aerial refueling hose-drogue to address the above technical issues.

[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 aerial refueling hose-drogue, comprising:

[0012] A finite element model of the hose was established using flexible beam elements. The absolute nodal coordinate method was used to model the dragging equilibrium process of the hose-cone sleeve. The absolute nodal coordinate method based on arbitrary Euler Lagrangian description was used to model the release stabilization process of the hose-cone sleeve. The finite element dynamic model of the hose-cone sleeve system was obtained. The cone sleeve was modeled based on a six-degree-of-freedom rigid body.

[0013] Based on the finite element dynamics model of the hose-drogue system, aerodynamic forces are applied to the hose and drogue, respectively, and the gravity states of the hose and drogue are set. Based on the applied aerodynamic forces and gravity states, the generalized forces of the hose-drogue system are determined, as well as the boundary conditions of the hose-drogue system.

[0014] Based on the boundary conditions of the hose-drogue system, the multi-body dynamics equations of the hose-drogue drag equilibrium process are constructed and solved 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.

[0015] According to the boundary conditions of the hose-drogue system, the multi-body dynamics equations of the hose-drogue release stability process are constructed and solved, the generalized acceleration vectors of each calculation point of the hose at different times are determined, and the extension release-drag equilibrium state of the hose-drogue system is determined.

[0016] Optionally, aerodynamic forces are applied to the hose according to a finite element dynamics model of the hose-drogue system, specifically including:

[0017] 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 using the following formula:

[0018]

[0019] 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, Cf 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 velocity of the incoming flow at a point on the hose unit, u t is the unit tangent vector along the centerline of the hose unit, V f is the local incoming flow velocity under the combined influence of the incoming flow velocity and the tanker tail flow field, is the absolute velocity at a point on the hose unit.

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

[0021] The aerodynamic force is applied to the drogue according to the finite element dynamic model of the hose-drogue system using the following formula:

[0022]

[0023] Among them, F ad is the aerodynamic force applied to 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 center of mass of the cone sleeve.

[0024] Optionally, the setting of the gravity state of the hose and the cone sleeve specifically includes:

[0025] 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 .

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

[0027] Based on the loaded aerodynamic force and gravity state, the generalized external force of the hose unit in the hose-drogue system is determined by the following formula:

[0028]

[0029] The generalized elastic force of the hose element in the hose-cone system is determined by the following formula:

[0030]

[0031] The additional inertia force of the hose element in the hose-cone system is determined by the following formula:

[0032]

[0033] Among them, 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 the physical quantities at different coordinates of the hose unit material, 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 moment of inertia 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.

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

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

[0036] Constrain the translational freedom in the three-dimensional direction at the hose dragging point;

[0037] 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 remain consistent.

[0038] Optionally, constructing and solving a multi-body dynamics equation set for the drag equilibrium process of the hose-drogue, determining the generalized acceleration vector of each calculation point of the hose at different times, and determining the drag equilibrium state of the hose-drogue system specifically includes:

[0039] The multi-body dynamics equations of the hose-drogue drag equilibrium process are constructed using the following formula:

[0040]

[0041] 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:

[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-drogue system, λ is the global constraint multiplier vector of the hose-drogue system, C(q,t) is the global 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 nth step, q n is the generalized coordinate vector of the hose at the calculation point nth step, γ and β are related parameters.

[0044] The present invention provides a flexible aerial refueling hose-drogue dynamic response process analysis device, comprising:

[0045] A modeling module is used to establish a finite element model of the hose using flexible beam elements, model the hose-cone sleeve drag equilibrium process using the absolute node coordinate method, and model the hose-cone sleeve release stabilization process using the absolute node coordinate method based on arbitrary Euler Lagrangian description. The cone sleeve is modeled based on a six-degree-of-freedom rigid body.

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

[0047] The first analysis module is used to construct and solve the multi-body dynamics equations of the hose-drogue drag equilibrium process based on 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 equilibrium state of the hose-drogue system;

[0048] The second analysis module is used to construct and solve the multi-body dynamics equations of the hose-drogue release stabilization process based on 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 equilibrium state of the hose-drogue system.

[0049] The present invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the method for analyzing the dynamic response process of the soft aerial refueling hose-drogue is implemented.

[0050] The present invention provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the above-mentioned method for analyzing the dynamic response process of the soft aerial refueling hose-drogue is implemented.

[0051] At least one of the above technical solutions adopted by the present invention can achieve the following beneficial effects:

[0052] The present invention first uses a flexible beam unit to establish a finite element model of the hose, uses the absolute node coordinate method to model the hose-cone sleeve dragging balance process of the hose beam unit, uses the absolute node coordinate method based on the arbitrary Euler Lagrangian description to model the hose-cone sleeve release stabilization process of the hose beam unit, and models the cone sleeve based on a six-degree-of-freedom rigid body to obtain a finite element dynamic model of the hose-cone sleeve system, then loads external force and determines boundary conditions, constructs and solves the multi-body dynamic equations of the hose-cone sleeve dragging balance process and the multi-body dynamic equations of the hose-cone sleeve release stabilization process, and determines the dragging equilibrium state of the hose-cone sleeve system and the elongation release-drag equilibrium state of the hose-cone sleeve system.

[0053] 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 sleeve by loading aerodynamic force on the drogue sleeve, models the dragging balance process of the hose-drogue sleeve by the absolute node coordinate method for the beam unit of the hose, and models the elongation and release stabilization process of the hose-drogue sleeve system by the absolute node coordinate method based on arbitrary Euler Lagrangian description. The dragging balance process and the elongation and release stabilization process of the hose-drogue sleeve system can be accurately simulated, thereby improving the analysis accuracy of dynamic responses such as hose shape changes and drogue sleeve posture changes. BRIEF 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 exemplary 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 A schematic flow chart of a method for analyzing the dynamic response of a flexible aerial refueling hose-drogue provided by the present invention;

[0056] Figure 2 A schematic diagram of a specific process flow of a method for analyzing the dynamic response of a flexible aerial refueling hose-drogue provided by the present invention;

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

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

[0059] Figure 5 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 A schematic diagram of the constraint between a hose and a cone sleeve provided by the present invention;

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

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

[0063] Figure 9 This is a schematic diagram of two refueling methods provided by the present invention: belly refueling and underwing refueling;

[0064] Figure 10 A schematic diagram of the system equilibrium state of a belly refueling method provided by the present invention at the same altitude and different flight speeds;

[0065] Figure 11 This is a schematic diagram of the system balancing process under a certain working condition of a belly refueling method provided by the present invention;

[0066] Figure 12 A schematic diagram of the system equilibrium state of an underwing refueling method provided by the present invention at the same altitude and different flight speeds;

[0067] Figure 13 A schematic diagram showing the dynamic capture of the extension and release process of the hose-drogue system under a certain working condition of a belly refueling method provided by the present invention;

[0068] Figure 14 A schematic diagram of the X-direction trajectory of the drogue mass center during the extension and release process of the hose-drogue system in a certain working condition of a belly refueling method provided by the present invention;

[0069] Figure 15 A schematic diagram of the Y-direction trajectory of the drogue mass center during the extension and release process of the hose-drogue system under a certain working condition of a belly refueling method provided by the present invention;

[0070] Figure 16 A schematic diagram of the dynamic capture of the extension and release process of the hose-drogue system under a certain working condition of an underwing refueling method provided by the present invention;

[0071] Figure 17 A schematic diagram of the X-direction trajectory of the drogue mass center during the extension and release process of the hose-drogue system under a certain working condition of an underwing refueling method provided by the present invention;

[0072] Figure 18 A schematic diagram of the Y-direction trajectory of the drogue mass center during the extension and release process of the hose-drogue system under a certain working condition of an underwing refueling method provided by the present invention;

[0073] Figure 19 A schematic diagram of the Z-direction trajectory of the drogue mass center during the extension and release process of the hose-drogue system under a certain working condition of an underwing refueling method provided by the present invention;

[0074] Figure 20 A schematic diagram of a flexible aerial refueling hose-drogue dynamic response process analysis device provided by the present invention;

[0075] Figure 21 A schematic diagram of a computer device for implementing a method for analyzing the dynamic response process of a soft aerial refueling hose-drogue provided by the present invention. DETAILED DESCRIPTION

[0076] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0077] The technical solutions provided by various embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0078] Figure 1 The following is a flow chart of a method for analyzing the dynamic response of a flexible aerial refueling hose-drogue according to the present invention, which specifically includes the following steps:

[0079] S101: A finite element model of the hose is established using a flexible beam unit, and the absolute node coordinate method is used to model the dragging equilibrium process of the hose-cone sleeve for the hose beam unit. The absolute node coordinate method based on the arbitrary Euler Lagrangian description is used to model the release stabilization process of the hose-cone sleeve for the hose beam unit to obtain a finite element dynamic model of the hose-cone sleeve system; wherein, the cone sleeve is modeled based on a six-degree-of-freedom rigid body.

[0080] S102: According to the finite element dynamic model of the hose-drogue system, aerodynamic forces are loaded on the hose and drogue, respectively, and gravity states of the hose and drogue are set; based on the loaded aerodynamic forces and gravity states, the generalized forces of the hose-drogue system are determined, and boundary conditions of the hose-drogue system are determined.

[0081] S103: Based on the boundary conditions of the hose-drogue system, a multi-body dynamics equation set of the hose-drogue drag equilibrium process is constructed and solved to determine the generalized acceleration vectors of each calculation point of the hose at different times, and to determine the drag equilibrium state of the hose-drogue system.

[0082] S104: Based on the boundary conditions of the hose-drogue system, a set of multi-body dynamic equations for the release stabilization process of the hose-drogue is constructed and solved to determine the generalized acceleration vectors of each calculation point of the hose at different times, and to determine the elongation release-drag equilibrium state of the hose-drogue system.

[0083] For the sake of convenience, the following description will only be based on the server as the execution subject. The server mentioned in the present invention can be a server set up on a business 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 the dynamic response process analysis method of a soft aerial refueling hose-drogue in the present invention. Figure 2 ,Generally, when analyzing the dynamic response process of the ,soft aerial refueling hose-drogue, the server can first establish ,finite element dynamic models of the hose-drogue drag ,balance process and release-stabilization process.

[0085] The finite element model of the hose can be established using a flexible beam unit, where the length of the beam unit along the axial direction is consistent, and the refueling hose is given an elastic modulus E, a density ρ, and a length L.

[0086] For the free drag state, the hose unit modeling method can use the Absolute Node Coordinate Formulation (ANCF); for the elongation release-stabilization process, the hose unit uses the Arbitrary Lagrangian-Eulerian Absolute Node Coordinate Formulation (ALE-ANCF). Figure 3 As 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 node are taken as generalized coordinates to characterize the hose unit:

[0087]

[0088] Where: r = [xyz] T ,

[0089] A vector of cell grid coordinates:

[0090]

[0091] In order to describe the motion of any point inside the unit, the Hermite interpolation function is introduced, which is:

[0092] r(p)=s1r1+s2r1′+s3r2+s4r2′

[0093] The expressions of the above formulas s1 to s4 are:

[0094]

[0095] To facilitate derivation, intermediate variables are introduced:

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

[0097] where I is the 3×3 identity matrix, S e is a cubic shape function. Therefore, any point inside the unit has:

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

[0099] The element real length is given by the difference between the material coordinates at two nodes:

[0100] l e =p2-p1

[0101] It should be noted that the shape function of the unit cannot constrain the movement of the internal medium points along the unit axis. The material coordinate change rates at the unit nodes are defined as if If , the unit is in a stretched state, and vice versa. The length of the unit does not change, but there is material transport inside the unit. This corresponds to the free drag problem and the stretch release-stabilization problem respectively.

[0102] By taking the first-order material derivative and the second-order material derivative with respect to time, we can obtain the velocity of any point inside the unit:

[0103]

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

[0105]

[0106] Obviously, if there is no material transport at the unit node, that is, l e =constant or and Then the formula degenerates into the velocity expression of the traditional medium unit.

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

[0108] Then, the server can load aerodynamic forces on the hose and cone sleeve respectively. Specifically, the following formula can be used to load the hose with the pressure difference resistance F according to the finite element dynamic model of the hose-cone sleeve system. D,n and friction resistance F Dt Aerodynamic force:

[0109]

[0110] Where, 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 velocity of the incoming flow at a point on the hose unit, u t is the unit tangent vector along the centerline of the hose unit, V f is the local incoming flow velocity under the combined influence of the incoming flow velocity and the tanker tail flow field, is the absolute velocity at a point on the hose unit.

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

[0112]

[0113] Among them, F ad is the aerodynamic force applied to 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 center of mass of the cone sleeve.

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

[0115] Furthermore, the server can calculate the generalized force of the hose-drogue system. Specifically, the server can determine the generalized external force of the hose unit in the hose-drogue system according to the loaded aerodynamic force and gravity state using 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] Where 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 the physical quantities at different coordinates of the hose unit material, 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 moment of inertia 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. Figure 4 This is a schematic diagram of a typical one-dimensional mobile medium unit in the present invention. Figure 5 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, boundary conditions can be set for the hose-drogue system. Specifically, the refueling hose unit and drogue are set to a free state, and the translational degrees of freedom at the refueling hose towing point are constrained in the X, Y, and Z directions. The rotational degrees of freedom can be left unconstrained. The drogue center of mass is constrained to maintain the same displacement in the X, Y, and Z directions as the end point of the hose unit. The rotational degrees of freedom can be left unconstrained. Figure 6 This is a schematic diagram of the constraint between a hose and a cone sleeve in the present invention.

[0123] Finally, the state of the hose-drogue system during free dragging can be determined, and the state of the hose-drogue system during the elongation, release, and stabilization process can be calculated to analyze the dynamic response process of the hose-drogue system. Figure 7 is a schematic diagram of a dynamic grid division process in the present invention, Figure 8 Schematic diagram of the release process of a refueling hose-drogue system in the present invention.

[0124] Taking the determination of the state of the hose-drogue system in free drag as an example, the server can construct the multi-body dynamics equations of the hose-drogue drag equilibrium process using the following formula:

[0125]

[0126] 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:

[0127]

[0128] 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-drogue system, λ is the global constraint multiplier vector of the hose-drogue system, C(q,t) is the global 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 nth step, q n is the generalized coordinate vector of the hose at the calculation point nth step, γ and β are related parameters.

[0129] By extracting and processing the data obtained from the hose-drogue system state, the system can be converted into graphs for visualization. This process generates graphs of the hose's morphological changes and time-history curves of the drogue's attitude parameters, enabling analysis of the dynamic response of the flexible aerial refueling hose-drogue system.

[0130] Figure 9 This is a schematic diagram of two refueling methods, belly refueling and underwing refueling, in the present invention. The free drag state of the refueling hose-drogue under different working conditions is calculated, as shown in FIG. Figure 10 and Figure 12 As shown, Figure 10 This is a schematic diagram of the system equilibrium state of a belly refueling method in the present invention at the same altitude and different flight speeds. Figure 12 This is a schematic diagram of the system equilibrium state of an underwing refueling method in the present invention at the same altitude and different flight speeds.

[0131] The dynamic capture diagram of the hose-drogue free drag state equilibrium process during belly refueling under a certain working condition is calculated, as shown in the following figure: Figure 11 As shown, Figure 11 This is a schematic diagram of the system balancing process under a certain working condition of a belly refueling method in the present invention.

[0132] The dynamic capture diagram of the hose-cone sleeve extension and release balance process under different refueling methods under a certain working condition is calculated, such as Figure 13 and Figure 16 As shown, Figure 13 This is a schematic diagram of the dynamic capture of the hose-drogue system's extension and release process under a certain working condition in a belly refueling method of the present invention. Figure 16 This is a schematic diagram of the dynamic capture of the hose-drogue system extension and release process under a certain working condition in an underwing refueling method of the present invention.

[0133] The X and Y direction trajectory diagrams of the cone sleeve's center of mass during the hose-cone sleeve extension and release balance process in the belly refueling mode under a certain working condition are calculated, as shown in the figure. Figure 14 and Figure 15 As shown, Figure 14This is a schematic diagram of the X-direction trajectory of the drogue mass center during the extension and release process of the hose-drogue system in a certain working condition in a belly refueling method of the present invention. Figure 15 This is a schematic diagram of the Y-direction trajectory of the cone sleeve's center of mass during the extension and release process of the hose-cone sleeve system under a certain working condition in a belly refueling method of the present invention.

[0134] The X, Y, and Z direction trajectories of the drogue center of mass during the underwing refueling hose-drogue extension and release balance process are calculated, as shown in the figure. Figure 17 、 Figure 18 and Figure 19 As shown, Figure 17 A schematic diagram of the X-direction trajectory of the drogue mass center during the extension and release process of the hose-drogue system under a certain working condition in an underwing refueling method of the present invention;

[0135] Figure 18 A schematic diagram of the Y-direction trajectory of the drogue mass center during the extension and release process of the hose-drogue system in a certain working condition in an underwing refueling method of the present invention; Figure 19 This is a schematic diagram of the Z-direction trajectory of the drogue's center of mass during the extension and release process of the hose-drogue system in a certain working condition according to an underwing refueling method of the present invention.

[0136] based on Figure 1 The soft aerial refueling hose-drogue dynamic response process analysis method shown in the present invention first uses a flexible beam unit to establish a finite element model of the hose, uses the absolute node coordinate method to model the hose-drogue balance process of the hose beam unit, uses the absolute node coordinate method based on the arbitrary Euler Lagrangian description to model the hose-drogue release stabilization process of the hose beam unit, and models the drogue based on a six-degree-of-freedom rigid body to obtain a finite element dynamic model of the hose-drogue system. Then, external force is applied and boundary conditions are determined, and a multi-body dynamic equation group of the hose-drogue balance process and a multi-body dynamic equation group of the hose-drogue release stabilization process are constructed and solved to determine the drag equilibrium state of the hose-drogue system and the elongation release-drag equilibrium 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 sleeve by loading aerodynamic force on the drogue sleeve, models the dragging balance process of the hose-drogue sleeve by the absolute node coordinate method for the beam unit of the hose, and models the elongation and release stabilization process of the hose-drogue sleeve system by the absolute node coordinate method based on arbitrary Euler Lagrangian description. The dragging balance process and the elongation and release stabilization process of the hose-drogue sleeve system can be accurately simulated, thereby improving the analysis accuracy of dynamic responses such as hose shape changes and drogue sleeve posture changes.

[0138] This invention provides a method for analyzing the dynamic response of an aircraft during aerial refueling. This method simulates the aerodynamic forces of the refueling hose by applying an analytical solution to the aerodynamic forces on the hose, and the aerodynamic forces on the drogue by applying a numerical solution to the aerodynamic forces on the drogue. The ALE-ANCF method is then used to model the elongation and release of the hose-drogue system. Ultimately, the dynamic responses, such as changes in hose shape and drogue attitude, are calculated and solved. This method ultimately enables efficient and accurate analysis of the dynamic response characteristics of a flexible aerial refueling hose-drogue system.

[0139] When applying the dynamic response analysis method of the soft aerial refueling hose-drogue provided by the present invention, it is not necessary to Figure 1 The steps are executed in the order shown. The specific execution order of the steps 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 incoming flow rates V, altitudes H, etc., the hose-drogue system can have the same drogue equivalent aerodynamic area S = 0.2826m 2 , cone sleeve weight m = 29.5kg, refueling hose outer diameter D = 67.3mm, refueling hose inner diameter d = 50.8mm, refueling hose linear density ρ = 4kg / m 2 , elastic modulus of the refueling hose E = 265 MPa, hose length L = 14.3256 m.

[0141] The above is a method for analyzing the dynamic response process of a flexible aerial 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 a flexible aerial refueling hose-drogue, such as Figure 20 shown.

[0142] Figure 20 A schematic diagram of a flexible aerial refueling hose-drogue dynamic response process analysis device provided by the present invention includes:

[0143] Modeling module 201 is used to establish a finite element model of the hose using flexible beam elements, model the hose-cone sleeve drag equilibrium process using the absolute node coordinate method for the hose beam elements, and model the hose-cone sleeve release stabilization process using the absolute node coordinate method based on an arbitrary Euler Lagrangian description for the hose beam elements; wherein the cone sleeve is modeled based on a six-degree-of-freedom rigid body;

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

[0145] The first analysis module 203 is used to construct and solve the multi-body dynamics equations of the hose-drogue drag equilibrium process based on 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 equilibrium state of the hose-drogue system;

[0146] The second analysis module 204 is used to construct and solve the multi-body dynamics equations of the hose-drogue release stabilization process based on 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 equilibrium state of the hose-drogue system.

[0147] The specific definitions of the flexible aerial refueling hose-drogue dynamic response process analysis device can be found in the definitions of the flexible aerial refueling hose-drogue dynamic response process analysis method described above and will not be further elaborated here. Each module within the flexible aerial refueling hose-drogue dynamic response process analysis device described above can be implemented in whole or in part via software, hardware, or a combination thereof. Each of these modules can be embedded in or independent of a processor within a computer device in hardware form, or stored in a computer device memory in software form, allowing the processor to call and execute the corresponding operations of each module.

[0148] The present invention also provides a computer-readable storage medium, which stores a computer program, which can be used to execute the above Figure 1 A dynamic response process analysis method for a flexible aerial refueling hose-drogue is provided.

[0149] The present invention also provides Figure 21 The structural diagram of the computer equipment shown in FIG. Figure 3 As shown in the figure, 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, it may also include other hardware required for the business. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to achieve the above Figure 1 A dynamic response process analysis method for a flexible aerial refueling hose-drogue is provided.

[0150] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the 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-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include at least one of non-volatile and volatile memory. 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. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0151] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, 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, they should be considered to be within the scope of the present invention.

Claims

1. A method for analyzing the dynamic response process of a flexible aerial refueling hose-drogue, characterized in that: include: A finite element model of the hose was established using flexible beam elements. The absolute nodal coordinate method was used to model the dragging equilibrium process of the hose-cone sleeve. The absolute nodal coordinate method based on arbitrary Euler Lagrangian description was used to model the release stabilization process of the hose-cone sleeve. The finite element dynamic model of the hose-cone sleeve system was obtained. The cone sleeve was modeled based on a six-degree-of-freedom rigid body. Based on the finite element dynamics model of the hose-drogue system, aerodynamic forces are applied to the hose and drogue, respectively, and the gravity states of the hose and drogue are set. Based on the applied aerodynamic forces and gravity states, the generalized forces of the hose-drogue system are determined, as well as the boundary conditions of the hose-drogue system. Based on the boundary conditions of the hose-drogue system, the multi-body dynamics equations of the hose-drogue drag equilibrium process are constructed and solved 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. According to the boundary conditions of the hose-drogue system, the multi-body dynamics equations of the hose-drogue drag equilibrium process are constructed as follows: 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 system, C q is the constraint Jacobian matrix of the hose-drogue system, λ is the global constraint multiplier vector of the hose-drogue system, C(q,t) is the global 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 nth step, q n is the generalized coordinate vector of the hose at the calculation point nth step, γ and β are related parameters.

2. The method for analyzing the dynamic response of a flexible aerial refueling hose and drogue according to claim 1, wherein: The aerodynamic force is applied to the hose according to the finite element dynamic model of the hose-drogue system, 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 using 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 velocity of the incoming flow at a point on the hose unit, u t is the unit tangent vector along the centerline of the hose unit, V f is the local incoming flow velocity under the combined influence of the incoming flow velocity and the tanker tail flow field, is the absolute velocity at a point on the hose unit.

3. The method for analyzing the dynamic response of a flexible aerial refueling hose and drogue according to claim 2, wherein: The aerodynamic force is applied to the drogue according to the finite element dynamic model of the hose-drogue system, specifically including: The aerodynamic force is applied to the drogue according to the finite element dynamic model of the hose-drogue system using the following formula: Among them, F ad is the aerodynamic force applied to 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 center of mass of the cone sleeve.

4. The method for analyzing the dynamic response of a flexible aerial refueling hose and drogue according to claim 1, wherein: 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, wherein: The generalized force of the hose-drogue system is determined based on the loaded aerodynamic force and gravity state, specifically including: Based on the loaded aerodynamic force and gravity state, the generalized external force of the hose unit in the hose-drogue 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 at different coordinates of the hose unit material, 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 moment of inertia 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 slope vector of the hose centerline, ρ is the linear density of the refueling hose, and dp indicates that p is the integral variable in the integral formula.

6. The method for analyzing the dynamic response of a flexible aerial refueling hose and drogue according to claim 1, wherein: Determining the boundary conditions of the hose-cone system specifically includes: Set the hose unit and the cone sleeve in the hose-cone sleeve system to a free state; Constrain the translational freedom in the three-dimensional direction 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 remain consistent.

7. A flexible 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 flexible beam elements, model the hose-cone sleeve drag equilibrium process using the absolute node coordinate method, and model the hose-cone sleeve release stabilization process using the absolute node coordinate method based on arbitrary Euler Lagrangian description. 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 drogue respectively according to the modeling results, and set the gravity state of the hose-drogue system; based on the loaded aerodynamic forces and gravity state, the generalized forces of the hose-drogue system are determined, and the boundary conditions of the hose-drogue system are determined; The first analysis module is used to construct and solve the multi-body dynamics equations of the hose-drogue drag equilibrium process based on 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 equilibrium state of the hose-drogue system; The second analysis module is used to construct the multi-body dynamics equations of the hose-drogue drag equilibrium process according to the boundary conditions of the hose-drogue system using 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 system, C q is the constraint Jacobian matrix of the hose-drogue system, λ is the global constraint multiplier vector of the hose-drogue system, C(q,t) is the global 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 nth step, q n is the generalized coordinate vector of the hose at the calculation point nth step, γ and β are related parameters.

8. 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 6 is implemented.

9. 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 the processor implements the method according to any one of claims 1 to 6 when executing the program.

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