Joint simulation method for water-jet propellers

Abstract

The invention provides a joint simulation method for a water-jet propeller, and the method comprises the steps: building an electromagnetic transient field model through a Maxwell platform, building a circuit transient field model through a Simplorer platform, and calculating the electromagnetic thrust; an ANSYS Fluent platform is used for establishing a fluid dynamic model, and fluid resistance is calculated; constructing a motion control system in the Simulink platform, and embedding the field-circuit coupling model into the Simulink platform; calculating the rotor speed according to the electromagnetic thrust and the fluid resistance so as to update the dynamic grid; a driving signal is output according to the difference value between the fluid resistance and the control target so as to update the electromagnetic thrust; and data interaction is carried out between the Simulink platform and the Maxwell platform, between the Simulink platform and the Simplorer platform and between the Simulink platform and the Fluent platform through a UDP (User Datagram Protocol) communication protocol. A real-time closed-loop feedback mechanism of electromagnetism, a control strategy and fluid is established.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of multi-physical field real-time coupling simulation, and particularly relates to a method for joint simulation of a water jet propeller. BACKGROUND

[0002] As a high-efficiency propulsion device, the water jet propeller has certain effect in reducing noise and improving efficiency. Therefore, it is of great significance to realize real-time and accurate simulation of the water jet propeller, and lays a certain foundation for the research of the water jet propeller.

[0003] The existing joint simulation technology has the following deficiencies:

[0004] 1. Accumulation of errors in separate simulation

[0005] The traditional joint simulation adopts Maxwell / Simplorer and ADAMS (Automatic Dynamic Analysis of Mechanical Systems) joint simulation, which realizes electromagnetic coupling, but does not consider the influence of fluid field.

[0006] 2. Lack of real-time feedback mechanism

[0007] The traditional joint simulation adopts the coupling scheme of Fluent and MATLAB, but the communication delay of the TCP (Transmission Control Protocol) based communication protocol is 20-30 ms. Compared with TCP, UDP (User Datagram Protocol) has the advantages of no need to establish connection and small protocol header overhead. In the starting stage of the propeller, the delay of the communication protocol may cause the boundary condition to lag, resulting in errors in the calculation of peak thrust.

[0008] 3. Stiff boundary update method

[0009] The existing scheme calculates the motion data of the mechanical structure in other simulation platforms first, and then presets the mechanical motion law (such as sinusoidal motion) in Fluent, which cannot reflect the dynamic response of the real control system.

[0010] 4. Bottleneck of commercial software cooperation

[0011] The traditional file interaction method (such as CSV import) takes 400 ms for a single step, which restricts the simulation efficiency. SUMMARY

[0012] In view of the problems of poor real-time performance and lack of closed-loop feedback in the existing simulation method, in order to meet the research demand of high-performance output of underwater propulsion system, the application provides a kind of joint simulation method of water jet propeller, focuses on solving the problem of electromagnetic-control strategy-fluid full-link coupling, and based on the joint simulation of Fluent, Simulink and Maxwell / Simplorer of UDP protocol, especially suitable for the engineering field such as motor-driven water jet propeller which needs to accurately simulate electromagnetic and fluid coupling effect.

[0013] The application provides a kind of joint simulation method of water jet propeller, including:

[0014] The electromagnetic transient field model of motor in water jet propeller is established through Maxwell platform, the circuit transient field model of the motor is established through Simplorer platform, the electromagnetic transient field model is imported in the tab of the Simplorer platform, the field-circuit coupling model of electromagnetic transient field and circuit transient field is formed, and the electromagnetic thrust is calculated according to the field-circuit coupling model;

[0015] The fluid dynamics model of the water jet propeller is established by using Fluent platform in ANSYS, the dynamic grid boundary is set, and the fluid resistance is calculated according to the fluid dynamics model;

[0016] The motion control system of the motor is constructed in Simulink platform in Matlab, the Simulink plug-in is selected in the tab of the Simplorer platform, and the field-circuit coupling model is embedded in the Simulink platform;

[0017] The mover speed is calculated according to the electromagnetic thrust and the fluid resistance, and the mover speed is sent to the Fluent platform, so that the Fluent platform analyzes the mover speed through user-defined function to update dynamic grid;

[0018] The driving signal is outputted to the Maxwell platform and Simplorer platform according to the difference between the fluid resistance and the control target, so that the Maxwell platform and Simplorer platform update the electromagnetic thrust according to the driving signal;

[0019] The Simulink platform, Maxwell platform, Simplorer platform and Fluent platform interact with each other through UDP communication protocol.

[0020] The application provides a combined simulation method of a water jet propeller, an electromagnetic transient field model of a motor in the water jet propeller is established through a Maxwell platform, a circuit transient field model of the motor is established through a Simplorer platform, and the combined simulation method comprises the following steps:

[0021] Mechanical parameters, stator parameters and winding parameters of the motor are set in the Maxwell platform, and the electromagnetic transient field model of the motor is built;

[0022] Three-phase alternating current excitation of the electromagnetic transient field model is set, and correctness of the electromagnetic transient field model is verified;

[0023] After the electromagnetic transient field model is verified, a three-phase full-bridge inverter circuit, a rotating speed, a torque and a current signal acquisition circuit of the motor are set through the Simplorer platform, and the circuit transient field model of the motor is established.

[0024] According to the combined simulation method of the water jet propeller, a motion control system of the motor is constructed in a Simulink platform in Matlab, and the combined simulation method comprises the following steps:

[0025] A three-phase permanent magnet synchronous motor FOC control strategy model is built based on the Simulink platform and is used as the motion control system of the motor;

[0026] A FOC permanent magnet synchronous motor control system model based on a mover position closed loop is constructed, so as to verify correctness of the motion control system.

[0027] According to the combined simulation method of the water jet propeller, a fluid dynamics model of the water jet propeller is established through a Fluent platform in ANSYS, and the combined simulation method comprises the following steps:

[0028] A principle model of the water jet propeller is built based on the Fluent platform, and the principle model comprises a jet outlet and an action water area;

[0029] Whether the principle model of the water jet propeller satisfies basic principles of hydrodynamics is verified.

[0030] According to the combined simulation method of the water jet propeller, a data packet structure corresponding to the UDP communication protocol comprises a packet header, a sequence number, a time stamp, a data type, data and CRC32;

[0031] A verification mechanism corresponding to the UDP communication protocol comprises sequential verification, time synchronization and CRC redundancy verification;

[0032] A retransmission strategy corresponding to the UDP communication protocol is that when a packet loss rate is greater than a preset threshold, dual-channel redundant transmission is started.

[0033] According to the joint simulation method of the water jet propeller provided by the application, the double-precision floating point number in the UDP communication protocol is converted into IEEE 754 format, and the packet header adopts special identification 0xAA55.

[0034] According to the joint simulation method of the water jet propeller provided by the application, the mover speed is calculated according to the electromagnetic thrust and the fluid resistance.

[0035] The motion equation is established according to the relationship among the electromagnetic thrust, the fluid resistance and the friction resistance.

[0036] The mover speed is obtained by solving the motion equation and the relationship between the fluid resistance and the mover speed.

[0037] According to the joint simulation method of the water jet propeller provided by the application, the driving signal is output to the Maxwell platform and the Simplorer platform according to the difference between the fluid resistance and the control target.

[0038] The fluid resistance fed back by the Fluent is subtracted from the control target, and the compensation amount is output through the PID controller.

[0039] The corresponding driving signal is output according to the compensation amount.

[0040] The application further provides a joint simulation system of a water jet propeller, comprising:

[0041] The first simulation module is used for establishing the electromagnetic transient field model of the motor in the water jet propeller through the Maxwell platform, establishing the circuit transient field model of the motor through the Simplorer platform, importing the electromagnetic transient field model in the tab of the Simplorer platform, forming the field-circuit coupling model of the electromagnetic transient field and the circuit transient field, and calculating the electromagnetic thrust according to the field-circuit coupling model.

[0042] The second simulation module is used for establishing the fluid dynamics model of the water jet propeller by using the Fluent platform in ANSYS, setting the dynamic grid boundary, and calculating the fluid resistance according to the fluid dynamics model.

[0043] The simulation control module is used for constructing the motion control system of the motor in the Simulink platform in Matlab, selecting the Simulink plug-in in the tab of the Simplorer platform, and embedding the field-circuit coupling model in the Simulink platform.

[0044] The mover speed is calculated according to the electromagnetic thrust and the fluid resistance, and the mover speed is sent to the Fluent platform, so that the Fluent platform analyzes the mover speed through a user-defined function to update a dynamic grid;

[0045] A driving signal is output to the Maxwell platform and the Simplorer platform according to a difference between the fluid resistance and a control target, so that the Maxwell platform and the Simplorer platform update the electromagnetic thrust according to the driving signal.

[0046] The Simulink platform, the Maxwell platform, the Simplorer platform and the Fluent platform exchange data through a UDP communication protocol.

[0047] The application further provides an electronic device, including a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the joint simulation method of the water jet propeller according to any one of the above.

[0048] The application further provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executable on the processor to implement the joint simulation method of the water jet propeller according to any one of the above.

[0049] The application further provides a computer program product, which includes a computer program, and the computer program is executable on the processor to implement the joint simulation method of the water jet propeller according to any one of the above.

[0050] The application provides a joint simulation method of a water jet propeller, which can satisfy joint simulation of electromagnetic, control strategy and water, gas and heat of a general motor driving system, and realize real-time coupling simulation of multiple physical fields.

[0051] 1. The application innovatively proposes a three-platform closed-loop simulation mechanism: breaking through the limitation of traditional separate simulation, realizing electromagnetic field→control strategy→fluid field full-link closed-loop feedback.

[0052] 2. The application improves real-time data coupling precision: through real-time linkage of three-platform simulation, effectively reducing the error between electromagnetic thrust calculation simulation value and experimental value, and the UDP data feedback delay is less than 1ms.

[0053] 3. The application has universality: the electromagnetic-control strategy-gas, heat and other aspects of the multiple physical field coupling simulation system can be applied to general motor driving systems, and can improve the original simulation precision by combining real-time multiple physical field simulation, and further improve the optimization efficiency of actual devices. BRIEF DESCRIPTION OF DRAWINGS

[0054] In order to more clearly illustrate the technical solutions of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings described below are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0055] Figure 1 is a flowchart of the joint simulation method of the water jet propeller provided by the present application;

[0056] Figure 2 is a system architecture diagram of the joint simulation method of the water jet propeller provided by the present application;

[0057] Figure 3 is a schematic diagram of the closed-loop control principle block (including UDP bidirectional channel) in the joint simulation method of the water jet propeller provided by the present application;

[0058] Figure 4 is a schematic diagram of the Fluent principle model (left nozzle, 1 / 3 air, 2 / 3 water) in the joint simulation method of the water jet propeller provided by the present application;

[0059] Figure 5 is a schematic diagram of the UDP data packet structure and verification process in the joint simulation method of the water jet propeller provided by the present application;

[0060] Figure 6 is a schematic diagram of the Fluent principle model water jet process simulation volume fraction in the joint simulation method of the water jet propeller provided by the present application;

[0061] Figure 7 is a schematic diagram of the Fluent principle model water jet process simulation dynamic pressure in the joint simulation method of the water jet propeller provided by the present application;

[0062] Figure 8 is a structural schematic diagram of the joint simulation system of the water jet propeller provided by the present application. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solutions and advantages of the present application more clear, the technical solutions in the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0064] The present application provides a joint simulation method of a water jet propeller, which comprises the following steps: Figure 1 The present application provides a joint simulation method of a water jet propeller, which comprises the following steps:

[0065] Step 101, an electromagnetic transient field model of a motor in a water jet propeller is established through a Maxwell platform, a circuit transient field model of the motor is established through a Simplorer platform, the electromagnetic transient field model is imported into a tab of the Simplorer platform, a field-circuit coupling model of the electromagnetic transient field and the circuit transient field is formed, and an electromagnetic thrust is calculated according to the field-circuit coupling model;

[0066] Step 102, a fluid dynamics model of the water jet propeller is established by using a Fluent platform in ANSYS, a dynamic grid boundary is set, and fluid resistance is calculated according to the fluid dynamics model;

[0067] Step 103, a motion control system of the motor is constructed in a Simulink platform in Matlab, a Simulink plug-in is selected in the tab of the Simplorer platform, and the field-circuit coupling model is embedded into the Simulink platform;

[0068] A mover speed is calculated according to the electromagnetic thrust and the fluid resistance, the mover speed is sent to the Fluent platform, and the Fluent platform is used to analyze the mover speed by using a user-defined function (UDF) to update a dynamic grid;

[0069] A driving signal is output according to a difference between the fluid resistance and a control target to the Maxwell platform and the Simplorer platform, and the Maxwell platform and the Simplorer platform are used to update the electromagnetic thrust according to the driving signal;

[0070] The Simulink platform and the Maxwell platform, the Simplorer platform and the Fluent platform are used to exchange data through a UDP communication protocol.

[0071] As Figure 2As shown, the application provides a method for combined simulation of a water jet propeller. A motor electromagnetic transient field model and a circuit transient field model are established by Maxwell / Simplorer; a motor motion control system is constructed on a Matlab / Simulink platform; a fluid dynamics model is established by ANSYS Fluent; the electromagnetic model is embedded into Simulink by using an embedded Simulink tab provided in the Maxwell / Simplorer platform, so that mathematical operation of a control strategy in Simulink and electromagnetic and circuit simulation calculation of the motor body in Maxwell / Simplorer can be realized; and real-time data interaction between Simulink and Fluent is realized by using a UDP communication protocol, and Fluent updates a dynamic boundary by analyzing data through a user-defined function (UDF). Figure 3

[0072] In this embodiment, two-way data interaction is realized by using a UDP protocol: Simulink sends module output information such as moving part displacement speed v(t) through UDP; Fluent receives data and updates a dynamic boundary through a compiled UDF; Fluent calculates fluid resistance and jet speed of the moving part and feeds back information to Simulink through UDP; and Simulink controls the strategy to correct a FOC driving signal output to Maxwell / Simplorer according to a deviation, to update moving part speed and thrust size, thereby forming a closed-loop control on the whole system.

[0073] In this embodiment, a motor electromagnetic transient field model and a circuit transient field model are established by Maxwell / Simplorer, to realize electromagnetic and circuit simulation calculation of the motor body; a motor motion control system is constructed on a Matlab / Simulink platform; a fluid dynamics model is established by ANSYS Fluent; and the field-circuit coupling model is embedded into Simulink by using an embedded Simulink tab provided in the Simplorer platform, so that mathematical operation of a control strategy in Simulink and real-time data interaction between Simulink and Maxwell / Simplorer can be realized; real-time data interaction between Simulink and Fluent is realized by using a UDP communication protocol, and Fluent updates a dynamic boundary by analyzing data through a user-defined function (UDF); and a real-time closed-loop feedback mechanism of the electromagnetic, control strategy and fluid is established with Simulink as the leading factor.

[0074] On the basis of the above embodiment, in this embodiment, a motor electromagnetic transient field model in a water jet propeller is established by Maxwell, and a circuit transient field model of the motor is established by Simplorer, including:​

[0075] Set the mechanical parameters, stator parameters and winding parameters of the motor in the Maxwell platform, and build the electromagnetic transient field model of the motor;

[0076] Set the three-phase alternating current excitation of the electromagnetic transient field model, and verify the correctness of the electromagnetic transient field model;

[0077] After the electromagnetic transient field model is verified, set the three-phase full-bridge inverter circuit, speed, torque and current signal acquisition circuit of the motor through the Simplorer platform, and establish the circuit transient field model of the motor.

[0078] According to the performance requirements of the water jet propeller, a permanent magnet synchronous motor is designed based on existing theory. The motor model is established by Maxwell, and the mechanical parameters are set: friction loss, rotor structure, rotor pole arc coefficient, eccentricity, permanent magnet type and thickness, etc. The stator parameters include inner diameter, outer diameter, winding layer number, winding type, parallel branch number, conductor number per slot and conductor wire number per conductor, etc. The winding parameters are set, including the adjustment of conductor number and wire number, which will affect the efficiency and inductance parameters of the motor, etc. After the setting is completed, the electromagnetic model of the motor is built.

[0079] Set the three-phase alternating current excitation, and observe the output thrust, motion speed and other performance to verify the correctness of the model.

[0080] After completion, the three-phase permanent magnet synchronous motor control circuit model is established based on the Simplorer platform, that is, the three-phase full-bridge inverter circuit, speed, torque and current signal acquisition circuit, etc. After opening the Maxwell platform tab, import the Maxwell permanent magnet synchronous motor electromagnetic model in the Simplorer platform tab, realize the electromagnetic field and circuit transient field of the permanent magnet synchronous motor.

[0081] On the basis of the above embodiment, in this embodiment, the motion control system of the motor is constructed in the Simulink platform in Matlab, including:

[0082] Based on the Simulink platform, a three-phase permanent magnet synchronous motor FOC control strategy model is built as the motion control system of the motor;

[0083] A FOC permanent magnet synchronous motor control system model based on rotor position closed loop is constructed to verify the correctness of the motion control system.

[0084] A three-phase permanent magnet synchronous motor (PMSM) FOC control strategy model was built based on the Simulink platform. The effectiveness of the control strategy was first verified using a basic motor mathematical model, namely, the motor voltage equation, flux linkage equation, torque equation and motion equation were constructed to form a PMSM control system model based on the mover position closed loop. The correctness of the FOC control strategy was then verified using this mathematical model.

[0085] After completion, select the Simulink plugin from the Simulator tab to embed the transient field-circuit coupling model built in Simulator into Simulink, achieving co-simulation of the control strategy and the transient field. In Simulink, select the UDP send and receive modules, configure their IP addresses and ports, and write MATLAB functions to encapsulate and parse the UDP data format.

[0086] Based on the above embodiments, this embodiment utilizes the Fluent platform in ANSYS to establish a hydrodynamic model of the waterjet propulsion device, including:

[0087] A principle model of the water jet propulsion device was built based on the Fluent platform. The principle model includes the nozzle and the area of ​​action.

[0088] Verify whether the principle model of the waterjet propulsion device satisfies the basic principles of hydrodynamics.

[0089] A principle model of a waterjet propulsion system, including the nozzle and its effective area, was built based on the Fluent platform. The model was then verified to ensure it conformed to fundamental hydrodynamic principles. Specifically, the nozzle velocity was taken as the exit velocity and set to a constant value. The model's correctness was confirmed by verifying that the exit velocity and other performance characteristics matched fluid dynamic phenomena. Figure 4 As shown. Then, a UDF file is written for secondary script development. The local and remote IP addresses, local and remote ports are configured respectively, the sending model and receiving parsing module are set, and the boundary conditions are dynamically updated based on the parsed data.

[0090] Fluent UDF data parsing core code:

[0091] define HEADER 0xAA55

[0092] if (memcmp(buffer, &HEADER, 2) == 0) {

[0093] seq_num = ntohs((uint16_t)(buffer+2));

[0094] timestamp = be64toh((uint64_t)(buffer+4));

[0095] }

[0096] On the basis of the above-mentioned embodiment, the data packet structure corresponding to the UDP communication protocol in the embodiment includes a packet header, a sequence number, a timestamp, a data type, data, and CRC32.

[0097] The verification mechanism corresponding to the UDP communication protocol includes sequential verification, time synchronization, and CRC redundancy verification.

[0098] The retransmission strategy corresponding to the UDP communication protocol is to start dual-channel redundant transmission when the packet loss rate is greater than a preset threshold (such as 1%).

[0099] The UDP data packet structure and verification flowchart are shown in Figure 5 The UDP data packet structure is a packet header (0xAA55) + a sequence number (2 bytes) + a timestamp (8 bytes) + a data type (1 byte) + data (8 bytes) + CRC32 (4 bytes).

[0100] The connectionless UDP protocol is adopted, and the three-way handshake process is cancelled. Dual-channel redundant transmission: main channel (port 5000) + backup channel (port 5001). The application layer verification settings are shown in Table 1.

[0101] Table 1

[0102]

[0103] On the basis of the above-mentioned embodiment, the double-precision floating-point number in the UDP communication protocol in the embodiment is converted to IEEE 754 format, and the packet header uses a special identifier 0xAA55.

[0104] The UDP communication protocol is set and certain specializations are made to avoid certain interference. The double-precision floating-point number is converted to IEEE 754 format, and the packet header special identifier is set to 0xAA55. Network clutter interference is avoided.

[0105] On the basis of the above-mentioned embodiment, the mover speed is calculated according to the electromagnetic thrust and the fluid resistance in the embodiment, including:

[0106] According to the relationship between the electromagnetic thrust, the fluid resistance, and the frictional resistance, a motion equation is established as shown in Figure 3

[0107] (1)

[0108] where m is the mass of the mover, x is the motion stroke length, F em is the electromagnetic thrust, F​fluid F is fluid resistance f F is pipe internal friction resistance.

[0109] According to the analysis of fluid resistance, it includes the water flow resistance of the circular surface of the mover moving in the water and the resistance of the fluid in the cavity during the movement, which are proportional to the square of the speed, and have the following definitions:

[0110] (2)

[0111] Where c is the proportional coefficient, and v is the speed of the mover. The above equations are solved together to obtain the speed of the mover.

[0112] On the basis of the above embodiment, in this embodiment, the driving signal is output to the Maxwell platform and the Simplorer platform according to the difference between the fluid resistance and the control target, comprising:

[0113] The fluid resistance fed back by the Fluent is subtracted from the control target, and the compensation amount is output through the PID controller;

[0114] According to the compensation amount, the corresponding driving signal is output.

[0115] The motor mover speed output by the Maxwell model is adjusted in real time according to the error e(t) through the PID controller according to the feedback information, and the FOC control signal is output, as shown in the following formula: Figure 3

[0116] (3)

[0117] Where u(t) is the output signal of the PID controller, k p is the proportional coefficient, used to adjust the strength of the proportional link. e is the error signal, defined as "set value-actual value", that is, the current deviation degree of the system. k i is the integral coefficient, used to adjust the strength of the integral link. k d is the differential coefficient, used to adjust the strength of the differential link. The PID controller realizes accurate and stable control of the controlled object through the cooperation of "proportion + integration + differentiation".

[0118] After completing the simulation, test the data based on communication, and start the Fluent simulation after starting the simulation in Simulink. Forward channel: Maxwell / Simplorer calculates electromagnetic thrust F = f(i,x); Simulink solves the fluid resistance-electromagnetic force motion equation to get the mover speed v(t); UDP transmits v(t) to Fluent to update the dynamic grid.

[0119] ​Feedback channel: Fluent calculates fluid flow resistance Fm, UDP feedback Fm to Simulink, according to the feedback information and control target, difference is output through the PID controller to compensate for the amount, through the FOC strategy output six-way pulse drive signal to Maxwell / Simplorer. That is, electromagnetic, control strategy and fluid three cross-platform closed-loop simulation mechanism.

[0120] The simulation volume fraction diagram of the water jet process of the Fluent principle model in the simulation process is as shown in Figure 6 The simulation dynamic pressure diagram of the water jet process of the Fluent principle model is as shown in Figure 7

[0121] The joint simulation system of the water jet propeller provided by the application is described below, and the joint simulation system of the water jet propeller described below can be mutually corresponding with the joint simulation method of the water jet propeller described above.

[0122] As shown in Figure 8 The system comprises a first simulation module 801, a second simulation module 802 and a simulation control module 803, wherein:

[0123] The first simulation module 801 is used to establish an electromagnetic transient field model of a motor in a water jet propeller through a Maxwell platform, establish a circuit transient field model of the motor through a Simplorer platform, import the electromagnetic transient field model in a tab of the Simplorer platform, form a field-circuit coupling model of the electromagnetic transient field and the circuit transient field, and calculate electromagnetic thrust according to the field-circuit coupling model;

[0124] The second simulation module 802 is used to establish a fluid dynamics model of the water jet propeller by using a Fluent platform in ANSYS, set a dynamic grid boundary, and calculate fluid resistance according to the fluid dynamics model;

[0125] The simulation control module 803 is used to build a motion control system of the motor in a Simulink platform in Matlab, select a Simulink plug-in in a tab of the Simplorer platform, and embed the field-circuit coupling model in the Simulink platform;

[0126] The mover speed is calculated according to the electromagnetic thrust and the fluid resistance, and the mover speed is sent to the Fluent platform, so that the Fluent platform analyzes the mover speed through a user-defined function to update a dynamic grid;

[0127] ​According to the difference between the fluid resistance and the control target, a driving signal is output to the Maxwell platform and the Simplorer platform, so that the Maxwell platform and the Simplorer platform update the electromagnetic thrust according to the driving signal;

[0128] The Simulink platform and the Maxwell platform, the Simplorer platform and the Fluent platform interact with each other through a UDP communication protocol.

[0129] In this embodiment, the Maxwell / Simplorer is used to establish the electromagnetic transient field model and the circuit transient field model of the motor, so as to realize the electromagnetic and circuit simulation calculation of the motor body; the Matlab / Simulink platform is used to construct the motor motion control system; the ANSYS Fluent is used to establish the fluid dynamics model; the field-circuit coupling model is embedded into the Simulink through the embedded Simulink tab provided in the Simplorer platform, so as to realize the mathematical operation of the control strategy in the Simulink, and the real-time data interaction between the Simulink and the Maxwell / Simplorer is realized innovatively; the UDP communication protocol is used to realize the real-time data interaction between the Simulink and the Fluent, the Fluent analyzes the data through the user-defined function (UDF) and updates the dynamic boundary; the Simulink is used as the leading part to establish the real-time closed-loop feedback mechanism of the electromagnetic, the control strategy and the fluid.

[0130] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A co-simulation method for a waterjet propulsion system, characterized in that, include: An electromagnetic transient field model of the motor in the waterjet propulsion system is established using the Maxwell platform, and a circuit transient field model of the motor is established using the Simplier platform. The electromagnetic transient field model is then imported into the tab of the Simplier platform to form a field-circuit coupling model of the electromagnetic transient field and the circuit transient field. The electromagnetic thrust is then calculated based on the field-circuit coupling model. A fluid dynamics model of the waterjet propulsion device was established using the Fluent platform in ANSYS, dynamic mesh boundaries were set, and fluid resistance was calculated based on the fluid dynamics model. The motion control system of the motor is built in the Simulink platform in Matlab. The Simulink plugin is selected in the tab of the Simulink platform, and the field-circuit coupling model is embedded into the Simulink platform. The mover velocity is calculated based on the electromagnetic thrust and the fluid resistance, and the mover velocity is sent to the Fluent platform so that the Fluent platform can analyze the mover velocity through a user-defined function to update the dynamic mesh. The drive signal is output to the Maxwell platform and the Simplorer platform based on the difference between the fluid resistance and the control target, so that the Maxwell platform and the Simplorer platform can update the electromagnetic thrust according to the drive signal; The Simulink platform interacts with the Maxwell, Simplorer, and Fluent platforms via the UDP communication protocol.

2. The co-simulation method for waterjet propulsion according to claim 1, characterized in that, An electromagnetic transient field model of the motor in the waterjet propulsion system was established using the Maxwell platform, and a circuit transient field model of the motor was established using the Simplier platform, including: In the Maxwell platform, set the mechanical parameters, stator parameters, and winding parameters of the motor, and build the electromagnetic transient field model of the motor; Set up a three-phase AC excitation for the electromagnetic transient field model and verify the correctness of the electromagnetic transient field model; After the electromagnetic transient field model is verified, the three-phase full-bridge inverter circuit, speed, torque and current signal acquisition circuit of the motor are set up through the Simplir platform to establish the circuit transient field model of the motor.

3. The co-simulation method for waterjet propulsion according to claim 1, characterized in that, The motion control system for the motor is constructed in the Simulink platform of Matlab, including: A three-phase permanent magnet synchronous motor FOC control strategy model was built based on the Simulink platform as the motion control system of the motor. A model of a FOC permanent magnet synchronous motor control system based on the mover position closed loop was constructed to verify the correctness of the motion control system.

4. The co-simulation method for waterjet propulsion according to claim 1, characterized in that, A hydrodynamic model of the waterjet propulsion device was established using the Fluent platform in ANSYS, including: A principle model of the water jet propulsion device was built based on the Fluent platform. The principle model includes the nozzle and the area of ​​action. Verify whether the principle model of the waterjet propulsion device satisfies the basic principles of hydrodynamics.

5. The co-simulation method for a waterjet propulsion system according to claim 1, characterized in that, The data packet structure corresponding to the UDP communication protocol includes a packet header, sequence number, timestamp, data type, data, and CRC32. The verification mechanism corresponding to the UDP communication protocol includes sequence verification, time synchronization, and CRC redundancy verification. The retransmission strategy corresponding to the UDP communication protocol is to start dual-channel redundant transmission when the packet loss rate is greater than a preset threshold.

6. The co-simulation method for a waterjet propulsion device according to claim 5, characterized in that, The double-precision floating-point numbers in the UDP communication protocol are converted to IEEE 754 format, and the packet header uses the special identifier 0xAA55.

7. The co-simulation method for a waterjet propulsion system according to claim 1, characterized in that, The mover velocity is calculated based on the electromagnetic thrust and the fluid resistance, including: Based on the relationship between electromagnetic thrust, fluid resistance, and frictional resistance, the equation of motion is established. The motion equation and the relationship between fluid resistance and mover velocity are used to solve for the mover velocity.

8. The co-simulation method for a waterjet propulsion system according to claim 1, characterized in that, Based on the difference between the fluid resistance and the control target, a drive signal is output to the Maxwell platform and the Simplier platform, including: The difference between the fluid resistance fed back by Fluent and the control target is calculated, and the PID controller outputs the compensation amount. Based on the compensation amount, the corresponding drive signal is output.

9. A co-simulation system for a waterjet propulsion system, characterized in that, include: The first simulation module is used to establish an electromagnetic transient field model of the motor in the waterjet propulsion unit through the Maxwell platform, establish a circuit transient field model of the motor through the Simplier platform, import the electromagnetic transient field model into the tab of the Simplier platform to form a field-circuit coupling model of electromagnetic transient field and circuit transient field, and calculate electromagnetic thrust based on the field-circuit coupling model. The second simulation module is used to establish a fluid dynamics model of the waterjet propulsion device using the Fluent platform in ANSYS, set dynamic mesh boundaries, and calculate fluid resistance based on the fluid dynamics model. The simulation control module is used to build the motion control system of the motor in the Simulink platform in Matlab. The Simulink plugin is selected in the tab of the Simulink platform to embed the field-circuit coupling model into the Simulink platform. The mover velocity is calculated based on the electromagnetic thrust and the fluid resistance, and the mover velocity is sent to the Fluent platform so that the Fluent platform can analyze the mover velocity through a user-defined function to update the dynamic mesh. The drive signal is output to the Maxwell platform and the Simplorer platform based on the difference between the fluid resistance and the control target, so that the Maxwell platform and the Simplorer platform can update the electromagnetic thrust according to the drive signal; The Simulink platform interacts with the Maxwell, Simplorer, and Fluent platforms via the UDP communication protocol.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the co-simulation method for the waterjet propulsion system as described in any one of claims 1 to 8.

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