Component Flexibilization Processing Method, Device, Equipment, and Storage Medium

Abstract

The present application discloses a method, apparatus, device, and storage medium for flexible processing of components, relating to the technical field of dynamics of multi-body power systems. The method includes: selecting co-rotational nodes and boundary points on a target component; establishing a mechanical behavior model based on the generalized displacements of the co-rotational nodes and boundary points, and using the relationship between the generalized displacements and generalized forces to describe the relationship between the displacement and force of the component; 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; and then optimizing the flexible process through the equivalent relationships between the generalized displacements and node displacements, and between the generalized forces and node forces. This solution combines the coordinated action of co-rotational nodes and boundary points and discrete modeling to achieve the optimization of the calculation process through the mechanical transfer relationship between nodes, thereby ensuring the accuracy of component flexible calculation while improving the efficiency of component deformation and motion analysis.

Description

Technical Field

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

[0002] Currently, in simulation analyses such as multi-body dynamics, the "modal synthesis method" is usually used for flexible modeling of components. During the 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 components strongly depend on the external constraints on them. The "modal synthesis method" uses a combination of fully constrained modes and free modes, while the actual constraint state of components is generally neither a fully constrained state nor a fully free state. To accurately express the flexible deformation of 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 that is 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 treatment 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 flexible treatment of components.

[0005] To achieve the above object, the present application proposes a method for flexible treatment of components. The method for flexible treatment of components is applied to a target component in a multi-body dynamic system. The method for flexible treatment of components includes:

[0006] Select one or more co-rotational nodes and boundary points on the target component;

[0007] Based on the generalized displacements at the co-rotational nodes and boundary points, establish a mechanical behavior model of the target component, and use the relationship between the generalized displacements and generalized forces to describe the displacement and force relationship of the target component;

[0008] 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;

[0009] 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.

[0010] 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:

[0011] 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.

[0012] 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:

[0013] According to the co-rotational nodes and the generalized displacements at the boundary points, and through a pre-established stiffness matrix, construct an expression for the relationship between the displacements and forces of the target component.

[0014] 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:

[0015] Establish an equivalent relationship between the generalized displacements in the mechanical behavior model and the nodal displacements after discretization, and an equivalent relationship between the generalized forces in the mechanical behavior model and the nodal forces after discretization.

[0016] 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:

[0017] 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;

[0018] Using the principle of reciprocal work of elastic work, establish a second relationship expression between the generalized forces in the mechanical behavior model and the nodal forces after discretization; or,

[0019] According to a pre-constructed orthogonal working condition combination, calculate the generalized stiffness matrix;

[0020] According to the generalized stiffness matrix, the first relationship expression and the second relationship expression, optimize the flexibility of the target component; or,

[0021] 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 generalized forces.

[0022] In one embodiment, before the step of establishing a first relationship expression between the generalized displacement in the mechanical behavior model and the nodal displacement after discretization according to a preset linear transformation matrix, the following steps are included:

[0023] Introduce an initial approximate linear transformation matrix, and optimize the initial approximate linear transformation matrix based on the preset principle of minimizing strain energy to obtain a preset linear transformation matrix; and / or

[0024] Determine the preset linear transformation matrix through a pre-constructed load conversion matrix and using a preset dual relationship.

[0025] In one embodiment, the step of calculating the generalized stiffness matrix according to a pre-constructed orthogonal load case combination includes:

[0026] Apply unit loads respectively on each co-rotational node according to the pre-constructed orthogonal load case combination, and solve the displacement vectors of the unconstrained co-rotational nodes and the load vectors on each constrained co-rotational node;

[0027] Assemble the displacement vectors of each unconstrained co-rotational node into a displacement matrix in sequence, and assemble the force matrix according to each applied unit load and the corresponding reaction forces on the constrained co-rotational nodes in sequence;

[0028] Calculate the generalized stiffness matrix according to the displacement matrix and the force matrix.

[0029] In addition, to achieve the above object, the present application also proposes a component flexibility processing device, which includes:

[0030] A selection module for selecting one or more co-rotational nodes and boundary points on a target component;

[0031] A modeling module for establishing 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;

[0032] A discretization module for discretizing the target component according to a preset continuous medium model to obtain the relationship between the nodal displacement and the nodal force after discretization for describing the mechanical behavior of the component;

[0033] A calculation module for respectively establishing the equivalent relationships between the generalized displacement and the nodal displacement after discretization, and between the generalized force and the nodal force after discretization, and optimizing the flexibility of the target component based on the equivalent relationships.

[0034] In addition, to achieve the above object, the present application further provides a component flexible 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 flexible processing method as described above.

[0035] In addition, to achieve the above object, the present application further provides 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 flexible processing method as described above.

[0036] In addition, to achieve the above object, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the component flexible processing method as described above.

[0037] A component flexible 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, and the method includes: selecting one or more co-rotating nodes and boundary points on the target component; establishing a mechanical behavior model of the target component according to the generalized displacements at the co-rotating nodes and 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; 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 flexible 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-rotating 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 flexible processing while improving the efficiency of component deformation and motion analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings here are incorporated into the specification and form a part of the specification, showing the embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0039] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0040] Figure 1 It is a schematic flowchart provided for Embodiment 1 of the component flexible processing method of the present application;

[0041] Figure 2 It is a schematic flowchart provided for the second embodiment of the method for flexible processing of components in this application;

[0042] Figure 3 It is a schematic module structure diagram of the device for flexible processing of components in the embodiment of this application;

[0043] Figure 4 It is a schematic device structure diagram of the hardware operating environment involved in the method for flexible processing of components in the embodiment of this application.

[0044] The realization of the purpose, functional features and advantages of this application will be further described with reference to the embodiments and the accompanying drawings. Specific Embodiments

[0045] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of this application and are not used to limit this application.

[0046] For a better understanding of the technical solutions of this application, the following will be described in detail in combination with the accompanying drawings of the specification and specific embodiments.

[0047] The main solution of the embodiment of this application is: 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 on the co-rotational nodes and 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; 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 displacement and the discretized node displacements, and between the generalized force and the discretized node forces respectively, and optimize the flexibility of the target component based on the equivalent relationships.

[0048] In this embodiment, for the convenience of description, the following takes the target component in the multi-body dynamic system as the execution subject for elaboration.

[0049] 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" uses 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 more accurately express the flexible deformation of the component, more modes are required, and thus more computational effort is needed.

[0050] 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.

[0051] This application provides a solution. By selecting co-rotational 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 by combining an efficient calculation method for the generalized stiffness matrix, and a method combining discretization processing and mechanical modeling is adopted to further improve the calculation efficiency by optimizing the mechanical transfer relationship between nodes. This method not only ensures the accuracy of the component flexibility processing but also significantly improves the efficiency of component deformation and motion analysis.

[0052] 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 embodiments.

[0053] Based on this, the embodiments of this application provide a method for component flexibility processing, referring to Figure 1 , Figure 1 which is a schematic flowchart of the first embodiment of the component flexibility processing method of this application.

[0054] In this embodiment, the component flexibility processing method includes steps S10 to S40:

[0055] Step S10, select one or more co-rotational nodes and boundary points on the target component;

[0056] 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 are 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 are the nodes located at the boundary of the target component, and they are used to apply constraint conditions, handle contact and coupling problems, and ensure the correct transfer of force and displacement.

[0057] 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 displacements and the generalized forces to describe the displacement and force relationship of the target component;

[0058] It should be noted that the generalized displacement refers to, when considering the deformation of an object, 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 specific point, the generalized displacement usually includes six components, namely three translational displacements and three rotational displacements.

[0059] The generalized displacement refers to the number of ways in which the system can move independently, 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.

[0060] 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 world or other components, etc.); the other is the inertial force. From the perspective of causing the target component to undergo translation or rotation, these acting forces can be reclassified into translational forces and rotational forces (i.e., torques).

[0061] Without loss of generality, it is assumed that during the entire motion process of the target component, its deformation is linearly elastic.

[0062] 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 motion and forces of the target component. In general, the constrained boundary degrees of freedom can be further simplified and transformed into corotational node degrees of freedom. 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 forces of the target component:

[0063]

[0064] In the formula, represents the generalized stiffness matrix; q represents the generalized displacement at the corotational nodes, where , (i = 1,..., N; ≥1,, N is the number of corotational nodes); represents the generalized displacement at the boundary points; Q represents the generalized force vector acting on the corotational nodes; represents the force vector acting on the boundary points.

[0065] The above expression for the relationship between the displacement and forces 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.

[0066] 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;

[0067] Specifically, first, the target component is regarded 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 process of the component. It includes the geometric shape, size of the component, and various loads and constraint conditions applied thereto.

[0068] Then, the target component is discretized using a numerical discretization method (taking finite element discretization as an example) to obtain the relationship between the nodal displacements and nodal forces of the discretized target component. Among them, the relationship expression between the nodal displacements and nodal forces of the discretized target is:

[0069]

[0070] In the formula, represents the discretized generalized stiffness matrix; u represents the nodal displacements of the discretized target component; represents the nodal forces of the discretized target component.

[0071] 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.

[0072] To facilitate the understanding of the generalized displacements at the co-rotational nodes in this embodiment, it can be regarded as the equivalent rotational and translational amounts of point i adjacent to a computational domain . The generalized displacements are generally selected as the equivalent translational displacement vector and equivalent rotational displacement vector at the centroid of the computational domain.

[0073] Therefore, in this embodiment, based on obtained in step S20 and obtained in step 30 (K is the discretized generalized stiffness matrix), the equivalent relationship between the two equations is established. That is, the approximation relationship between and the nodal displacements u of the discretized target component is established, and the approximation relationship between and the nodal forces of the discretized target component is established. In this way, an efficient and accurate analysis of the mechanical behavior of the target component can be achieved.

[0074] In a feasible implementation manner, step S40 may include steps S41 to S44:

[0075] Step S41: Establish 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;

[0076] It should be noted that the linear transformation matrix refers to a matrix constructed or optimized in advance, which is used to map a high-dimensional degree-of-freedom vector to a low-dimensional degree-of-freedom vector to achieve model order reduction and improve computational efficiency.

[0077] Specifically, assume u and The relationship expression is:

[0078] In the formula, u represents the nodal displacements of the target component after discretization, that is, the high-dimensional degree-of-freedom vector; q represents the generalized displacements on the co-rotational 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 generalized displacements and boundary degrees of freedom.

[0079] Step S42: Establish a second relationship expression between the generalized forces in the mechanical behavior model and the nodal forces after discretization;

[0080] 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.

[0081] Specifically, according to the principle of reciprocal work of elastic work, the relationship between the generalized force and the nodal force can be deduced:

[0082]

[0083] 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 co-rotational nodes; represents the force vector on all the nodes of the target component after discretization; is a combined vector containing the generalized force Q and the boundary point force It represents the generalized force distribution of the entire system.

[0084] Step S43: Calculate the generalized stiffness matrix according to the pre-constructed orthogonal load case combinations;

[0085] It should be noted that the orthogonal condition combination refers to a set of independent conditions generated by applying unit loads (forces or torques) at different co-rotating nodes. Each condition corresponds to the application of a load in a specific direction, ensuring the independence and distinguishability of the system response.

[0086] It can be understood that since the orthogonal condition combination ensures 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.

[0087] In another feasible embodiment, step S43 may include steps S431 to S433:

[0088] Step S431, apply unit loads on each co-rotating node respectively according to the pre-constructed orthogonal condition combination, and solve the displacement vectors of the unconstrained co-rotating nodes and the constraint reaction forces on each constrained co-rotating node;

[0089] Step S432, assemble the displacement vectors into a displacement matrix in sequence according to the displacement vectors of each unconstrained co-rotating node, and assemble the applied unit loads and the corresponding constraint reaction forces on the constrained co-rotating nodes into a force matrix in sequence;

[0090] Step S433, calculate the generalized stiffness matrix according to the displacement matrix and the force matrix.

[0091] Specifically, according to the pre-constructed orthogonal condition combination , (i = 1,..., 6*N), make , where I is a 6*6 identity matrix, N is the number of co-rotating nodes, and B is the constraint force matrix. Then obtain the displacement vectors corresponding to each orthogonal condition combination and assemble them into a displacement matrix A = , then

[0092]

[0093]

[0094]

[0095] In the formula, k represents the generalized stiffness matrix; Q represents the generalized force vector; q represents the displacement vector of the unconstrained co-rotating nodes; represents the inverse matrix of the displacement matrix; B is the constraint force matrix.

[0096] Due to the singularity of the equation in solving It is necessary to perform on the quotient space when (K is the discretized generalized stiffness matrix).

[0097] Another way to calculate the generalized stiffness matrix k is to apply unit loads in six directions in sequence at a certain co - rotating node i (i = 1,..., N) in the set of generalized displacements at the co - rotating nodes, and fix all other nodes. For each co - rotating node, 6 sets of orthogonal working conditions can be constructed. By applying 6 sets of unit loads to all co - rotating nodes in turn, 6*N sets of orthogonal working conditions can be constructed. Among them, under each set of orthogonal working conditions, according to the equation of the discretized component (

[0098] , where K is the discretized generalized stiffness matrix), the following two sets of information can be obtained: , where K is the discretized generalized stiffness matrix), the following two sets of information can be obtained:

[0099] First, the displacement vector of the unconstrained co - rotating node i . Since the displacement values of other co - rotating nodes are all 0 due to being constrained, after assembling these displacement vectors of the unconstrained co - rotating nodes in sequence, a set of can be obtained, where is the displacement vector of the unconstrained co - rotating nodes.

[0100] Second, the constraint reaction forces (6 components) on each constrained co - rotating node. At the same time, the force vector on the unconstrained co - rotating node i corresponds to the unit vector under the orthogonal working condition. Then, after assembling these load vectors in sequence, a set of can be obtained, where is the load vector on the constrained co - rotating nodes.

[0101] Furthermore, the displacement vectors and load vectors obtained under 6*N sets of orthogonal working conditions are assembled into matrix form. 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.

[0102] 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 at each co - rotating 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.

[0103] Step S44, optimize the flexibility of the target component according to the generalized stiffness matrix, the first relational expression, and the second relational expression;

[0104] Specifically, the first relationship expression between the generalized displacement in the mechanical behavior model and the nodal displacement after discretization, the second relationship expression between the generalized force in the mechanical behavior model and the nodal force after discretization, and the generalized stiffness matrix are added to the component flexibility processing equation of the system to optimize the calculation process and improve the simulation efficiency.

[0105] Step S45: Use the conversion relationship between the generalized displacement or generalized force of the corotational 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.

[0106] It should be noted that the continuum discrete model refers to a physical system (such as a solid structure, fluid, etc.) that is originally regarded as continuous and is divided into a finite number of parts or elements by a specific method for numerical analysis and calculation.

[0107] In addition to the above method, this embodiment also provides another flexible optimization method for the target component. Specifically, by establishing a kinematic mapping relationship between the boundary points and the discrete nodes, introducing the weighted superposition principle of the equivalent nodal force, the generalized force is distributed to each discrete node through the boundary points as a medium; at the same time, the generalized displacement is inversely deduced from the nodal displacement to form a closed-loop coordinated control mechanism. Further, the modal analysis technology is used to reduce the order of the discrete model, extract the main deformation modes, reduce the model dimension on the premise of ensuring the calculation accuracy, and improve the calculation efficiency.

[0108] This step realizes more efficient and accurate flexible modeling and dynamic analysis of the target component through a combination of 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.

[0109] Through the method of the above embodiment, one or more corotational nodes and boundary points are selected on the target component; according to the generalized displacement on the corotational node and the generalized displacement on the boundary point, a mechanical behavior model of the target component is established, and the displacement and force relationship 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 nodal displacement and the nodal force after discretization; the equivalent relationships between the generalized displacement and the discretized nodal displacement, and between the generalized force and the discretized nodal force are respectively established, 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 through the coordinated action of the corotational node and the boundary point, 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.

[0110] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar content as that in 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 flexibilization method further includes steps S041 to S042:

[0111] Step S041, introducing an initial approximate linear transformation matrix, and optimizing the initial approximate linear transformation matrix based on the preset principle of minimizing strain energy to obtain a preset linear transformation matrix; and / or

[0112] Step S042, determining the preset linear transformation matrix through a pre-constructed load conversion matrix and using the preset dual relationship.

[0113] To achieve the purpose of model reduction and calculation speedup, the degree of freedom of the generalized displacement on the co-rotational 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. Among them, 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.

[0114] 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.

[0115] This embodiment approximates the linear transformation matrix T with a rigid body displacement, that is:

[0116]

[0117] Among them,

[0118]

[0119] 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 the skew-symmetric matrix of; any three-dimensional vector Anti-symmetric matrix It can be expressed as:

[0120]

[0121] To find the minimum value of the objective function we can obtain:

[0122]

[0123] After expansion, we get

[0124]

[0125] And, according to what is known in the first embodiment then

[0126]

[0127] 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.

[0128] Another method is to preset the inverse matrix of the transpose matrix of a linear transformation matrix approximate value, and obtain T through the duality relationship or directly solve the stiffness matrix k. That is, assume:

[0129]

[0130] In the formula, represents the nodal force of the discretized target component; Q represents the generalized force vector acting on the co-rotational node; H represents the preset load transformation matrix.

[0131] According to the duality relationship of strain capacity reciprocity, we can obtain:

[0132]

[0133]

[0134] 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.

[0135] That is, the preset load transformation matrix H is the generalized inverse of the transpose matrix of the linear transformation matrix inverse.

[0136] Among them, regarding the construction of the load transformation 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 transformation matrix mainly depends on the approximation accuracy of the inertial forces.

[0137] Assuming that the deformation of the target component has little effect on the distribution of inertial forces, then the inertial forces of the component depend on the overall rotation and translation of the component. Among them, the translation is composed of the combination of centroid motion and centrifugal motion, and the rotation is composed of the combination of rotation and Coriolis motion. In this way, the force at each point can be expressed as:

[0138]

[0139] 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 + .

[0140] According to the characteristics of the rotational moment distribution, an approximate relationship (under the small deformation assumption) can be obtained:

[0141]

[0142] 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 computational 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.

[0143] In the case of finite element discretization, these integrals can be expressed by nodal forces:

[0144]

[0145] In the formula, g is an arbitrary function; is the g-th co-rotational node; is the weight of the g-th co-rotational node; the volume of each element.

[0146] At , Under the assumption of uniform distribution, the coefficient matrix related to the grid distribution can be obtained 、 and , that is:

[0147]

[0148] or

[0149]

[0150] In the formula, Q is a vector containing the total translational force F of 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 of the centroid; is the rotational moment distribution matrix; is the centrifugal force distribution matrix.

[0151] It should be understood that under the joint action of 、 and , the generalized loads (translational inertia force of the centroid, rotational moment, centrifugal moment) are converted into equivalent nodal loads on local nodes.

[0152] 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 the 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 calculation efficiency of the model.

[0153] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the method for flexible processing of components of this application. Based on this technical concept, more forms of simple transformations are within the protection scope of this application.

[0154] This application also provides a device for flexible processing of components. Please refer to Figure 3 , the device for flexible processing of components includes:

[0155] Selection module 10, configured to select one or more corotational nodes and boundary points on the target component;

[0156] Establishment module 20, configured to establish a mechanical behavior model of the target component according to the generalized displacements on the corotational 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 displacement and the generalized force;

[0157] The discrete module 30 is configured to discretize the target component according to a preset continuous medium model, so as to obtain the relationship between the discretized nodal displacements and nodal forces for describing the mechanical behavior of the component.

[0158] The calculation module 40 is 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 flexibility of the target component based on the equivalent relationships.

[0159] The component flexibility processing device provided in this application adopts the component flexibility processing method in the above embodiment, and can solve the technical problems of component flexibility processing. Compared with the prior art, the beneficial effects of the component flexibility processing device provided in this application are the same as those of the component flexibility processing method provided in the above embodiment, and the other technical features in the component flexibility processing device are the same as those disclosed in the method of the above embodiment, which will not be elaborated here.

[0160] This application provides a component flexibility 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 flexibility processing method in the first embodiment above.

[0161] Reference is made below to Figure 4 , which shows a schematic structural diagram of a component flexibility processing device suitable for implementing the embodiments of this application. The component flexibility 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 component flexibility processing device shown is only an example and should not impose any limitations on the functions and usage scope of the embodiments of this application.

[0162] As Figure 4As shown, the component flexibility 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 flexibility 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 can be connected to the input / output interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, 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 flexibility processing device to communicate with other devices wirelessly or wiredly to exchange data. Although the figure shows a component flexibility 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 can be alternatively implemented or had.

[0163] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. 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 methods shown in the flowcharts. 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-mentioned functions defined in the methods of the embodiments disclosed in the present application are executed.

[0164] The component flexibility processing device provided by the present application adopts the component flexibility 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 flexibility processing. Compared with the prior art, the beneficial effects of the component flexibility processing device provided by the present application are the same as those of the component flexibility processing method provided by the above embodiments, and other technical features in the component flexibility processing device are the same as those disclosed in the method of the previous embodiment, and will not be elaborated here.

[0165] 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.

[0166] As described above, only the specific embodiments of this application are provided, 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.

[0167] 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.

[0168] The computer-readable storage medium provided in 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 computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, 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 this 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.

[0169] The above computer-readable storage medium can be included in the component flexibility processing device; it can also exist alone without being assembled into the component flexibility processing device.

[0170] The above computer-readable storage medium carries one or more programs. When the above one or more programs are executed by the component flexibility processing device, the component flexibility processing device is caused to:

[0171] Select one or more co - rotating nodes and boundary points on the target component;

[0172] Establish a mechanical behavior model of the target component based on the generalized displacements at the co - rotating 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;

[0173] Discretize the target component according to a preset continuous medium model to obtain the relationship between the nodal displacements and nodal forces after discretization;

[0174] Establish the equivalent relationships between the generalized displacements and the nodal displacements after discretization, and between the generalized forces and the nodal forces after discretization respectively, and optimize the flexibility of the target component based on the equivalent relationships.

[0175] Computer program code for performing the operations of the present 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) or a wide area network (WAN), or can be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0176] 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 the present application. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions denoted in the blocks may occur in a different order than that denoted 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 combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system that performs the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0177] The modules involved in the embodiments described in 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.

[0178] The readable storage medium provided in the present application is a computer-readable storage medium that stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned component flexibility processing method, and can solve the technical problems of component flexibility processing. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as those of the component flexibility processing method provided in the above embodiments, and will not be elaborated here.

[0179] The present application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the component flexibility processing method as described above.

[0180] The computer program product provided in the present application can solve the technical problems of improving the efficiency of component deformation and motion analysis while ensuring the accuracy of component flexibility processing. Compared with the prior art, the beneficial effects of the computer program product provided in the present application are the same as those of the component flexibility processing method provided in the above embodiments, and will not be elaborated here.

[0181] The above are only some embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structural transformation made under the technical concept of the present application by using the content of the specification and drawings 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 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.

2. The method for flexibly processing components 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 flexibly processing a component 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 method for flexible processing of components according to claim 1, characterized in that The step of establishing the equivalent relationships between the generalized displacement and the discretized nodal displacements, and between the generalized force and the discretized nodal forces respectively includes: Establish the equivalent relationship between the generalized displacement in the mechanical behavior model and the discretized nodal displacements, and the equivalent relationship between the generalized force in the mechanical behavior model and the discretized nodal forces.

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 displacements, and between the generalized force in the mechanical behavior model and the discretized nodal forces respectively, 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 displacements according to a preset linear transformation matrix; Use the principle of reciprocal work of elastic energy to establish a second relationship expression between the generalized force in the mechanical behavior model and the discretized nodal forces; or, Calculate the generalized stiffness matrix according to a pre-constructed orthogonal working condition 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, it includes: introducing an initial approximate linear transformation matrix, and optimizing the initial approximate linear transformation matrix based on the preset principle of minimum strain energy to obtain the preset linear transformation matrix; and / or determining 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, characterized in that 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, applying a unit load to each co-rotational node respectively, and solving the displacement vector of the unconstrained co-rotational nodes and the load vector on each constrained co-rotational node; According to the displacement vectors of each of the unconstrained co-rotational nodes, assembling them into a displacement matrix in sequence, and according to each applied unit load and the corresponding reaction force on the constrained co-rotational node, assembling them into a force matrix in sequence; Calculating 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 co-rotational 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 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 continuous medium model to obtain the relationship between the node displacement and the node force after discretization for describing the mechanical behavior of the component; a calculation module for respectively establishing an equivalent relationship between the generalized displacement and the node displacement after discretization, and between the generalized force and the node force after discretization, and optimizing the flexibility of the target component based on the equivalent relationship.

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 a processor, it implements the steps of the component flexibility processing method according to any one of claims 1 to 7.

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