Component flexibility processing method and device, equipment and storage medium

Abstract

The invention discloses a part flexibility processing method and device, equipment and a storage medium, and relates to the technical field of multi-body power system dynamics, and the method comprises the steps: selecting a co-rotation node and a boundary point on a target part; establishing a mechanical behavior model according to the generalized displacement on the co-rotation node and the boundary point, and describing the relation between the displacement and the stress of the component by using the relation between the generalized displacement and the generalized force; discretizing the target part according to a preset continuous medium model to obtain discretized nodal displacement and nodal force and a mechanical behavior model described by a relationship between the nodal displacement and the nodal force; and the flexibility process is optimized through the equivalent relation between the generalized displacement and the nodal displacement and the equivalent relation between the generalized force and the nodal force. According to the scheme, the coordination effect of the co-rotation nodes and the boundary points and discretization modeling are combined, and the calculation process is optimized through the mechanical transfer relation between the nodes, so that the component deformation and motion analysis efficiency is improved while the component flexible calculation precision is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of multi-body dynamic system dynamics, and particularly to a method, device, equipment and storage medium for flexible processing of components. Background Art

[0002] Currently, in simulation analysis such as multi-body dynamics, the "modal synthesis method" is usually used for flexible modeling of components. In the process of flexible modeling of components using the traditional "modal synthesis method", it is necessary to extract modal information sufficient to characterize the deformation state of the components. The modes of the components strongly depend on the external constraints on them. The "modal synthesis method" adopts a combination of fully constrained modes and free modes, while the actual constraint state of the components is generally neither a fully constrained state nor a fully free state. To accurately express the flexible deformation of the components, more modes are required, and thus more computational effort is needed.

[0003] Therefore, solving the problem of the computational efficiency of component flexibility is transformed into seeking a method for describing component deformation independent of constraints. Summary of the Invention

[0004] The main purpose of the present application is to provide a method, device, equipment and storage medium for flexible processing of components, aiming to solve the technical problem of how to improve the efficiency of component deformation and motion analysis while ensuring the accuracy of component flexible processing.

[0005] To achieve the above object, the present application proposes a method for flexible processing of components. The method for flexible processing of components is applied to a target component in a multi-body dynamic system, and the method for flexible processing of components includes: Select one or more co-rotational nodes and boundary points on the target component; Establish a mechanical behavior model of the target component according to the generalized displacements at the co-rotational nodes and boundary points, and describe the displacement and force relationship of the target component using the relationship between the generalized displacement and the generalized force; Discretize the target component according to a preset continuous medium model to obtain the relationship between the discretized nodal displacements and nodal forces for describing the mechanical behavior of the component; Establish the equivalent relationships between the generalized displacement and the discretized nodal displacements, and between the generalized force and the discretized nodal forces respectively, and optimize the flexibility of the target component based on the equivalent relationships.

[0006] In one embodiment, the step of discretizing the target component according to a continuous medium model to obtain the discretized nodal displacements and nodal forces includes: Obtain the target component, and discretize the target component according to a preset numerical discretization method to obtain the nodal displacements and nodal forces after discretization.

[0007] In one embodiment, the step of establishing the mechanical behavior model of the target component according to the co-rotational nodes and the generalized displacements at the boundary points includes: According to the co-rotational nodes, the generalized displacements at the boundary points, and through a pre-established stiffness matrix, construct an expression for the relationship between the displacement and the force of the target component.

[0008] In one embodiment, the step of respectively establishing the equivalent relationships between the generalized displacements and the nodal displacements after discretization, and between the generalized forces and the nodal forces after discretization includes: Establish the equivalent relationship between the generalized displacements in the mechanical behavior model and the nodal displacements after discretization, and the equivalent relationship between the generalized forces in the mechanical behavior model and the nodal forces after discretization.

[0009] In one embodiment, the step of establishing the equivalent relationship between the generalized displacements in the mechanical behavior model and the nodal displacements after discretization, and the equivalent relationship between the generalized forces in the mechanical behavior model and the nodal forces after discretization includes: According to a preset linear transformation matrix, establish a first relationship expression between the generalized displacements in the mechanical behavior model and the nodal displacements after discretization; Utilize the principle of reciprocal work of elastic work to establish a second relationship expression between the generalized forces in the mechanical behavior model and the nodal forces after discretization; or, According to a pre-constructed orthogonal working condition combination, calculate the generalized stiffness matrix; According to the generalized stiffness matrix, the first relationship expression, and the second relationship expression, optimize the flexibility of the target component; or, Use the conversion relationship between the generalized displacements or generalized forces of the co-rotational nodes and the continuum discrete model as a constraint equation, and use the Lagrange multiplier method to solve the continuum discrete model under these constraint equations to obtain the relationship between the generalized displacements and the generalized forces.

[0010] In one embodiment, before the step of establishing a first relationship expression between the generalized displacements in the mechanical behavior model and the nodal displacements after discretization according to a preset linear transformation matrix, it includes: Introduce an initial approximate linear transformation matrix, and optimize the initial approximate linear transformation matrix based on a preset principle of minimum strain energy to obtain a preset linear transformation matrix; and / or Determine the preset linear transformation matrix by means of a pre-constructed load conversion matrix and using a preset dual relationship.

[0011] In one embodiment, the step of calculating the generalized stiffness matrix according to a pre-constructed orthogonal working condition combination includes: Apply unit loads respectively on each co-rotational node according to the pre-constructed orthogonal working condition combination, and solve the displacement vectors of the unconstrained co-rotational nodes and the load vectors on each constrained co-rotational node; Assemble the displacement matrix in sequence according to the displacement vectors of each of the unconstrained co-rotational nodes, and assemble the force matrix in sequence according to each applied unit load and the constraint reaction forces on the corresponding constrained co-rotational nodes; Calculate the generalized stiffness matrix according to the displacement matrix and the force matrix.

[0012] In addition, to achieve the above object, the present application also proposes a component flexibility processing device, which includes: A selection module for selecting one or more co-rotational nodes and boundary points on a target component; A building module for building a mechanical behavior model of the target component according to the generalized displacements on the co-rotational nodes and the boundary points, and describing the displacement and force relationship of the target component using the relationship between the generalized displacement and the generalized force; A discretization module for discretizing the target component according to a preset continuous medium model to obtain the relationship between the discretized node displacements and node forces for describing the mechanical behavior of the component; A calculation module for respectively establishing the equivalent relationships between the generalized displacement and the discretized node displacements, and between the generalized force and the discretized node forces, and optimizing the flexibility of the target component based on the equivalent relationships.

[0013] In addition, to achieve the above object, the present application also proposes a component flexibility processing device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the component flexibility processing method as described above.

[0014] In addition, to achieve the above object, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium, and when the computer program is executed by a processor, it implements the steps of the component flexibility processing method as described above.

[0015] In addition, to achieve the above object, the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the steps of the component flexibility processing method described above.

[0016] A component flexibility processing method, device, equipment, and storage medium provided by the present application. The method is applied to a target component in a multi-body dynamic system. The method includes: selecting one or more co-rotational nodes and boundary points on the target component; establishing a mechanical behavior model of the target component according to the generalized displacements on the co-rotational nodes and boundary points, and describing the displacement and force relationship of the target component with the relationship between the generalized displacement and the generalized force; discretizing the target component according to a preset continuous medium model to obtain the node displacements and node forces after discretization, and a mechanical behavior model described by the relationship between the node displacements and node forces; optimizing the flexibility process through the equivalent relationships between the generalized displacement and the node displacement, and between the generalized force and the node force. Through the coordinated action of the co-rotational nodes and boundary points, and by combining the discretization process with mechanical modeling, this solution realizes optimizing the calculation process through the mechanical transfer relationship between nodes, thereby ensuring the accuracy of component flexibility processing while improving the efficiency of component deformation and motion analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0018] To more clearly illustrate the technical solutions in the embodiments of the present application or in the prior art, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a schematic flowchart provided for Embodiment 1 of the component flexibility processing method of the present application; Figure 2 It is a schematic flowchart provided for Embodiment 2 of the component flexibility processing method of the present application; Figure 3 It is a schematic module structure diagram of the component flexibility processing device in the embodiments of the present application; Figure 4 It is a schematic device structure diagram of the hardware operating environment involved in the component flexibility processing method in the embodiments of the present application.

[0020] The implementation, functional features, and advantages of the object of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0022] In order to better understand the technical solutions of the present application, the following will be described in detail in conjunction with the accompanying drawings of the specification and specific embodiments.

[0023] The main solution of the embodiments of the present application is: select one or more corotational nodes and boundary points on the target component; establish a mechanical behavior model of the target component according to the generalized displacements at the corotational nodes and boundary points, and use the relationship between the generalized displacements and generalized forces to describe the displacement and force relationship of the target component; discretize the target component according to a preset continuous medium model to obtain the discretized node displacements and node forces for describing the mechanical behavior of the component; establish the equivalent relationships between the generalized displacements and the discretized node displacements, and between the generalized forces and the discretized node forces respectively, and optimize the flexibility of the target component based on the equivalent relationships.

[0024] In this embodiment, for the sake of convenience of description, the following will be described with the target component in a multi-body dynamic system as the execution subject.

[0025] Currently, in simulation analyses such as multi-body dynamics, the "modal synthesis method" is usually used for flexible modeling of components. In the process of flexible modeling of components using the traditional "modal synthesis method", it is necessary to extract modal information sufficient to characterize the deformation state of the component. The modes of the component strongly depend on the external constraints on it. The "modal synthesis method" adopts a combination of fully constrained modes and free modes, while the actual constraint state of the component is generally neither a fully constrained state nor a fully free state. To accurately express the flexible deformation of the component requires more modes and thus more computational effort.

[0026] Therefore, solving the problem of the computational efficiency of component flexibility is transformed into seeking a method for describing component deformation that is independent of constraints.

[0027] The present application provides a solution. By selecting corotational nodes and boundary points on the target component and using a linear transformation matrix for dimensionality reduction mapping, the computational complexity is significantly reduced while ensuring accuracy, thereby making the simulation analysis more efficient. At the same time, a mechanical behavior model of the target component is established in combination with an efficient calculation method for the generalized stiffness matrix, and a method combining discretization processing and mechanical modeling is adopted to further improve the computational efficiency by optimizing the mechanical transfer relationship between nodes. This method not only ensures the accuracy of component flexibility processing but also significantly improves the efficiency of component deformation and motion analysis.

[0028] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program running functions, such as a tablet computer, a personal computer, etc., or an electronic device capable of implementing the above functions. Hereinafter, a personal computer is taken as an example to illustrate this embodiment and the following various embodiments.

[0029] Based on this, an embodiment of the present application provides a component flexibilization processing method. Referring to Figure 1 , Figure 1 is a schematic flowchart of the first embodiment of the component flexibilization processing method of the present application.

[0030] In this embodiment, the component flexibilization processing method includes steps S10 to S40: Step S10, select one or more co-rotational nodes and boundary points on the target component; It should be noted that the method of this embodiment is applied to the target component in a multi-body dynamic system, and one or more co-rotational nodes and boundary points are selected on the target component. Among them, the co-rotational nodes refer to some key points or regions selected on the target component, and these points represent the equivalent motion of their adjacent regions. Each co-rotational node usually has six degrees of freedom (three translational degrees of freedom and three rotational degrees of freedom) to describe the rigid body motion of this local region. The boundary points refer to the nodes located at the boundary of the target component, which are used to apply constraint conditions, handle contact and coupling problems, and ensure the correct transmission of force and displacement.

[0031] Step S20, establish a mechanical behavior model of the target component according to the generalized displacements on the co-rotational nodes and the boundary points, and use the relationship between the generalized displacement and the generalized force to describe the displacement and force relationship of the target component; It should be noted that the generalized displacement refers to when considering the deformation of an object, it includes not only the translational displacement in the usual sense (i.e., the movement along the coordinate axes), but also the rotational displacement (i.e., the rotation around the coordinate axes). For each node or a specific point, the generalized displacement usually includes six components, namely three translational displacements and three rotational displacements.

[0032] The generalized displacement refers to the number of independent ways in which the system can move, and it is equal to the number of independent generalized coordinates. In mechanics, each generalized displacement corresponds to an independent motion mode of the system, which can be translational, rotational, or other forms of energy storage methods.

[0033] It can be understood that for the target component in a multi-body dynamic system, there are mainly two main factors causing motion and deformation. One is the constraint force (exerted on the target component by the outside or other components, etc.); the other is the inertial force. From the perspective of causing the target component to have translational or rotational motion, these acting forces can be reclassified into translational forces and rotational forces (i.e., torques).

[0034] Without loss of generality, assume that during the entire movement of the target component, its deformation is linearly elastic.

[0035] The basic idea of this embodiment is to use the degrees of freedom of several corotational nodes and boundary points within the target component to characterize the movement and force of the target component. In general, the degrees of freedom of the constrained boundary can be further simplified and transformed into the degrees of freedom of corotational nodes. Based on the generalized displacements at the corotational nodes and the generalized displacements at the external constrained nodes (i.e., boundary points), combined with the generalized stiffness matrix, a mechanical behavior model of the target component is established to describe the relationship between the displacement and force of the target component:

[0036] In the formula, represents the generalized stiffness matrix; q represents the generalized displacements at the corotational nodes, where , (i = 1,..., N; ≥1,, N is the number of corotational nodes); represents the generalized displacements at the boundary points; Q represents the generalized force vector acting on the corotational nodes; represents the force vector acting on the boundary points.

[0037] The above expression of the relationship between the displacement and force of the target component is the basic equation for component flexibility. Connecting this equation to the multi-body dynamics equations can achieve rigid-flexible coupling analysis.

[0038] Step S30: Discretize the target component according to a preset continuous medium model to obtain the relationship between the discretized node displacements and node forces for describing the mechanical behavior of the component; Specifically, first, regard the target component as a continuum. Among them, the computational domain of the target component is usually represented by and , (i = 1,..., N; N≥1, N is the number of computational domains). Among them, the computational domain of the target component refers to the geometric space range and its related physical properties (such as material properties, boundary conditions, etc.) that need to be considered during the numerical simulation of the component. It includes the geometric shape, size of the component, as well as various loads and constraint conditions applied thereto.

[0039] Then, use a numerical discretization method (taking finite element discretization as an example) to discretize the target component to obtain the relationship between the node displacements and node forces of the discretized target component. Among them, the expression of the relationship between the node displacements and node forces of the discretized target is:

[0040] In the formula, denotes the discretized generalized stiffness matrix; u denotes the nodal displacements of the discretized target component; denotes the nodal forces of the discretized target component.

[0041] Step S40: Establish the equivalent relationships between the generalized displacements and the discretized nodal displacements, and between the generalized forces and the discretized nodal forces respectively, and optimize the flexibility of the target component based on the equivalent relationships.

[0042] To facilitate the understanding of the generalized displacements at the co - rotating nodes in this embodiment , it can be regarded as the equivalent rotational and translational quantities of point i adjacent to a computational domain . The generalized displacements are generally selected as the equivalent translational displacement vector and the equivalent rotational displacement vector at the centroid of the computational domain.

[0043] Therefore, in this embodiment, based on obtained in step S20 and obtained in step 30 (where K is the discretized generalized stiffness matrix), establish the equivalent relationship between the two equations. That is, establish the approximation relationship between and the nodal displacements u of the discretized target component, and and the nodal forces of the discretized target component. In this way, an efficient and accurate analysis of the mechanical behavior of the target component can be achieved.

[0044] In a feasible implementation, step S40 may include steps S41 - S44: Step S41: According to a preset linear transformation matrix, establish a first relationship expression between the generalized displacements in the mechanical behavior model and the discretized nodal displacements; It should be noted that the linear transformation matrix refers to a matrix constructed or optimized in advance, which is used to map high - dimensional degree - of - freedom vectors into low - dimensional degree - of - freedom vectors to achieve model reduction and improvement of computational efficiency.

[0045] Specifically, assume the relationship expression between u and is:

[0046] In the formula, u represents the nodal displacements of the discretized target component, that is, the high - dimensional degree - of - freedom vector; q represents the generalized displacements at the co - rotating nodes, that is, the low - dimensional degree - of - freedom vector; represents the generalized displacements at the boundary points; T represents the linear transformation matrix; = represents the extended vector composed of the generalized displacements and the boundary degrees of freedom.

[0047] Step S42, establish a second relational expression between the generalized forces in the mechanical behavior model and the nodal forces after discretization; It should be noted that the principle of reciprocal work of elastic work means that in an elastic body, the work done by the displacements and forces generated under two different load systems is equal.

[0048] Specifically, according to the principle of reciprocal work of elastic work, the generalized force and the nodal force can be derived as follows:

[0049] In the formula, represents the transpose of the linear transformation matrix; represents the force vector acting on the boundary points; represents the generalized force vector acting on the corotational nodes; represents the force vector on all the nodes of the discretized target component; is a combined vector containing the generalized force Q and the boundary point force . It represents the distribution of the generalized forces of the entire system.

[0050] Step S43, calculate the generalized stiffness matrix according to the pre-constructed orthogonal load case combinations; It should be noted that the orthogonal load case combinations refer to a set of independent load cases generated by applying unit loads (forces or torques) on different corotational nodes. Each load case corresponds to the application of a load in a specific direction, ensuring the independence and distinguishability of the system response.

[0051] It can be understood that since the orthogonal load case combinations ensure the independence and distinguishability of the system response and can comprehensively cover the degree-of-freedom space of the system, performing Step S33 can effectively decouple the mechanical behavior of the system, significantly reduce the computational complexity, and provide a reliable generalized stiffness matrix for subsequent flexibility calculations.

[0052] In another feasible embodiment, Step S43 may include Steps S431 to S433: Step S431, according to the pre-constructed orthogonal load case combinations, apply unit loads on each corotational node respectively, and solve the displacement vector of the unconstrained corotational nodes and the constraint reaction forces on each constrained corotational node; Step S432, assemble the displacement vectors of each unconstrained corotational node into a displacement matrix in sequence, and, according to each applied unit load and the corresponding constraint reaction forces on the constrained corotational nodes, assemble them into a force matrix in sequence; Step S433, calculate the generalized stiffness matrix according to the displacement matrix and the force matrix.

[0053] Specifically, according to the pre-constructed orthogonal working condition combination , (i=1,...,6*N), so that , where I is a 6*6 unit matrix, N is the number of co-rotating nodes, and B is the constraint force matrix. Then the displacement vectors corresponding to each orthogonal working condition combination are obtained: , and assembled in sequence into the displacement matrix A= ,but

[0054]

[0055]

[0056] Where k represents the generalized stiffness matrix; Q represents the generalized force vector; q represents the displacement vector of the unconstrained co-rotation node; represents the inverse matrix of the displacement matrix; B is the constraint force matrix.

[0057] Due to the singularity of the equation, in the solution step S20 (K is the discretized generalized stiffness matrix) needs to be performed in the quotient space.

[0058] Another way to calculate the generalized stiffness matrix k is to use the generalized displacement set at the corotating nodes In the above example, unit loads in six directions are applied to a co-rotation node i (i=1,...,N) in sequence, and all other nodes are fixed constraints. For each co-rotation node, six groups of orthogonal working conditions can be constructed. By applying six groups of unit loads to all co-rotation nodes in turn, 6*N groups of orthogonal working conditions can be constructed.

[0059] Among them, under each set of orthogonal working conditions, the equations of the discretized components can be used ( , where K is the discretized generalized stiffness matrix), the following two sets of information are obtained: First, the displacement vector of the unconstrained co-rotation node i , because the displacement values ​​of other co-rotation nodes are constrained to be 0, then after assembling the displacement vectors of these unconstrained co-rotation nodes in sequence, we can get a set of ,in is the displacement vector of the unconstrained corotation node.

[0060] Secondly, the constraint reaction force (6 components) on each constrained co-rotation node, and at the same time, the force vector on the unconstrained co-rotation node i corresponds to the unit vector under the orthogonal working condition. Then, after assembling these load vectors in sequence, we can get a set of , where is the load vector on the co-rotational nodes to be constrained.

[0061] Furthermore, the displacement vectors and load vectors obtained under 6*N groups of orthogonal working conditions are assembled into matrix forms, that is, the displacement matrix A is assembled according to the displacement vectors, and the constraint force matrix B is assembled according to the load vectors, where the displacement matrix A is an invertible matrix. Subsequently, according to the generalized stiffness matrix k can be calculated.

[0062] The above steps can reduce the workload of repeated calculations and improve the calculation efficiency by pre-constructing an orthogonal working condition matrix and applying unit loads to each co-rotational node respectively. And by accurately solving the displacement vectors of the unconstrained nodes and the constraint reaction forces on the constrained nodes, then assembling them into a displacement matrix and a constraint force matrix, and finally calculating the generalized stiffness matrix, the response of the structure under different working conditions can be predicted more accurately.

[0063] Step S44, optimize the flexibility of the target component according to the generalized stiffness matrix, the first relational expression and the second relational expression; Specifically, the first relational expression between the generalized displacement in the mechanical behavior model and the discretized node displacement, the second relational expression between the generalized force in the mechanical behavior model and the discretized node force, and the generalized stiffness matrix are added to the component flexibility processing equation of the system, so as to optimize the calculation process and improve the simulation efficiency.

[0064] Step S45, use the conversion relationship between the generalized displacement or generalized force of the co-rotational node and the continuum discrete model as a constraint equation, and use the Lagrange multiplier method to solve the continuum discrete model under the constraint equation to obtain the relationship between the generalized displacement and the generalized force.

[0065] It should be noted that the continuum discrete model refers to a physical system (such as a solid structure, fluid, etc.) that was originally regarded as continuous and is divided into a finite number of parts or elements through specific methods for numerical analysis and calculation.

[0066] In addition to the above method, this embodiment also provides another method for optimizing the flexibility of the target component. Specifically, by establishing the kinematic mapping relationship between the boundary points and the discrete nodes, introducing the weighted superposition principle of the equivalent nodal forces, the generalized forces are distributed to each discrete node through the boundary points; at the same time, the generalized displacements are obtained by back-calculating the nodal displacements to form a closed-loop coordination control mechanism. Furthermore, modal analysis technology is used to reduce the order of the discrete model, extract the main deformation modes, and reduce the model dimension while ensuring the calculation accuracy, thereby improving the calculation efficiency.

[0067] This step realizes more efficient and accurate flexible modeling and dynamic analysis of the target component by combining boundary point coordination, force distribution weighting, and modal reduction, and is applicable to flexible dynamic simulation and optimal design of complex structures in multi-body systems.

[0068] Through the method of the above embodiments, one or more corotational nodes and boundary points are selected on the target component; according to the generalized displacements on the corotational nodes and the generalized displacements on the boundary points, a mechanical behavior model of the target component is established, and the relationship between the displacement and force of the target component is described by the relationship between the generalized displacement and the generalized force; the target component is discretized to obtain the relationship between the node displacements and node forces after discretization; the equivalent relationships are respectively established between the generalized displacement and the node displacements after discretization, and between the generalized force and the node forces after discretization, and the flexibility of the target component is optimized based on the equivalent relationships. This solution realizes the optimization of the calculation process through the mechanical transfer relationship between nodes by the coordinated action of corotational nodes and boundary points, and by combining discretization processing and mechanical modeling, so as to ensure the calculation accuracy of component flexibility while improving the efficiency of component deformation and motion analysis.

[0069] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar content as the above first embodiment can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 2 , before step S41, the component flexibility processing method further includes steps S041~S042: Step S041, introducing an initial approximate linear transformation matrix, and optimizing the initial approximate linear transformation matrix based on the principle of minimizing the preset strain energy to obtain a preset linear transformation matrix; and / or Step S042, determining the preset linear transformation matrix through a pre-constructed load conversion matrix and using a preset dual relationship.

[0070] In order to achieve the purpose of model reduction and calculation speedup, the degree of freedom of the generalized displacement on the corotational node (which can be represented by m) should be much smaller than the degree of freedom of the node displacement of the target component after discretization (which can be represented by n). In this case, the linear transformation matrix is generally not unique, and an optimal representation under certain conditions needs to be found, where is an n×m matrix used to map the high-dimensional total displacement u to the low-dimensional generalized displacement q. When the optimal linear transformation matrix is obtained, it is more convenient to calculate the generalized stiffness matrix k.

[0071] Specifically, to construct an optimal linear transformation matrix, this embodiment provides two methods. One is to preset an approximate linear transformation matrix T, and then correct the approximate linear transformation matrix T through an optimization method.

[0072] In this embodiment, the linear transformation matrix T is approximated by rigid body displacement, that is:

[0073] Wherein,

[0074] In the formula, represents the centroid coordinate of the calculation domain of the target component ; represents the number of nodes contained in the calculation domain of the target component ; represents the coordinate of the j-th node in the calculation domain of the target component ; represents and skew-symmetric matrix; the skew-symmetric matrix of any three-dimensional vector can be expressed as:

[0075] To find the minimum value of the objective function , the following can be obtained:

[0076] After expansion, it is obtained that

[0077] And, according to what is known in the first embodiment , then

[0078] In the formula, represents the initial transformation matrix; u represents the high-dimensional degree-of-freedom vector; represents the low-dimensional degree-of-freedom vector; K represents the stiffness matrix.

[0079] Another method is to preset an approximation of the inverse matrix of the transpose matrix of a linear transformation matrix , and obtain T through the dual relationship or directly solve the stiffness matrix k. That is, assume:

[0080] In the formula, represents the nodal force of the discretized target component; Q represents the generalized force vector acting on the co-rotational nodes; H represents the preset load transformation matrix.

[0081] According to the reciprocal duality of the strain capacity, it can be obtained that:

[0082]

[0083] In the formula, represents the inverse matrix of the transpose matrix of the linear transformation matrix; represents the inverse matrix of the linear transformation matrix.

[0084] That is, the preset load conversion matrix H is the generalized inverse of the transpose matrix of the linear transformation matrix of.

[0085] Among them, regarding the construction of the load conversion matrix H, for a multi-body system, the forces acting on a single body are mainly inertial forces and constraint forces (constraint reaction forces at kinematic pairs). Among them, regarding the constraint forces, according to Saint-Venant's principle, the resultant force of the constraint reaction forces used at the edge pairs is sufficient. At the same time, these constraint forces are internal forces of the system and have little impact on the motion of the overall system. Therefore, the accuracy of the load conversion matrix mainly depends on the approximation accuracy of the inertial forces.

[0086] Assuming that the deformation of the target component has little influence on the distribution of inertial forces, then the inertial force of the component depends on the overall rotation and translation of the component. Among them, the translation is composed of the combination of the centroid motion and the centrifugal motion, and the rotation is composed of the combination of the rotation and the Coriolis motion. In this way, the force at each point can be expressed as:

[0087] In the formula, is the resultant force part of the translational inertial force of the centroid motion; is the centrifugal force distribution; represents the centrifugal moment part in the rotational moment distribution; represents the Coriolis moment part in the rotational moment distribution. Among them, the rotational moment distribution + .

[0088] According to the characteristics of the rotational moment distribution, an approximate relationship (under the small deformation assumption) can be obtained:

[0089] In the formula, is the resultant force part of the translational inertial force of the centroid motion; represents that under the small deformation assumption, the translational inertial force of the centroid motion can be approximated as a constant; is the calculation domain of the target component; F is the total centroid translational force; M is the total rotational moment; is the density; r is the distance from x to the centroid Distance.

[0090] In the case of finite element discretization, these integrals can be expressed in terms of nodal forces:

[0091] where g is an arbitrary function; is the g-th corotational node; is the weight of the g-th corotational node; Volume of each element.

[0092] At , Under the assumption of uniform distribution, the coefficient matrices related to the mesh distribution can be obtained , and , namely:

[0093] or

[0094] where Q is a vector containing the total translational force F at the centroid and the total rotational moment M; H is the comprehensive coefficient matrix; is the angular velocity; is the nodal load; is the translational inertia force distribution matrix at the centroid; is the rotational moment distribution matrix; is the centrifugal force distribution matrix.

[0095] It should be understood that at , and act together to convert the generalized loads (translational inertia force at the centroid, rotational moment, centrifugal moment) into equivalent nodal loads on the local nodes.

[0096] In the method of the above embodiment, two methods for optimizing the linear transformation matrix are proposed. One is to introduce an initial approximate linear transformation matrix and optimize it based on the principle of minimizing the preset strain energy. The other is to use a pre-constructed load transformation matrix and determine the final linear transformation matrix through the dual relationship. Both methods can effectively optimize the linear transformation matrix and improve the accuracy and computational efficiency of the model.

[0097] It should be noted that the above examples are only for understanding the present application and do not constitute a limitation on the method for flexible processing of components of the present application. Based on this technical concept, more forms of simple transformations are within the protection scope of the present application.

[0098] The present application also provides a device for flexible processing of components. Please refer to Figure 3, the component flexibilization processing device includes: A selection module 10, configured to select one or more co-rotational nodes and boundary points on a target component; A model establishment module 20, configured to establish a mechanical behavior model of the target component according to the generalized displacements on the co-rotational nodes and the generalized displacements on the boundary points, and describe the displacement and force relationship of the target component using the relationship between the generalized displacements and the generalized forces; A discretization module 30, configured to discretize the target component according to a preset continuous medium model to obtain the relationship between the discretized nodal displacements and nodal forces for describing the mechanical behavior of the component; A calculation module 40, configured to respectively establish the equivalent relationships between the generalized displacements and the discretized nodal displacements, and between the generalized forces and the discretized nodal forces, and optimize the flexibilization of the target component based on the equivalent relationships.

[0099] The component flexibilization processing device provided in this application adopts the component flexibilization processing method in the above embodiment, and can solve the technical problem of component flexibilization processing. Compared with the prior art, the beneficial effects of the component flexibilization processing device provided in this application are the same as those of the component flexibilization processing method provided in the above embodiment, and the other technical features in the component flexibilization processing device are the same as the features disclosed in the method of the above embodiment, and will not be elaborated here.

[0100] This application provides a component flexibilization processing device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the component flexibilization processing method in the first embodiment above.

[0101] Next, referring to Figure 4 , which shows a schematic structural diagram of a component flexibilization processing device suitable for implementing the embodiments of this application. The component flexibilization processing device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 4 The shown component flexibilization processing device is only an example, and should not impose any limitation on the functions and usage scopes of the embodiments of this application.

[0102] As shown Figure 4 in the figure, the component flexible processing device may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory 1002 or the program loaded from the storage device 1003 into the random access memory 1004. In the random access memory 1004, various programs and data required for the operation of the component flexible processing device are also stored. The processing device 1001, the read-only memory 1002, and the random access memory 1004 are connected to each other through a bus 1005. The input / output interface 1006 is also connected to the bus. Generally, the following systems may be connected to the input / output interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the component flexible processing device to communicate with other devices wirelessly or wiredly to exchange data. Although the figure shows a component flexible processing device with various systems, it should be understood that it is not required to implement or have all the shown systems. More or fewer systems may be alternatively implemented or had.

[0103] Specifically, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program codes for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device, or installed from the storage device 1003, or installed from the read-only memory 1002. When the computer program is executed by the processing device 1001, the above functions defined in the method of the embodiments disclosed in the present application are executed.

[0104] The component flexible processing device provided by the present application adopts the component flexible processing method in the above embodiments, and can solve the technical problem of how to improve the efficiency of component deformation and motion analysis while ensuring the accuracy of component flexible processing. Compared with the prior art, the beneficial effects of the component flexible processing device provided by the present application are the same as those of the component flexible processing method provided by the above embodiments, and other technical features in the component flexible processing device are the same as the features disclosed in the method of the previous embodiment, and will not be elaborated here.

[0105] It should be understood that each part disclosed in this application can be implemented by hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0106] As described above, the above is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application, and all should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

[0107] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the component flexibility processing method in the above embodiments.

[0108] The computer-readable storage medium provided by this application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM) or a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system or device. The program code contained on the computer-readable storage medium can be transmitted by any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0109] The above computer-readable storage medium can be included in the component flexibility processing device; or it can exist separately without being assembled into the component flexibility processing device.

[0110] The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed by the component flexibility processing device, the component flexibility processing device is caused to: Select one or more co-rotational nodes and boundary points on the target component; Establish a mechanical behavior model of the target component based on the generalized displacements at the co-rotational nodes and the generalized displacements at the boundary points, and describe the relationship between the displacement and the force of the target component using the relationship between the generalized displacement and the generalized force; Discretize the target component according to a preset continuous medium model to obtain the relationship between the node displacements and node forces after discretization; Establish the equivalent relationships between the generalized displacements and the node displacements after discretization, and between the generalized forces and the node forces after discretization respectively, and optimize the flexibility of the target component based on the equivalent relationships.

[0111] Computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages - such as Java, Smalltalk, C++, and also include conventional procedural programming languages - such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network - including a local area network (LAN: Local Area Network) or a wide area network (WAN: Wide Area Network) - or can be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0112] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0113] The modules involved in the embodiments of the present application can be implemented in software or in hardware. In some cases, the name of the module does not constitute a limitation on the unit itself.

[0114] The readable storage medium provided by the present application is a computer-readable storage medium. The computer-readable storage medium stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned component flexibilization method, which can solve the technical problems of component flexibilization. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as those of the component flexibilization method provided by the above embodiments, and will not be elaborated here.

[0115] The present application also provides a computer program product, including a computer program, and when the computer program is executed by a processor, the steps of the component flexibilization method as described above are implemented.

[0116] The computer program product provided by the present application can solve the technical problems of improving the efficiency of component deformation and motion analysis while ensuring the accuracy of component flexibilization. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as those of the component flexibilization method provided by the above embodiments, and will not be elaborated here.

[0117] The above are only some embodiments of the present application, and thus do not limit the patent scope of the present application. Any equivalent structural transformation made by using the content of the specification and drawings of the present application under the technical concept of the present application, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present application.

Claims

1. A method for flexible processing of components, characterized in that, The method for flexible processing of the component is applied to the target component in the multi-body dynamic system. The method for flexible processing of the component includes: Select one or more co-rotational nodes and boundary points on the target component; Establish a mechanical behavior model of the target component according to the generalized displacements at the co-rotational nodes and the boundary points, and describe the displacement and force relationship of the target component using the relationship between the generalized displacement and the generalized force; Discretize the target component according to a preset continuous medium model to obtain the relationship between the discretized nodal displacements and nodal forces for describing the mechanical behavior of the component; Establish the equivalent relationships between the generalized displacement and the discretized nodal displacement, and between the generalized force and the discretized nodal force respectively, and optimize the flexibility of the target component based on the equivalent relationships.

2. The component flexibility processing method according to claim 1, wherein The step of discretizing the target component according to a preset continuous medium model to obtain the relationship between the discretized nodal displacements and nodal forces for describing the mechanical behavior of the component includes: Obtain the target component, and discretize the target component according to a preset numerical discretization method to obtain the discretized nodal displacements and nodal forces.

3. The method for flexible processing of components according to any one of claims 1 to 2, characterized in that, The step of establishing a mechanical behavior model of the target component according to the generalized displacements at the co-rotational nodes and the boundary points includes: Construct an expression for the displacement and force relationship of the target component according to the generalized displacements at the co-rotational nodes and the boundary points and through a pre-established stiffness matrix.

4. The component flexibility processing method according to claim 1, characterized in that The step of establishing the equivalent relationships between the generalized displacement and the discretized nodal displacement, and between the generalized force and the discretized nodal force respectively includes: Establish the equivalent relationship between the generalized displacement in the mechanical behavior model and the discretized nodal displacement, and the equivalent relationship between the generalized force in the mechanical behavior model and the discretized nodal force.

5. The method for flexible processing of components according to claim 4, characterized in that, The step of establishing the equivalent relationships between the generalized displacement in the mechanical behavior model and the discretized nodal displacement, and between the generalized force in the mechanical behavior model and the discretized nodal force, and optimizing the flexibility of the target component based on the equivalent relationships includes: Establish a first relationship expression between the generalized displacement in the mechanical behavior model and the discretized nodal displacement according to a preset linear transformation matrix; Use the principle of reciprocal work of elastic work to establish a second relationship expression between the generalized force in the mechanical behavior model and the discretized nodal force; or, Calculate the generalized stiffness matrix according to a pre-constructed orthogonal load case combination; Optimize the flexibility of the target component according to the generalized stiffness matrix, the first relationship expression and the second relationship expression; or, Use the conversion relationship between the generalized displacement or generalized force of the co-rotational node and the continuous body discrete model as a constraint equation, and use the Lagrange multiplier method to solve the continuous body discrete model under the constraint equation to obtain the relationship between the generalized displacement and the generalized force.

6. The method for flexible processing of components according to claim 5, characterized in that, Before the step of establishing a first relationship expression between the generalized displacement in the mechanical behavior model and the node displacement after discretization according to a preset linear transformation matrix, the following steps are included: Introduce an initial approximate linear transformation matrix, and optimize the initial approximate linear transformation matrix based on the principle of minimizing the preset strain energy to obtain the preset linear transformation matrix; and / or Determine the preset linear transformation matrix by means of a pre-constructed load conversion matrix and using a preset dual relationship.

7. The method according to claim 5, wherein The step of calculating the generalized stiffness matrix according to a pre-constructed orthogonal working condition combination includes: According to the pre-constructed orthogonal working condition combination, apply unit loads to each corotational node respectively, and solve the displacement vectors of the unconstrained corotational nodes and the load vectors on each constrained corotational node; According to the displacement vectors of each unconstrained corotational node, assemble them into a displacement matrix in sequence, and according to each applied unit load and the corresponding constraint reaction force on the constrained corotational node, assemble them into a force matrix in sequence; Calculate the generalized stiffness matrix according to the displacement matrix and the force matrix.

8. A component flexible processing device, characterized in that, The component flexibility processing device includes: A selection module for selecting one or more corotational nodes and boundary points on a target component; A construction module for establishing a mechanical behavior model of the target component according to the generalized displacements on the corotational nodes and the boundary points, and using the relationship between the generalized displacement and the generalized force to describe the displacement and force relationship of the target component; A discretization module for discretizing the target component according to a continuous medium model to obtain the relationship between the discretized node displacements and node forces for describing the mechanical behavior of the component; A calculation module for respectively establishing the equivalent relationships between the generalized displacement and the discretized node displacement, and between the generalized force and the discretized node force, and optimizing the flexibility of the target component based on the equivalent relationships.

9. A component flexible processing device, characterized in that, The device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the component flexibility processing method according to any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium, and when the computer program is executed by the processor, it implements the steps of the component flexibility processing method according to any one of claims 1 to 7.

Images