AUV steady manipulation motion numerical simulation system based on script automatic execution

Abstract

The invention discloses an AUV steady manipulation motion numerical simulation system based on script automatic execution. The AUV steady manipulation motion numerical simulation system comprises a state selection and parameter input module, a script generation module, a batch processing simulation module and a hydrodynamic coefficient extraction module. An executable simulation script is automatically generated by receiving an AUV motion state selected by a user and corresponding working condition parameters, fluid numerical calculation of the whole process of pretreatment, solution and post-treatment is completed based on a batch processing mode, and finally a hydrodynamic coefficient required by steady manipulation motion is extracted and output from a simulation result. According to the system, full-automatic processing from parameter input to result extraction is achieved, the efficiency and consistency of AUV hydrodynamic coefficient simulation are remarkably improved, and the system is suitable for rapid simulation and analysis of various typical motion working conditions such as direct navigation, oblique navigation, arm rotating and oscillation.

Description

Technical Field

[0001] This invention relates to the field of underwater vehicle simulation, and in particular to a numerical simulation system for steady maneuvering motion of an AUV based on automatic script execution. Background Technology

[0002] Autonomous Underwater Vehicles (AUVs) are core equipment in fields such as marine resource exploration, underwater operations, and national defense. The hydrodynamic characteristic analysis technology of their steady maneuvering motion has gained high recognition in the field of underwater equipment R&D and is widely used in the R&D stages of AUV motion control algorithm design, shape optimization, and fault-tolerant control, especially in performance verification scenarios under steady maneuvering conditions. It is a key technical support tool to ensure the efficiency of AUV operations and improve their navigation safety. For the hydrodynamic characteristic analysis of general steady maneuvering motion, depending on the model characteristics, motion mode and other different test items, there are often hundreds or even thousands of calculation operations. The complexity and repeatability of the calculation are relatively high, and the final calculation results, such as drag, torque, added mass, velocity derivatives, etc., are also very large and scattered. If we rely on manual judgment and sorting, it will be time-consuming, laborious and inefficient. Therefore, the automated calculation of AUV steady maneuvering motion numerical simulation is particularly important.

[0003] Currently, the main method for numerical simulation is through CFD software responsible for preprocessing, solvers, and post-processing. Existing technologies often require operation and calculation on different software, which takes a considerable amount of time to complete the numerical simulation. There is no integrated computing platform that provides preprocessing, solvers, and post-processing. Existing script editors are not designed for steady AUV maneuvering motion and lack relevant script editing capabilities. Summary of the Invention

[0004] This invention provides a numerical simulation system for AUV steady maneuvering motion based on script automatic execution, to overcome the problems of existing calculation results being large and scattered, relying on manual judgment being time-consuming and laborious, and the long operation and calculation time of different software.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows: A numerical simulation system for the steady maneuvering motion of an AUV based on automatic script execution includes: a state selection and parameter input module, a script generation module, a batch processing simulation module, and a hydrodynamic coefficient extraction module. The status and parameter input module is used to receive the AUV motion status and corresponding operating parameters selected by the user. The corresponding operating conditions include AUV straight flight operating condition, AUV slant flight operating condition, AUV boom swing operating condition and AUV oscillation operating condition. The script generation module is used to call the pre-stored corresponding original script according to the AUV motion state, and modify the variable parameters corresponding to the working conditions in the original script based on the working conditions parameters to generate a simulation working conditions script that can be executed directly. The batch simulation execution module is used to complete fluid numerical calculations through batch files and the simulation condition scripts, using a predefined preprocessing, solving and postprocessing workflow framework. The hydrodynamic coefficient extraction module is used to obtain and process the simulation calculation results, and then extract and output the hydrodynamic coefficients of the AUV steady maneuvering motion under the motion state.

[0006] Furthermore, the preprocessing, solving, and postprocessing workflow framework includes: The preprocessing submodule is used to execute the script corresponding to the simulation condition according to the batch processing file, build the model through the script corresponding to the simulation condition, and perform mesh generation on the model to obtain a mesh model. The solver submodule is used to execute the script corresponding to the simulation condition according to the batch file, and obtain the numerical simulation calculation results by performing fluid calculations on the mesh model; The post-processing submodule is used to execute the script corresponding to the simulation condition according to the batch file, and obtain the hydrodynamic coefficient of the AUV steady maneuvering motion through numerical simulation calculation results.

[0007] Furthermore, the original script includes: a geometric modeling script, a mesh generation script, a flow field solution script, and a data processing script.

[0008] Furthermore, the geometric modeling script is used to call 3D solid direct modeling software and perform 3D modeling based on the working condition parameters input by the user to obtain a geometric model; The mesh generation script is used to automatically generate a mesh model from the geometric model by calling mesh generation software. The flow field solution script is used to automatically solve the fluid dynamics values ​​in the mesh model by calling fluid calculation software, and obtain the numerical simulation results. The data processing script is used to obtain the hydrodynamic coefficients of the AUV's steady maneuvering motion by calling numerical calculation software to perform least squares or Taylor expansion on the numerical simulation results.

[0009] Furthermore, the variable parameters of the original script are as follows: The variable parameters of the geometric modeling script and mesh generation script include: the angle of attack and drift angle of the AUV in slant flight motion, and the horizontal and vertical planes of the AUV boom in swing motion. The variable parameters of the flow field solution script include: the incoming flow velocity in the straight-ahead motion state of the AUV, the incoming flow velocity in the boom motion state of the AUV, and the pitch frequency, yaw frequency, sway frequency, and heave frequency in the oscillating motion state of the AUV. The variable parameters of the data processing script include: drag in the straight flight state of the AUV; the horizontal force, vertical force and depth axis torque of the angle of attack in the yaw motion state of the AUV; the horizontal force, vertical force and depth axis torque of the drift angle in the yaw motion state of the AUV; the horizontal force, vertical force and depth axis torque of the boom motion state of the AUV; the vertical force and pitch torque of pitch in the oscillating motion state of the AUV; the lateral force and yaw torque of yaw in the oscillating motion state of the AUV; the lateral force and yaw torque of yaw in the sway motion state of the AUV; and the vertical force and heave torque of yaw in the heave motion state of the AUV.

[0010] Furthermore, the motion numerical simulation system also includes a system settings module for storing the file paths of batch files and script files; based on the motion state of the AUV, the corresponding original script file is obtained through the file path.

[0011] Beneficial effects: The present invention is a numerical simulation system for steady-state maneuvering motion of AUV based on automatic script execution. Through automatic script generation and batch execution, it realizes full automation of the process from parameter input, mesh generation, solution calculation to result extraction under different working conditions. It avoids a large number of repetitive and tedious manual operations and file configurations in traditional methods, significantly shortens the simulation cycle and improves work efficiency.

[0012] By embedding standardized post-processing and coefficient extraction logic, the required hydrodynamic coefficients can be automatically parsed and calculated from the simulation result file, avoiding misreading and miscalculation that may occur when manually processing data, and ensuring the uniformity of the output format of simulation results under different working conditions and batches, as well as the accuracy and reliability of the data. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a structural diagram of the numerical simulation system of the present invention; Figure 2 This is a flowchart illustrating the setting of the working paths for script files and batch files in an embodiment of the present invention. Figure 3 This is a flowchart illustrating the process of changing the script file path in an embodiment of the present invention. Figure 4 This is a flowchart illustrating the recording process of the geometric modeling script in an embodiment of the present invention; Figure 5 This is a flowchart illustrating the process of writing the mesh partitioning script in an embodiment of the present invention; Figure 6 This is a flowchart illustrating the writing of the flow field processing script in an embodiment of the present invention; Figure 7 This is a flowchart illustrating the writing of numerical processing scripts in an embodiment of the present invention. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] This embodiment provides a numerical simulation system for AUV steady maneuvering motion based on automatic script execution, such as... Figure 1 As shown, the feature is that it includes: a state selection and parameter input module, a script generation module, a batch processing simulation module, and a hydrodynamic coefficient extraction module; The status and parameter input module is used to receive the AUV motion status and corresponding operating parameters selected by the user. The corresponding operating conditions include AUV straight flight operating condition, AUV slant flight operating condition, AUV boom swing operating condition and AUV oscillation operating condition. The script generation module is used to call the pre-stored corresponding original script according to the AUV motion state, and modify the variable parameters corresponding to the working conditions in the original script based on the working conditions parameters to generate a simulation working conditions script that can be executed directly. The batch simulation execution module is used to complete fluid numerical calculations through batch files and the simulation condition scripts, using a predefined preprocessing, solving and postprocessing workflow framework. The hydrodynamic coefficient extraction module is used to obtain and process the simulation calculation results, and then extract and output the hydrodynamic coefficients of the AUV steady maneuvering motion under the motion state.

[0017] Specifically, after receiving the AUV motion state selected by the user, the state and parameter input module selects the script for the selected motion form through a switch-case statement, and links the selected motion form with the corresponding script through the signals and slots of the Qt framework; when the user clicks on different motion forms in the visualization interface, the system automatically migrates to the script corresponding to the motion form and displays the visualization interface to the user.

[0018] Preferably, the preprocessing, solving, and postprocessing workflow framework includes: The preprocessing submodule is used to execute the script corresponding to the simulation condition according to the batch processing file, build the model through the script corresponding to the simulation condition, and perform mesh generation on the model to obtain a mesh model. The solver submodule is used to execute the script corresponding to the simulation condition according to the batch file, and obtain the numerical simulation calculation results by performing fluid calculations on the mesh model; The post-processing submodule is used to execute the script corresponding to the simulation condition according to the batch file, and obtain the hydrodynamic coefficient of the AUV steady maneuvering motion through numerical simulation calculation results.

[0019] Preferably, the original script includes: a geometric modeling script, a mesh generation script, a flow field solution script, and a data processing script.

[0020] Specifically, the geometric modeling script is a SpaceClaim script, and the process of recording the geometric modeling script is as follows: Figure 4 As shown, the "Design-Script" function is launched in the SpaceClaim software to sequentially perform AUV model import, watershed boundary definition, watershed size setting and surface mesh preprocessing operations. The "Design-Script" function automatically records the script code for each step of the operation. After the operation is completed, the script code is saved as various py script files. The mesh generation script is a Fluent Meshing script, and the process for writing the mesh generation script is as follows: Figure 5 As shown, the script for mesh generation is written in the Meshing tool of Fluent software using GUI commands. After writing the script, the script code is saved as various .py script files. The flow field solution script is a Fluent Calculate script, and the process for writing the flow field solution script is as follows: Figure 6 As shown, the TUI command is used to solve the hydrodynamic numerical values ​​of the mesh model in the Calculate tool of Fluent software. The solution process is written as script code, and after completion, the script code is saved as various py script files. The data processing script is a Matlab script, and the process for writing the data processing script is as follows: Figure 7 As shown, the fitting formula is written into script code using the script editor of Matlab software. After writing, the script code is saved as various .py script files.

[0021] Preferably, the geometric modeling script is used to call 3D solid direct modeling software and perform 3D modeling based on the working condition parameters input by the user to obtain a geometric model; The mesh generation script is used to automatically generate a mesh model from the geometric model by calling mesh generation software. The flow field solution script is used to automatically solve the fluid dynamics values ​​in the mesh model by calling fluid calculation software, and obtain the numerical simulation results. The data processing script is used to obtain the hydrodynamic coefficients of the AUV's steady maneuvering motion by calling numerical calculation software to perform least squares or Taylor expansion on the numerical simulation results.

[0022] Preferably, the variable parameters of the original script are as follows: The variable parameters of the geometric modeling script and mesh generation script include: the angle of attack and drift angle of the AUV in slant flight motion, and the horizontal and vertical planes of the AUV boom in swing motion. In this embodiment, the angle of attack and drift angle of the AUV in oblique flight state are taken from low to high as multiple sets of values ​​between -10° and 10°. The variable parameters of the flow field solution script include: the incoming flow velocity in the straight-ahead motion state of the AUV, the incoming flow velocity in the boom motion state of the AUV, and the pitch frequency, yaw frequency, sway frequency, and heave frequency in the oscillating motion state of the AUV. In this embodiment, the incoming flow velocity during the AUV's straight-line motion is taken from multiple sets of values ​​ranging from 4 knots to 12 knots, from low to high; the incoming flow velocity during the AUV's boom-mounted motion is taken from multiple sets of values ​​ranging from 4 knots to 7 knots, from low to high. The variable parameters of the data processing script include: drag in the straight flight state of the AUV; the horizontal force, vertical force and depth axis torque of the angle of attack in the yaw motion state of the AUV; the horizontal force, vertical force and depth axis torque of the drift angle in the yaw motion state of the AUV; the horizontal force, vertical force and depth axis torque of the boom motion state of the AUV; the vertical force and pitch torque of pitch in the oscillating motion state of the AUV; the lateral force and yaw torque of yaw in the oscillating motion state of the AUV; the lateral force and yaw torque of yaw in the sway motion state of the AUV; and the vertical force and heave torque of yaw in the heave motion state of the AUV.

[0023] Preferably, the motion numerical simulation system further includes a system settings module for storing the file paths of batch files and script files; and obtaining the corresponding original script files based on the motion state of the AUV through the file paths. Specifically, such as Figure 2 and Figure 3 As shown, the system settings submodule is designed by combining database and Qt technology. It manages script paths through the database, storing script and batch file names with `name` as the primary key, and the `workpath` field records the storage path (the default "111" indicates it is not set). The system settings submodule automatically updates or reads the path, and users can also manually select a path and synchronize it to the database and interface. When the system settings submodule detects that the storage path is the default value, it automatically updates the default file path under the current path to the database; otherwise, it directly extracts the file path from the database. If it is necessary to manually change the file path, the button click event handler function enables manual selection of the file path; otherwise, the path setting is completed using the obtained file path.

[0024] The present invention has the following beneficial effects: This invention is a numerical simulation system for steady-state maneuvering motion of AUV based on automatic script execution. Through automatic script generation and batch execution, it realizes full automation of the process from parameter input, mesh generation, solution calculation to result extraction under different working conditions. It avoids a large number of repetitive and tedious manual operations and file configurations in traditional methods, significantly shortens the simulation cycle and improves work efficiency.

[0025] By embedding standardized post-processing and coefficient extraction logic, the required hydrodynamic coefficients can be automatically parsed and calculated from the simulation result file, avoiding misreading and miscalculation that may occur when manually processing data, and ensuring the uniformity of the output format of simulation results under different working conditions and batches, as well as the accuracy and reliability of the data.

[0026] 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 or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A numerical simulation system for steady-state maneuvering motion of an AUV based on automatic script execution, characterized in that, include: The module includes a state selection and parameter input module, a script generation module, a batch processing simulation module, and a hydrodynamic coefficient extraction module. The status and parameter input module is used to receive the AUV motion status and corresponding operating parameters selected by the user. The corresponding operating conditions include AUV straight flight operating condition, AUV slant flight operating condition, AUV boom swing operating condition and AUV oscillation operating condition. The script generation module is used to call the pre-stored corresponding original script according to the AUV motion state, and modify the variable parameters corresponding to the working conditions in the original script based on the working conditions parameters to generate a simulation working conditions script that can be executed directly. The batch simulation execution module is used to complete fluid numerical calculations through batch files and the simulation condition scripts, using a predefined preprocessing, solving and postprocessing workflow framework. The hydrodynamic coefficient extraction module is used to obtain and process the simulation calculation results, and then extract and output the hydrodynamic coefficients of the AUV steady maneuvering motion under the motion state.

2. The numerical simulation system for AUV steady-state maneuvering motion based on script automatic execution according to claim 1, characterized in that, The preprocessing, solving, and postprocessing workflow framework includes: The preprocessing submodule is used to execute the script corresponding to the simulation condition according to the batch processing file, build the model through the script corresponding to the simulation condition, and perform mesh generation on the model to obtain a mesh model. The solver submodule is used to execute the script corresponding to the simulation condition according to the batch file, and obtain the numerical simulation calculation results by performing fluid calculations on the mesh model; The post-processing submodule is used to execute the script corresponding to the simulation condition according to the batch file, and obtain the hydrodynamic coefficient of the AUV steady maneuvering motion through numerical simulation calculation results.

3. The numerical simulation system for AUV steady maneuvering motion based on automatic script execution according to claim 2, characterized in that, The original scripts include: geometric modeling script, mesh generation script, flow field solution script, and data processing script.

4. The numerical simulation system for AUV steady maneuvering motion based on automatic script execution according to claim 3, characterized in that, The geometric modeling script is used to call 3D solid direct modeling software and perform 3D modeling based on the working condition parameters input by the user to obtain a geometric model; The mesh generation script is used to automatically generate a mesh model from the geometric model by calling mesh generation software. The flow field solution script is used to automatically solve the fluid dynamics values ​​in the mesh model by calling fluid calculation software, and obtain the numerical simulation results. The data processing script is used to obtain the hydrodynamic coefficients of the AUV's steady maneuvering motion by calling numerical calculation software to perform least squares or Taylor expansion on the numerical simulation results.

5. The numerical simulation system for AUV steady maneuvering motion based on automatic script execution according to claim 2, characterized in that, The variable parameters of the original script are as follows: The variable parameters of the geometric modeling script and mesh generation script include: the angle of attack and drift angle of the AUV in slant flight motion, and the horizontal and vertical planes of the AUV boom in swing motion. The variable parameters of the flow field solution script include: the incoming flow velocity in the straight-ahead motion state of the AUV, the incoming flow velocity in the boom motion state of the AUV, and the pitch frequency, yaw frequency, sway frequency, and heave frequency in the oscillating motion state of the AUV. The variable parameters of the data processing script include: drag in the straight flight state of the AUV; the horizontal force, vertical force and depth axis torque of the angle of attack in the yaw motion state of the AUV; the horizontal force, vertical force and depth axis torque of the drift angle in the yaw motion state of the AUV; the horizontal force, vertical force and depth axis torque of the boom motion state of the AUV; the vertical force and pitch torque of pitch in the oscillating motion state of the AUV; the lateral force and yaw torque of yaw in the oscillating motion state of the AUV; the lateral force and yaw torque of yaw in the sway motion state of the AUV; and the vertical force and heave torque of yaw in the heave motion state of the AUV.

6. The numerical simulation system for AUV steady maneuvering motion based on automatic script execution according to claim 1, characterized in that, The motion numerical simulation system also includes a system settings module for storing the file paths of batch files and script files; based on the motion state of the AUV, the corresponding original script file is obtained through the file path.

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