Aviation electric drive system joint simulation method and system

Abstract

The invention discloses an aviation electric drive system joint simulation method and system, and relates to the field of aviation electromechanical system simulation, and the method comprises the steps: determining a target electric drive system; the method comprises the following steps: creating a multi-body dynamics simulation module, a motor simulation module, a virtual sensor module and a control system simulation module based on an MATLAB / Simulink platform and a target electric drive system; establishing a data relation among the multi-body dynamics simulation module, the motor simulation module, the virtual sensor module and the control system simulation module; all the modules are called in an MATLAB / Simulink platform, module connection and data conversion are carried out based on interface signals of all the modules, and joint simulation of the target electric drive system is completed. According to the application, the cross action among the motor, the mechanical mechanism, the sensor and the control system in the electric driving system is fully considered, and the overall analysis and joint simulation of the electric driving system are realized.

Description

Technical Field

[0001] This application relates to the field of aviation electromechanical system simulation technology, and in particular to a co-simulation method and system for aviation electric drive systems. Background Technology

[0002] As an important technological direction in the aviation industry, the core of multi-electric aircraft lies in replacing the traditional hydraulic drive system with an electric drive system.

[0003] Compared to traditional hydraulic drive technology, electric drive technology exhibits three major advantages: mechanically, it significantly simplifies the power transmission topology and effectively reduces structural weight; in terms of maintenance, it enables digital fault diagnosis and shortens maintenance cycles; and in terms of system layout, leveraging the reconfigurable nature of cables, it significantly improves the battlefield survivability of aircraft and possesses the potential for dynamic modular reconfiguration. Faced with this technological revolution, traditional design and verification methods based on hydraulic drive systems are at risk of failure, necessitating the establishment of a new system design and verification framework adapted to the characteristics of electric drive.

[0004] Electric drive systems typically include motors, mechanical mechanisms, sensors, and control systems. Compared to hydraulic drive systems, the brushless DC motors and their drive circuits commonly used in aircraft electric drive systems have higher technical requirements in terms of control algorithms and power electronics implementation. Furthermore, to meet the safety and reliability requirements of aircraft, the control system must deeply integrate diverse functional modules, including energy management, health monitoring, interface communication, and redundancy control. However, current industry technology has significant limitations. Existing simulation methods mostly focus on the isolated analysis of single systems, failing to reflect the interaction between different systems. Especially when dealing with complex systems involving multi-physics coupling, it is difficult to accurately reflect the overall operating conditions of the system. Summary of the Invention

[0005] The purpose of this application is to provide a co-simulation method and system for aviation electric drive systems, which fully considers the cross-interactions between motors, mechanical mechanisms, sensors and control systems in the electric drive system, and realizes the overall analysis and co-simulation of the electric drive system.

[0006] To achieve the above objectives, this application provides the following solution:

[0007] In a first aspect, this application provides a co-simulation method for an aircraft electric drive system, the co-simulation method for the aircraft electric drive system comprising:

[0008] Identify the target electric drive system; the target electric drive system is the aviation electric drive system to be simulated.

[0009] Based on the MATLAB / Simulink platform and the target electric drive system, a multibody dynamics simulation module, a motor simulation module, a virtual sensor module, and a control system simulation module were created.

[0010] Establish data connections between the multibody dynamics simulation module, the motor simulation module, the virtual sensor module, and the control system simulation module;

[0011] The multibody dynamics simulation module, the motor simulation module, the virtual sensor module, and the control system simulation module are invoked in the MATLAB / Simulink platform. Based on the interface signals of each module, the modules are connected and data is converted to complete the joint simulation of the target electric drive system.

[0012] In a second aspect, this application also provides a computer system, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the co-simulation method for the aerospace electric drive system described in the first aspect.

[0013] According to the specific embodiments provided in this application, the following technical effects are disclosed:

[0014] This application creates corresponding multibody dynamics simulation modules, motor simulation modules, virtual sensor modules, and control system simulation modules for the target electric drive system. In order to achieve simulation linkage between the modules, this application also establishes data connections between different modules, so that the input and output of different modules can produce before and after effects during the simulation process, thereby ensuring the integrity of the electric drive system. Since the modules have been connected, when calling all modules using the MATLAB / Simulink platform, effective module connection and data conversion can be performed based on the interface signals of each module, thereby realizing the joint simulation of the target electric drive system. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a flowchart of the co-simulation method for the aviation electric drive system in the embodiments of this application;

[0017] Figure 2 This is a diagram showing the connection relationships between the modules in the embodiments of this application;

[0018] Figure 3 This is a diagram showing the executable file and accompanying parameter file of the multibody dynamics model in the embodiments of this application;

[0019] Figure 4 This is a diagram showing the internal structure of the computer system in an embodiment of this application. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] The purpose of this application is to provide a co-simulation method and system for aviation electric drive systems, which fully considers the cross-interactions between motors, mechanical mechanisms, sensors and control systems in the electric drive system, and realizes the overall analysis and co-simulation of the electric drive system.

[0022] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] In one exemplary embodiment, such as Figure 1 As shown, a co-simulation method for an aircraft electric drive system is provided, which includes:

[0024] Step S1: Determine the target electric drive system.

[0025] Before conducting joint simulation, it is necessary to design and determine the corresponding target electric drive system (i.e., the aviation electric drive system to be simulated), and determine the corresponding target mechanical mechanism, target motor, target sensor and target control system inside the system.

[0026] Step S2: Based on the MATLAB / Simulink platform and the target electric drive system, create a multibody dynamics simulation module, a motor simulation module, a virtual sensor module, and a control system simulation module.

[0027] In this embodiment, step S2 specifically includes:

[0028] Step S21: Establish a multibody dynamics model of the target mechanical mechanism based on the LMS Virtual.Lab Motion platform, and call the multibody dynamics model on the MATLAB / Simulink platform to obtain the multibody dynamics simulation module.

[0029] The process involves: generating a STEP format assembly model of the target mechanical mechanism using 3D modeling software; importing the assembly model into the LMS Virtual.Lab Motion platform via the STEP interface; configuring kinematic pairs according to the kinematic connection relationships of the target mechanical mechanism to obtain a multibody dynamics model of the target mechanical mechanism; exporting the multibody dynamics model containing input parameters using the LMS Virtual.Lab Motion platform; configuring an S-Function in Simulink, inputting the solver file provided by the LMS Virtual.Lab Motion platform, and specifying the parameters of the S-Function as the input parameters of the multibody dynamics model.

[0030] Step S22: Based on the MATLAB / Simulink platform, establish a motor model including the drive circuit and configure the characteristic parameters of the target motor to obtain the motor simulation module.

[0031] Specifically, the motor model is called based on the Simscape Electrical component library in Simulink, and the corresponding power drive circuit is configured; the characteristic parameters (i.e., electromagnetic parameters and mechanical parameters) of the target motor are imported into the motor model.

[0032] Step S23: Based on the MATLAB / Simulink platform, construct the transfer function model of the target sensor according to physical principles to obtain the virtual sensor module.

[0033] This involves using the MATLAB Function module in Simulink and physical principles to construct the transfer function model of the target sensor. The virtual sensor module typically includes two types of sensors: Hall effect sensors and position sensors.

[0034] Step S24: Create the S-Function framework code in C language based on the MATLAB / Simulink platform to obtain the control system simulation module.

[0035] Specifically, S-FunctionBuilder is configured in Simulink to generate S-Function framework code in C language; control strategies are designed based on the expected functions of the target electric drive system and the dynamic characteristics of the mechanical mechanism to develop modular code, and the control system code is compiled in MATLAB; relevant library functions of the actual control board are introduced into the control system code.

[0036] Step S3: Establish data connections between the multibody dynamics simulation module, the motor simulation module, the virtual sensor module, and the control system simulation module.

[0037] like Figure 2As shown, the multibody dynamics simulation module receives the drive data output by the motor simulation module and feeds back the generated motion data to the motor simulation module and the virtual sensor module; the virtual sensor module receives the motor data and motion data output by the motor simulation module and feeds back the generated sensing data to the control system simulation module; the control system simulation module receives the sensing data and feeds back the generated control signal data to the motor simulation module; the motor simulation module receives the control signal data and generates drive data and motor data.

[0038] Among them, driving data is generally force or torque; motion data includes displacement, angle, etc. of a component in the target mechanical structure; motor data includes motor speed, current, etc.; sensing data includes 0 / 1 signals output by position sensors, motor speed output by Hall sensors, etc.

[0039] Step S4: In the MATLAB / Simulink platform, call the multibody dynamics simulation module, motor simulation module, virtual sensor module and control system simulation module, and perform module connection and data conversion based on the interface signals of each module to complete the joint simulation of the target electric drive system.

[0040] Based on the above analysis, this embodiment addresses the technical challenges of high reliability, strong dynamic response characteristics, and complex operating conditions coupling in aviation electric drive systems. It proposes the aforementioned joint simulation method for aviation electric drive systems. This method achieves full-link closed-loop simulation verification of electromechanical systems and control systems by constructing an integrated simulation platform that includes a multibody dynamics simulation module, a motor simulation module, a virtual sensor module, and a control system simulation module.

[0041] In another exemplary embodiment, a practical application scenario of a co-simulation method for an aircraft electric drive system is provided, in which the following steps are performed during the actual co-simulation process:

[0042] (1) Establish a multibody dynamics simulation module, specifically including:

[0043] The first step is to export the standard STEP format assembly model of the target mechanical mechanism based on 3D modeling software, and then import the assembly model into the LMS Virtual.Lab Motion platform through the STEP standard interface.

[0044] The second step is to extract the motion connection relationships of the target mechanical mechanism (i.e., the motion connection relationships between the components in the target mechanical mechanism), use the Joints tool library provided by the LMS Virtual.Lab Motion platform to establish the kinematic pair model of the target mechanical mechanism, and determine the possible interference between the components based on the approximate motion path of the target mechanical mechanism. Use the Forces module to establish the contact force model between the components and set the basic force models such as springs and torsion springs.

[0045] Third, in the target mechanical mechanism, a ControlOutput interface is set for the corresponding kinematic pair of the component connected to the target motor. This module enables data exchange and is used to receive motor data transmitted from the motor simulation module. Similarly, a Control Input interface is set for the above component, with the type set to ANGLED, to enable the feedback of speed parameters to the motor simulation module. In addition, a virtual sensor data interface is configured to establish a real-time data channel between the kinematic parameters and the virtual sensor module.

[0046] The fourth step is to configure the solver settings on the LMS Virtual.Lab Motion platform. In Solution Set-Dynamic, set the solver method to MATLAB_SIM and configure parameters such as simulation duration and output accuracy. Run the simulation to generate a .mexw64 executable file and accompanying parameter files. (See [link to documentation]). Figure 3 .

[0047] The fifth step involves running the .m file output from the fourth step in MATLAB using the MotionMatlab toolchain. This automatically generates an S-function module and associates it with the .mexw64 file and its associated parameter file. Then, based on the data interaction interface from the third step, a standardized data bus is built in Simulink, ultimately completing the embedded encapsulation of the multibody dynamics model in Simulink.

[0048] (2) Establish a motor simulation module, specifically including:

[0049] The first step is to call the motor module based on the Simscape Electrical component library in Simulink and configure the matching power drive circuit.

[0050] The second step is to import the target motor's characteristic parameter set (including electromagnetic and mechanical parameters) into the motor module.

[0051] (3) Establish a virtual sensor module, specifically including:

[0052] The first step is to perform unit normalization and range standardization on the motion data (displacement of components, rotation angle of rods, etc.) output by the multibody dynamics simulation module to complete the data preprocessing.

[0053] The second step is to construct the transfer function model of the target sensor based on the physical principles using the MATLAB Function module.

[0054] The third step involves using the Signal Processing Toolbox to add white noise or environmental interference signals to complete the noise injection.

[0055] (4) Establish a control system simulation module, which specifically includes:

[0056] Step 1: Create an S-functionbuilder module in Simulink, define the data types and dimensions of the control system I / O ports, configure the communication protocol with the motor model, and create a C language code framework.

[0057] The second step is to import and declare the control board-specific library functions in the main program. To save computational resources, the control board program often uses the calculation libraries provided by the OEM for complex calculations, such as the Q-format fixed-point number calculation library, the LUT trigonometric function calculation library, and the PID optimization algorithm library for motor control. By importing these libraries, the relevant functions can be called in the S-function.

[0058] The third step involves writing control system code based on the expected functions and setting various control parameters. Addressing the stringent reliability requirements of aviation electric drive systems, the focus is on implementing multi-channel collaborative control and fault-tolerant mechanisms, as well as a BIT (Block In-flight Self-Test) system based on multi-sensor data.

[0059] The fourth step is to use the mex compiler in MATLAB to generate an executable control module.

[0060] (5) Call the above four modules in the MATLAB / Simulink platform to start the joint simulation between the systems.

[0061] In summary, this embodiment can achieve joint simulation of motors, mechanical mechanisms, sensors, and control systems. During the design phase of electric drive systems, it can quickly and accurately obtain the dynamic characteristics of the system under multi-physics coupling, enabling rapid updates and iterations of system design.

[0062] In another exemplary embodiment, a computer system is provided, which may be a server or a terminal, and its internal structure diagram may be as follows: Figure 4As shown, the computer system includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and databases. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media to run. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements the aforementioned co-simulation method for aerospace electric drive systems.

[0063] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer system to which the present application is applied. A specific computer system may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0064] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0065] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0066] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0067] All actions involving the acquisition of signals, information, or data in this application are carried out in accordance with the relevant data protection laws and policies of the country where the application is located, and with the authorization of the owner of the relevant device.

[0068] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0069] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A co-simulation method for an aircraft electric drive system, characterized in that, The co-simulation method for the aircraft electric drive system includes: Identify the target electric drive system; the target electric drive system is the aviation electric drive system to be simulated. Based on the MATLAB / Simulink platform and the target electric drive system, a multibody dynamics simulation module, a motor simulation module, a virtual sensor module, and a control system simulation module were created. Establish data connections between the multibody dynamics simulation module, the motor simulation module, the virtual sensor module, and the control system simulation module; The multibody dynamics simulation module, the motor simulation module, the virtual sensor module, and the control system simulation module are invoked in the MATLAB / Simulink platform. Based on the interface signals of each module, the modules are connected and data is converted to complete the joint simulation of the target electric drive system.

2. The co-simulation method for aircraft electric drive systems according to claim 1, characterized in that, Establishing data connections between the multibody dynamics simulation module, the motor simulation module, the virtual sensor module, and the control system simulation module specifically includes: The multibody dynamics simulation module receives the drive data output by the motor simulation module and feeds back the generated motion data to the motor simulation module and the virtual sensor module. The virtual sensor module receives the motor data and motion data output by the motor simulation module, and feeds back the generated sensing data to the control system simulation module. The control system simulation module receives the sensor data and feeds back the generated control signal data to the motor simulation module. The motor simulation module receives the control signal data and generates the drive data and the motor data.

3. The co-simulation method for aircraft electric drive systems according to claim 2, characterized in that, The drive data includes at least force or torque; the motion data includes at least the displacement and angle of the component; and the motor data includes at least the motor speed.

4. The co-simulation method for aircraft electric drive systems according to claim 1, characterized in that, The target electric drive system includes: a target mechanical mechanism, a target motor, a target sensor, and a target control system. Based on the MATLAB / Simulink platform and the target electric drive system, a multibody dynamics simulation module, a motor simulation module, a virtual sensor module, and a control system simulation module are created, specifically including: A multibody dynamics model of the target mechanical mechanism is established based on the LMS Virtual.Lab Motion platform, and the multibody dynamics model is called on the MATLAB / Simulink platform to obtain a multibody dynamics simulation module. A motor model including the drive circuit is built based on the MATLAB / Simulink platform, and the characteristic parameters of the target motor are configured to obtain the motor simulation module; Based on the MATLAB / Simulink platform, a transfer function model of the target sensor is constructed according to physical principles to obtain a virtual sensor module; The S-Function framework code in C language was created based on the MATLAB / Simulink platform to obtain the control system simulation module.

5. The co-simulation method for aircraft electric drive systems according to claim 4, characterized in that, A multibody dynamics model of the target mechanical mechanism was established based on the LMS Virtual.Lab Motion platform, specifically including: Use 3D modeling software to generate a STEP format assembly model of the target mechanical mechanism; The assembly model is imported into the LMS Virtual.Lab Motion platform via the STEP interface; Based on the kinematic connection relationship of the target mechanical mechanism, kinematic pairs are configured to obtain the multibody dynamics model of the target mechanical mechanism.

6. The co-simulation method for aircraft electric drive systems according to claim 4, characterized in that, Calling the multibody dynamics model on the MATLAB / Simulink platform specifically includes: Export a multibody dynamics model containing input parameters using the LMS Virtual.Lab Motion platform; Configure the S-Function in Simulink by inputting the solver file provided by the LMS Virtual.Lab Motion platform and specifying the parameters of the S-Function as the input parameters of the multibody dynamics model.

7. The co-simulation method for aircraft electric drive systems according to claim 4, characterized in that, A motor model including a drive circuit is built using the MATLAB / Simulink platform, and the characteristic parameters of the target motor are configured, specifically including: The motor model is called based on the Simscape Electrical component library in Simulink, and the corresponding power drive circuit is configured. The characteristic parameters of the target motor are imported into the motor model; the characteristic parameters include electromagnetic parameters and mechanical parameters.

8. The co-simulation method for aircraft electric drive systems according to claim 4, characterized in that, Based on the MATLAB / Simulink platform, a transfer function model of the target sensor is constructed according to physical principles, specifically including: Using the MATLAB Function module in Simulink and physical principles, a transfer function model of the target sensor is constructed.

9. The co-simulation method for aircraft electric drive systems according to claim 4, characterized in that, The C language S-Function framework code was created based on the MATLAB / Simulink platform, specifically including: Configure S-FunctionBuilder in Simulink to generate S-Function framework code in C language; Based on the expected function of the target electric drive system and the dynamic characteristics of the mechanical mechanism, a control strategy is designed and modular code is developed, and the control system code is compiled in MATLAB. The relevant library functions of the actual control board are introduced into the control system code.

10. A computer system, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the co-simulation method for an aerospace electric drive system as described in any one of claims 1-9.

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