A method for combined simulation of waterjet propulsors

Abstract

The application provides a kind of combined simulation method of water jet propeller, comprising: establishing electromagnetic transient field model through Maxwell platform, establishing circuit transient field model through Simplorer platform, calculating electromagnetic thrust;Fluid dynamics model is established using ANSYS Fluent platform, fluid resistance is calculated;In Simulink platform, the field-circuit coupling model is embedded in Simulink platform;According to the electromagnetic thrust and fluid resistance, the mover speed is calculated to update the dynamic grid;According to the difference between fluid resistance and control target, the driving signal is outputted to update electromagnetic thrust;Simulink platform and Maxwell platform, Simplorer platform, Fluent platform interact through UDP communication protocol.The application establishes electromagnetic, control strategy and fluid three real-time closed-loop feedback mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of multi-physical field real-time coupling simulation, and particularly relates to a method for combined 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 combined simulation technology has the following deficiencies:

[0004] 1. Accumulation of errors in separate simulation

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

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

[0007] The traditional combined simulation adopts a Fluent / MATLAB coupling scheme, 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. It 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] To address the issues of poor real-time performance and lack of closed-loop feedback in existing simulation methods, and to meet the requirements for high-performance output research of underwater propulsion systems, this invention provides a co-simulation method for waterjet propulsion. It focuses on solving the full-link coupling problem of electromagnetic-control strategy-fluid propulsion, and utilizes Fluent, Simulink, and Maxwell / Simplorer co-simulation based on the UDP protocol. This method is particularly suitable for engineering fields requiring accurate simulation of electromagnetic and fluid coupling effects, such as motor-driven waterjet propulsion.

[0013] This invention provides a co-simulation method for a waterjet propulsion system, comprising:

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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;

[0019] The Simulink platform interacts with the Maxwell, Simplorer, and Fluent platforms via the UDP communication protocol.

[0020] According to a co-simulation method for a waterjet propulsion system provided by the present invention, 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, including:

[0021] 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;

[0022] Set up a three-phase AC excitation for the electromagnetic transient field model and verify the correctness of the electromagnetic transient field model;

[0023] 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.

[0024] According to a co-simulation method for a waterjet propulsion device provided by the present invention, a motion control system for the motor is constructed in the Simulink platform of Matlab, including:

[0025] 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.

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

[0027] According to the co-simulation method for a waterjet propulsion device provided by the present invention, a hydrodynamic model of the waterjet propulsion device is established using the Fluent platform in ANSYS, including:

[0028] 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.

[0029] Verify whether the principle model of the waterjet propulsion device satisfies the basic principles of hydrodynamics.

[0030] According to the co-simulation method for a waterjet propulsion device provided by the present invention, the data packet structure corresponding to the UDP communication protocol includes a packet header, sequence number, timestamp, data type, data, and CRC32.

[0031] The verification mechanism corresponding to the UDP communication protocol includes sequence verification, time synchronization, and CRC redundancy verification.

[0032] 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.

[0033] According to the co-simulation method for a waterjet propulsion device provided by the present invention, the double-precision floating-point numbers in the UDP communication protocol are converted to IEEE 754 format, and the packet header adopts a special identifier 0xAA55.

[0034] According to a co-simulation method for a waterjet propulsion device provided by the present invention, the mover velocity is calculated based on the electromagnetic thrust and the fluid resistance, including:

[0035] Based on the relationship between electromagnetic thrust, fluid resistance, and frictional resistance, the equation of motion is established.

[0036] The motion equation and the relationship between fluid resistance and mover velocity are used to solve for the mover velocity.

[0037] According to the co-simulation method for a waterjet propulsion device provided by the present invention, a drive signal is output to the Maxwell platform and the Simplier platform based on the difference between the fluid resistance and the control target, including:

[0038] The difference between the fluid resistance fed back by Fluent and the control target is calculated, and the PID controller outputs the compensation amount.

[0039] Based on the compensation amount, the corresponding drive signal is output.

[0040] The present invention also provides a co-simulation system for a waterjet propulsion system, comprising:

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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;

[0046] The Simulink platform interacts with the Maxwell, Simplorer, and Fluent platforms via the UDP communication protocol.

[0047] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a co-simulation method for a waterjet propulsion device as described above.

[0048] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a co-simulation method for a waterjet propulsion device as described above.

[0049] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements a co-simulation method for a waterjet propulsion device as described above.

[0050] This invention provides a co-simulation method for waterjet propulsion, which can meet the co-simulation requirements of electromagnetics, control strategies, and water, air, and heat aspects of general motor drive systems, achieving real-time coupled simulation of multi-physics fields. It has the following beneficial technical effects:

[0051] 1. Innovatively propose a three-platform closed-loop simulation mechanism: breaking through the limitations of traditional separate simulation, realizing closed-loop feedback across the entire link of electromagnetic field → control strategy → fluid field.

[0052] 2. Improve real-time data coupling accuracy: By linking three simulation platforms in real time, the error between the simulation value and the experimental value of electromagnetic thrust calculation is effectively reduced, and the UDP data feedback delay is <1ms.

[0053] 3. Versatility: The multi-physics field coupling simulation system for electromagnetic-control strategy-air, thermal and other aspects can be applied to general general motor drive systems. It can be combined with real-time multi-physics field simulation to improve the original simulation accuracy and further improve the optimization efficiency of actual devices. Attached Figure Description

[0054] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0055] Figure 1 This is a flowchart illustrating the co-simulation method for water jet propulsion provided by the present invention;

[0056] Figure 2 This is a schematic diagram of the system architecture of the co-simulation method for water jet propulsion provided by the present invention;

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

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

[0059] Figure 5 This is a schematic diagram of the UDP packet structure and verification process in the co-simulation method for water jet propulsion provided by the present invention;

[0060] Figure 6 This is a schematic diagram of the volume fraction of the water jet process simulation in the Fluent principle model of the co-simulation method for water jet propulsion provided by the present invention;

[0061] Figure 7 This is a schematic diagram of the dynamic pressure simulation of the water jet process in the Fluent principle model of the water jet propulsion system provided by the present invention.

[0062] Figure 8 This is a schematic diagram of the structure of the co-simulation system for the water jet propulsion provided by the present invention. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0064] The following is combined with Figure 1 A co-simulation method for a waterjet propulsion device according to the present invention includes:

[0065] Step 101: Establish an electromagnetic transient field model of the motor in the waterjet propulsion unit using the Maxwell platform, establish a circuit transient field model of the motor using the Simplier platform, import the electromagnetic transient field model into the tab of the Simplier platform to form a field-circuit coupling model of the electromagnetic transient field and the circuit transient field, and calculate the electromagnetic thrust based on the field-circuit coupling model.

[0066] Step 102: Use the Fluent platform in ANSYS to establish the fluid dynamics model of the water jet propulsion device, set dynamic mesh boundaries, and calculate the fluid resistance based on the fluid dynamics model.

[0067] Step 103: Build the motion control system of the motor in the Simulink platform in Matlab. Select the Simulink plugin in the tab of the Simulator platform and embed the field-circuit coupling model into the Simulink platform.

[0068] 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 parse the mover velocity using a user-defined function (UDF) to update the dynamic mesh.

[0069] 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;

[0070] The Simulink platform interacts with the Maxwell, Simplorer, and Fluent platforms via the UDP communication protocol.

[0071] like Figure 2As shown, this invention provides a co-simulation method for a waterjet propulsion system. Electromagnetic transient field models and circuit transient field models of the motor are established using Maxwell / Simplorer; a motor motion control system is constructed on the Matlab / Simulink platform; a fluid dynamics model is established using ANSYS Fluent; the electromagnetic model is embedded into Simulink using the "Embedded Simulink" tab provided in the Maxwell / Simplorer platform, enabling mathematical calculations of the control strategy in Simulink and electromagnetic and circuit simulation calculations of the motor body in Maxwell / Simplorer; and real-time data interaction between Simulink and Fluent is achieved using the UDP communication protocol. Fluent parses the data and updates the dynamic boundary through user-defined functions (UDFs). The three-platform closed-loop control block diagram is shown below. Figure 3 As shown.

[0072] This embodiment achieves bidirectional data interaction via the UDP protocol: Simulink outputs information such as the mover displacement velocity v(t) through the UDP sending module; Fluent receives the data and updates the moving boundary through a compiled UDF; Fluent calculates information such as the fluid resistance and nozzle velocity experienced by the mover and feeds it back to Simulink via UDP; Simulink's control strategy corrects the FOC drive signal based on the deviation and outputs it to Maxwell / Simplorer to update the mover velocity and thrust, thereby forming a closed-loop control for the entire system.

[0073] This embodiment establishes electromagnetic transient field models and circuit transient field models of the motor using Maxwell / Simplorer to achieve electromagnetic and circuit simulation calculations of the motor itself; constructs a motor motion control system on the Matlab / Simulink platform; establishes a fluid dynamics model using ANSYS Fluent; embeds the field-circuit coupling model into Simulink using the Embedded Simulink tab provided in the Simulorer platform, enabling mathematical calculations of the control strategy within Simulink, and innovatively achieving real-time data interaction between Simulink and Maxwell / Simplorer; uses the UDP communication protocol to achieve real-time data interaction between Simulink and Fluent, with Fluent parsing data and updating dynamic boundaries through user-defined functions (UDFs); and establishes a real-time closed-loop feedback mechanism among electromagnetics, control strategy, and fluid dynamics, with Simulink as the primary driver.

[0074] Based on the above embodiments, this embodiment establishes an electromagnetic transient field model of the motor in the waterjet propulsion system using the Maxwell platform, and establishes a circuit transient field model of the motor using the Simplier platform, including:

[0075] 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;

[0076] Set up a three-phase AC excitation for the electromagnetic transient field model and verify the correctness of the electromagnetic transient field model;

[0077] 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.

[0078] Based on the performance requirements of waterjet propulsion, a permanent magnet synchronous motor was designed using existing theories. A motor model was built using Maxwell, and mechanical parameters were set: friction loss, rotor structure, rotor pole arc coefficient, eccentricity, permanent magnet type and thickness, etc.; stator parameters: including inner diameter, outer diameter, number of winding layers, winding type, number of parallel branches, number of conductors per slot, and number of wires per conductor, etc.; winding parameters: detailed winding parameters were set, including how adjusting the number of conductors and wires affects the motor's efficiency and inductance parameters, etc. After setting these parameters, the electromagnetic model of the motor was completed.

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

[0080] After completion, a three-phase permanent magnet synchronous motor control circuit model is established based on the Simplier platform, including a three-phase full-bridge inverter circuit, speed, torque and current signal acquisition circuits, etc. After opening the Maxwell platform tab, the Maxwell permanent magnet synchronous motor electromagnetic model is imported into the Simplier platform tab to realize the electromagnetic field and transient circuit conditions of the permanent magnet synchronous motor.

[0081] Based on the above embodiments, this embodiment constructs the motion control system of the motor in the Simulink platform of Matlab, including:

[0082] 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.

[0083] A model of a FOC permanent magnet synchronous motor control system based on a mover position closed loop was 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] Based on the above embodiments, the data packet structure corresponding to the UDP communication protocol in this embodiment includes a packet header, sequence number, timestamp, data type, data, and CRC32;

[0097] The verification mechanism corresponding to the UDP communication protocol includes sequence 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 packet structure and verification flowchart are as follows: Figure 5 As shown, the UDP packet structure is: header (0xAA55) + sequence number (2 bytes) + timestamp (8 bytes) + data type (1 byte) + data (8 bytes) + CRC32 (4 bytes).

[0100] The connectionless UDP protocol is used, eliminating the three-way handshake process. Dual-channel redundant transmission is employed: primary channel (port 5000) + backup channel (port 5001). Application layer verification settings are shown in Table 1.

[0101] Table 1

[0102]

[0103] Based on the above embodiments, the double-precision floating-point numbers in the UDP communication protocol in this embodiment are converted to IEEE 754 format, and the packet header uses the special identifier 0xAA55.

[0104] Configure the UDP communication protocol and perform certain specializations to avoid interference. Convert double-precision floating-point numbers to IEEE 754 format and set the special identifier in the packet header to 0xAA55. This helps to avoid network noise interference.

[0105] Based on the above embodiments, this embodiment calculates the mover velocity according to the electromagnetic thrust and the fluid resistance, including:

[0106] Based on the aforementioned relationship between electromagnetic thrust, fluid resistance, and frictional resistance, the following is established: Figure 3 The equations of motion shown;

[0107] (1)

[0108] Where m is the mass of the mover, x is the length of the motion stroke, and F em For electromagnetic thrust, Ffluid For fluid resistance, F f This refers to the internal frictional resistance of the pipe.

[0109] Based on the analysis of fluid resistance, it includes the water flow resistance experienced by the moving part on its circumferential surface during motion and the resistance experienced by the fluid inside the cavity during motion. Both are proportional to the square of the velocity and are defined as follows:

[0110] (2)

[0111] Where c is the proportionality constant and v is the mover velocity. Solving the above equations simultaneously yields the mover velocity.

[0112] Based on the above embodiments, this embodiment outputs a drive signal to the Maxwell platform and the Simplier platform according to the difference between the fluid resistance and the control target, including:

[0113] The difference between the fluid resistance fed back by Fluent and the control target is calculated, and the PID controller outputs the compensation amount.

[0114] Based on the compensation amount, the corresponding drive signal is output.

[0115] The motor mover speed output from the Maxwell model is used as the basis for feedback information, and the PID controller adjusts the output FOC control signal in real time according to the error e(t). Figure 3 The principle of the PID controller is shown in the following equation:

[0116] (3)

[0117] Where u(t) is the output signal of the PID controller, and k p is the proportional coefficient, used to adjust the strength of the proportional element. e is the error signal, defined as "setpoint - actual value," i.e., the current degree of deviation of the system. k i This is the integral coefficient, used to adjust the strength of the integral term. k d It is the derivative coefficient, used to adjust the strength of the derivative component. The PID controller achieves precise and stable control of the controlled object through the synergy of "proportional + integral + derivative".

[0118] After completing the simulation, test data is communicated. The simulation is started in Simulink, and then the Fluent simulation is started. Forward path: Maxwell / Simplorer calculates the electromagnetic thrust F = f(i,x); Simulink solves the fluid drag-electromagnetic force motion equation to obtain the mover velocity v(t); UDP transmits v(t) to Fluent to update the moving mesh.

[0119] Feedback Channel: Fluent calculates the fluid resistance Fm, UDP feeds Fm back to Simulink, and the difference between the feedback information and the control target is calculated. The PID controller outputs the compensation value, and the FOC strategy outputs six pulse drive signals to Maxwell / Simplorer. This enables a cross-platform closed-loop simulation mechanism for electromagnetics, control strategy, and fluid dynamics.

[0120] The simulated volume fraction diagram of the water spraying process in the Fluent principle model during the simulation is shown below. Figure 6 As shown, the dynamic pressure diagram of the water spraying process simulated by the Fluent principle model is as follows. Figure 7 As shown.

[0121] The co-simulation system for the water jet propulsion provided by the present invention is described below. The co-simulation system for the water jet propulsion described below and the co-simulation method for the water jet propulsion described above can be referred to in correspondence.

[0122] like Figure 8 As shown, the system includes 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 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.

[0124] The second simulation module 802 is used to establish a fluid dynamics model of the water jet propulsion device using the Fluent platform in ANSYS, set dynamic mesh boundaries, and calculate fluid resistance based on the fluid dynamics model.

[0125] The simulation control module 803 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.

[0126] 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.

[0127] 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;

[0128] The Simulink platform interacts with the Maxwell, Simplorer, and Fluent platforms via the UDP communication protocol.

[0129] This embodiment establishes electromagnetic transient field models and circuit transient field models of the motor using Maxwell / Simplorer to achieve electromagnetic and circuit simulation calculations of the motor itself; constructs a motor motion control system on the Matlab / Simulink platform; establishes a fluid dynamics model using ANSYS Fluent; embeds the field-circuit coupling model into Simulink using the Embedded Simulink tab provided in the Simulorer platform, enabling mathematical calculations of the control strategy within Simulink, and innovatively achieving real-time data interaction between Simulink and Maxwell / Simplorer; uses the UDP communication protocol to achieve real-time data interaction between Simulink and Fluent, with Fluent parsing data and updating dynamic boundaries through user-defined functions (UDFs); and establishes a real-time closed-loop feedback mechanism among electromagnetics, control strategy, and fluid dynamics, with Simulink as the primary driver.

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

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 platform, Simplorer platform, and Fluent platform via the UDP communication protocol. 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. This includes setting the mechanical parameters, stator parameters, and winding parameters of the motor in the Maxwell platform, and building the electromagnetic transient field model of the motor. Set up the three-phase AC excitation of the electromagnetic transient field model to verify the correctness of the electromagnetic transient field model; after the electromagnetic transient field model is verified, set up the three-phase full-bridge inverter circuit, speed, torque and current signal acquisition circuit of the motor through the Simplir platform to establish the circuit transient field model of the motor.

2. 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 a mover position closed loop was constructed to verify the correctness of the motion control system.

3. 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.

4. The co-simulation method for waterjet propulsion 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.

5. The co-simulation method for a waterjet propulsion device according to claim 4, 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.

6. The co-simulation method for a waterjet propulsion device 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.

7. 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.

8. 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 using the Maxwell platform, and a circuit transient field model of the motor using the Simplier platform. The electromagnetic transient field model is imported into the Simplier platform's tabs to form a field-circuit coupling model of the electromagnetic transient field and the circuit transient field, and the electromagnetic thrust is calculated based on the field-circuit coupling model. It is also used to set the mechanical parameters, stator parameters, and winding parameters of the motor in the Maxwell platform to build the electromagnetic transient field model of the motor; to set the three-phase AC excitation of the electromagnetic transient field model and verify its correctness; 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 using the Simplier platform to establish the circuit transient field model of the motor. 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.

9. 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 device as described in any one of claims 1 to 7.

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