Model-based design method for digital prototype of electric power system of unmanned underwater vehicle

Abstract

The invention provides a model-based design method for a digital prototype of an electric power system of an unmanned underwater vehicle, which comprises the following steps of: analyzing design requirements of the system, and designing and constructing a prototype design requirement model; carrying out functional model research on the basis of the design requirement model, and designing and constructing a prototype functional model; based on the prototype function model, carrying out structure design and simulation optimization work of a physical implementation layer, and designing and constructing a prototype performance model; fully coupling the system-level indexes with each group of component sub-models contained in the prototype performance model, and constructing a three-dimensional fused digital prototype model; performing product geometric design on each group of components in the digital prototype model, and constructing a prototype product geometric model; producing and manufacturing each group of components in the geometric model of the prototype product to obtain a physical prototype, and performing integrated joint debugging on the physical prototype; fusing the digital prototype model and the physical prototype; according to the method, the overall collaborative design efficiency of the system is improved, and the design period is shortened.

Description

Technical Field

[0001] This invention belongs to the field of electric propulsion system design technology for large unmanned underwater vehicles, and specifically relates to a model-based design method for a digital prototype of an unmanned underwater vehicle's electric propulsion system. Background Technology

[0002] Currently, the electric propulsion system of underwater unmanned vehicles (UUVs) is a complex systems engineering project characterized by multiple collaborative disciplines, long design cycles, and high R&D difficulty, encompassing all elements, the entire process, and the entire lifecycle. The overall design of the electric propulsion system of UUVs generally employs system integration methods such as prototype design, statistical data methods, and standard design methods. Most designs are based on documents and involve multi-disciplinary collaboration. Furthermore, the design requirements of complex propulsion systems are dynamically changing, but the response to system solution changes is slow. This leads to repeated iterations in the overall design process, resulting in information silos in system design, long design change cycles, and low development efficiency.

[0003] With the rapid development of advanced information and communication technologies such as big data, digital twins, and cloud computing, Model Based Systems Engineering (MBSE) has become one of the key technologies leading digital design in modern industry, especially in the fields of aircraft, engines, and systems. The comprehensive promotion of MBSE theory, methods, knowledge systems, and information platform construction has established a product development system guided by V-shaped models and systems engineering process sets. MBSE, as a model-based systems engineering approach, uses formal modeling methods to support system requirements, design, analysis, verification, and validation activities from the conceptual design stage, and continues throughout the entire development process and subsequent lifecycle stages.

[0004] Therefore, how to provide a model-based design method for digital prototypes of electric propulsion systems for unmanned underwater vehicles has become a technical challenge that urgently needs to be addressed in this field. Summary of the Invention

[0005] The purpose of this invention is to provide a model-based design method for a digital prototype of an electric propulsion system for an unmanned underwater vehicle.

[0006] This invention provides a model-based design method for a digital prototype of an electric propulsion system for an unmanned underwater vehicle, the method comprising:

[0007] Step S1: Analyze the design requirements of the electric power system of the large unmanned underwater vehicle, and design and build a prototype design requirement model;

[0008] Step S2: Based on the design requirement model, conduct functional model research, design and construct prototype functional model;

[0009] Step S3: Based on the prototype functional model, carry out the structural design and simulation optimization of the physical implementation layer, and design and build the prototype performance model;

[0010] Step S4: Fully couple the system-level indicators with the component sub-models contained in the prototype performance model to construct a three-dimensional fused digital prototype model;

[0011] Step S5: Perform product geometry design on each group of components in the digital prototype model to construct a prototype product geometry model;

[0012] Step S6: Produce and manufacture each group of components in the geometric model of the prototype product to obtain a physical prototype, and then integrate and debug the physical prototype;

[0013] Step S7: Merge the digital prototype model and the physical prototype to achieve virtual-physical interaction and iterative optimization between the physical prototype and the digital prototype.

[0014] Optionally, step S1 specifically includes: identifying the task requirements and system requirements for the design of the electric propulsion system of a large unmanned underwater vehicle, defining the task scenario and objectives, determining detailed task requirements, and using an architecture design model to design the system functional architecture, logical architecture, physical architecture, and behavioral architecture in order to build a prototype design requirement model.

[0015] Optionally, step S2 specifically includes: conducting functional model research based on the design requirement model, clarifying the system module division, function allocation, integration interface and subsystem state behavior, and establishing the mechanism model of the propulsion motor body, inverter, controller and propeller based on the digital system model integration method, so as to construct the prototype functional model.

[0016] Optionally, step S2 further includes: using the prototype functional model to conduct joint simulation analysis of the interfaces, timing and states between subsystems, and to perform a system-level multidisciplinary coupled evaluation of the system operation process in order to optimize the key indicators of the power system.

[0017] Optionally, step S3 specifically includes: after optimizing the key indicators of the power system using the prototype functional model, determining the overall scheme, and further performing hierarchical modeling of the system, subsystems, and equipment to form the prototype performance model with the capabilities of single-discipline performance simulation, multi-discipline joint simulation, and general quality characteristic analysis.

[0018] Optionally, step S4 specifically includes: taking the prototype performance model as the core, coupling the system-level current index, speed index, power index and torque index with the controller sub-model, inverter sub-model, motor sub-model and propeller sub-model in the prototype performance model respectively, so as to construct a three-dimensional fused digital prototype model.

[0019] Optionally, step S4 further includes: using environmental conditions, control commands, and the operating status of the underwater unmanned vehicle as inputs to achieve unified scheduling and synchronous solution of multiple sub-models, fully mapping the working principle and operation process of the real power system, so as to evaluate the performance and reliability of the electric power system of the large underwater unmanned vehicle under various environmental conditions and complex mission commands across the entire operating range.

[0020] Optionally, step S5 specifically includes: performing product geometry design on all structural components, system equipment and accessories in the digital prototype model, and constructing the prototype product geometry model including a structural design model, an electrical design model and an assembly design model.

[0021] Optionally, in step S5, the prototype product geometric model includes product manufacturing requirements information, and the prototype product geometric model is presented using a system detailed design tool.

[0022] Optionally, step S7 specifically includes: fusing the digital prototype model and the physical prototype, and performing real-time simulation and monitoring driven by measured data, and state prediction driven by real-time change data, so as to realize virtual-real interaction and iterative optimization between the physical prototype and the digital prototype.

[0023] The beneficial effects of this invention are as follows:

[0024] As can be seen from the above scheme, the present invention provides a model-based design method for a digital prototype of an unmanned underwater vehicle's electric propulsion system, which has the following beneficial effects:

[0025] The model-based digital prototype design method for the electric propulsion system of unmanned underwater vehicles (UUVs) of the present invention improves the efficiency of the overall collaborative design of the electric propulsion system of UUVs, shortens the entire life cycle design cycle of the electric propulsion system of UUVs, and also provides technical reserves for the overall design of related electric propulsion systems of UUVs. Attached Figure Description

[0026] Figure 1 This is a flowchart illustrating a design method for a model-based digital prototype of an unmanned underwater vehicle's electric propulsion system, provided according to an embodiment. Figure 1 ;

[0027] Figure 2 This is a flowchart illustrating a design method for a model-based digital prototype of an unmanned underwater vehicle's electric propulsion system, provided according to an embodiment. Figure 2 ;

[0028] Figure 3 This is a schematic diagram illustrating the implementation process of the electric propulsion system for a large unmanned underwater vehicle according to an embodiment. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments 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. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0030] This invention provides a model-based design method for a digital prototype of an unmanned underwater vehicle's electric propulsion system, including, see... Figure 1 As shown, the method includes:

[0031] Step S1: Analyze the design requirements of the electric power system of the large unmanned underwater vehicle, and design and build a prototype design requirement model;

[0032] Step S2: Conduct functional model research based on the design requirement model, and design and build a prototype functional model;

[0033] Step S3: Based on the prototype functional model, carry out the structural design and simulation optimization of the physical implementation layer, and design and build the prototype performance model;

[0034] Step S4: Fully couple the system-level indicators with the component sub-models contained in the prototype performance model to construct a three-dimensional fused digital prototype model;

[0035] Step S5: Perform product geometry design on each group of components in the digital prototype model to construct the prototype product geometry model;

[0036] Step S6: Produce and manufacture each group of components in the geometric model of the prototype product to obtain a physical prototype, and then integrate and debug the physical prototype;

[0037] Step S7: Integrate the digital prototype model and the physical prototype to achieve virtual-physical interaction and iterative optimization between the physical prototype and the digital prototype.

[0038] Optionally, step S1 in the model-based digital prototype design method for an unmanned underwater vehicle electric propulsion system of the present invention specifically includes: identifying the task requirements and system requirements for the design of a large unmanned underwater vehicle electric propulsion system, defining the task scenario and objectives, determining the detailed task requirements, and using the architecture design model to design the system functional architecture, logical architecture, physical architecture, and behavioral architecture in order to construct a prototype design requirement model.

[0039] Specifically, in the design requirements analysis phase of this embodiment, firstly, based on the digital system model integration method with system construction model language architecture as the core, the functional requirements are first clarified, and the functions are decomposed and refined layer by layer from the perspective of equipment development, according to the overall system, subsystems, and components. Secondly, the performance requirements are obtained by quantitatively describing the functional items. The integration interface requirements are clarified, and the interface requirements in the form of information, materials, and energy between the system and external equipment and environment are constructed. Then, the general quality characteristic requirements are clarified, including general requirements such as reliability, environmental adaptability, maintainability, testability, safety, and supportability. Finally, the system testing and verification requirements are clarified, including the methods and index requirements for system function and performance testing and verification. Secondly, through the design requirements model, multiple alternative solutions are demonstrated and evaluated, the optimal system architecture solution is allocated system functions and performance indicators, the main components, principles, processes, interfaces, and layout schemes of the system are proposed, the architecture design is completed, and the indicators of each subsystem are designed with trade-offs.

[0040] Optionally, step S2 in the model-based design method for the digital prototype of the electric propulsion system of an unmanned underwater vehicle in this embodiment of the invention specifically includes: conducting functional model research based on the design requirement model, clarifying the system module division, function allocation, integration interface and subsystem state behavior, and establishing the mechanism model of the propulsion motor body, inverter, controller and propulsion based on the digital system model integration method, so as to construct the prototype functional model.

[0041] Optionally, step S2 in the model-based digital prototype design method for the electric propulsion system of an unmanned underwater vehicle according to the present invention further includes: using the prototype functional model to conduct joint simulation analysis of the interfaces, timing and states between subsystems, and performing a system-level multidisciplinary coupled evaluation of the system operation process to optimize the key indicators of the propulsion system.

[0042] Specifically, in the method of this embodiment, the functional model performs unified modeling and simulation of the electric power system from the system level, encompassing multiple disciplines such as control, electrical, mechanical, and heat transfer, to achieve strong coupling simulation design of the functions of the four components: propulsion motor, inverter controller, cooling device, and battery pack. System-level simulation analysis can perform detailed dynamic simulations of the pre-charging, inverter control, and torque output processes of an electric power system. Specifically, this includes: ① Simulation analysis of the flow and timing of control commands and status response information signals between the power controller, inverter controller, and various sensors; ② Simulation of the power loop start-stop control and pre-charging process; ③ Simulation analysis of the inverter controller's vector control processes (Clark transformation, Park transformation, etc.) based on phase current and position detection signals, the control logic of the current loop and speed loop controllers, and the SVPWM pulse width modulation process; ④ Simulation analysis of the high-power and low-power windings of the dual six-phase PMSM motor driven by the maximum speed inverter and cruise inverter respectively, where the system simulation model can simulate the switching process of the two windings via a switching circuit breaker when the power controller outputs a mode switching command; ⑤ Simulation of the power output of the six-phase full-bridge inverter. Simulations include: ⑥ Circuit commutation timing, IGBT power transistor turn-on and turn-off timing, and PWM chopping speed regulation process; ⑦ Simulation analysis of system fault protection logic under fault conditions such as drive module failure, overvoltage, undervoltage, and overcurrent; ⑧ Simulation analysis of signal flow and timing during voltage, current, and temperature sampling, and the process of rotor position detection using a rotary transformer; ⑨ System simulation analysis based on functional models to verify the rationality of system architecture design, control timing, and component coordination. It can evaluate parameters such as busbar inductance and capacitance in the power circuit of the electric power system, the control logic and algorithm of the inverter controller, and key indicators such as slot fill factor, number of pole pairs, number of phases, winding resistance, rotor moment of inertia, d / q / z axis inductance, and air gap of the motor body, ensuring the rationality of the physical implementation scheme of the power system, accelerating the system development process, and improving the digital design level of the electric power system.

[0043] Optionally, step S3 in the model-based digital prototype design method for the electric power system of an unmanned underwater vehicle in this embodiment of the invention specifically includes: after optimizing the key indicators of the power system using the prototype functional model, determining the overall scheme, and further performing hierarchical modeling of the system, subsystems, and equipment to form a prototype performance model with the capabilities of single-discipline performance simulation, multi-discipline joint simulation, and general quality characteristic analysis.

[0044] Specifically, in this embodiment, based on the functional and mechanistic models of the electro-power system, professional CAE finite element simulation analysis is conducted on key components. Single-discipline (electromagnetic field, temperature field, stress field, flow field, etc.) performance simulation models and multi-discipline coupled performance simulation models are constructed to perform simulation analysis of the electro-power system. Through the performance models, detailed analyses can be performed on magnetic field strength, local magnetic saturation phenomena, coil heating and heat dissipation processes, high-frequency noise under electromagnetic drive, and the strength of high-load structural components. Under the premise of determined overall design parameters, local geometry and layout are optimized, achieving component-level optimization. For the motor, the performance models are used to verify the local structure and layout of the power equipment components, ensuring stable performance and reliable operation during service. First, the electromagnetic design of the motor is carried out, calculating the external characteristics of the motor at multiple operating points such as rated operating point and peak point. Then, rich electromagnetic post-processing is performed, including motor loss calculation, torque output calculation, back EMF calculation, torque ripple ratio calculation, and unbalanced magnetic pull calculation. Based on thermal field simulation software, the motor's temperature rise characteristics are evaluated, and steady-state and transient reliability assessments and long-term and short-term impact virtual experiments are conducted on key and detailed parts of the motor to assess its temperature reliability and lifespan. Based on mechanical structure strength analysis software, the motor's structural design is evaluated, including strength and fatigue characteristics. The electromagnetic forces and strengths borne by the structure under different temperatures are calculated to assess the motor's structural reliability. Based on motor efficiency and operating condition spectrum analysis tools, a virtual laboratory evaluation is conducted on the simulated and conceptually designed motor to assess its external characteristics under multiple and complex operating conditions, including efficiency maps and inductance curve calculations. Based on the motor control system design module, coupled with the electromagnetic, temperature, and mechanical calculation results, a coupled simulation design of the motor body and control system is performed. Vibration and noise simulation software is used to evaluate the motor's vibration and noise characteristics under relevant drive systems, and noise reduction design is performed on the coupled electromagnetic and structural components of the motor. For inverters, performance models and simulation analyses were conducted using professional power electronics simulation software. Electrical simulation models were built for the power circuit, power loop, and SiC drive circuit of a dual six-phase inverter. Circuit models for the maximum speed inverter controller, cruise inverter controller, and power controller were also constructed. An inverter control model incorporating functions such as system sampling, vector control, pulse width modulation, fault detection, and CAN communication was also developed. Simulation analyses were performed on the power loop structure and design parameters, power device characteristic parameters, control logic, and algorithms of the electric power system. Temperature field simulation analysis was conducted to address inverter temperature rise and heat dissipation issues. Iterative optimization design of the system was achieved through model parameter identification, model order reduction, and multi-objective optimization, improving system operating efficiency and reliability.

[0045] Optionally, step S4 in the model-based digital prototype design method for the electric propulsion system of an unmanned underwater vehicle in this embodiment of the invention specifically includes: taking the prototype performance model as the core, coupling the system-level current index, speed index, power index and torque index with the controller sub-model, inverter sub-model, motor sub-model and thruster sub-model in the prototype performance model respectively, so as to construct a three-dimensional fused digital prototype model.

[0046] Optionally, step S4 in the model-based digital prototype design method for the electric propulsion system of an unmanned underwater vehicle in this embodiment of the invention further includes: using environmental conditions, control commands, and the operating status of the underwater unmanned underwater vehicle as inputs to achieve unified scheduling and synchronous solution of multiple sub-models, fully mapping the working principle and operation process of the real propulsion system, so as to evaluate the performance and reliability of the electric propulsion system of a large underwater unmanned underwater vehicle under various environmental conditions and complex mission commands across the entire operating range.

[0047] Specifically, in this embodiment, the finite element performance models of various disciplines are embedded into the system simulation model through model order reduction, enabling joint simulation of the entire electric power system across all disciplines and processes. This makes the dynamic boundary conditions of each component closer to the actual physical prototype, achieving more accurate simulation results and thus improving the accuracy of the digital prototype of the electric power system. Using the performance model as the core, system-level indicators such as current, speed, power, and torque are fully coupled with the performance models of devices such as controllers, inverters, motors, and propellers, constructing a three-dimensional fusion model system. Using environmental conditions, control commands, and the operating status of the large unmanned underwater vehicle as inputs, multiple models are uniformly scheduled and solved synchronously, fully mapping the working principle and operation process of the real power system. This allows for the evaluation of the performance and reliability of the electric power system under varying environmental conditions and complex task commands across the entire operating range.

[0048] Optionally, step S5 in the model-based design method for the electric propulsion system digital prototype of the unmanned underwater vehicle according to the present invention specifically includes: performing product geometry design on all structural components, system equipment and accessories in the digital prototype model, and constructing a prototype product geometry model including a structural design model, an electrical design model and an assembly design model.

[0049] Optionally, in step S5 of the model-based digital prototype design method for the electric propulsion system of an unmanned underwater vehicle according to the present invention, the geometric model of the prototype product contains the product's manufacturing requirements information, and the geometric model of the prototype product is presented using a system detailed design tool.

[0050] Specifically, in this embodiment, based on the design results of the preliminary functional and performance models, the product's three-dimensional structure is designed and two-dimensional engineering drawings are created. This mainly includes a three-dimensional structural model of the propulsion motor, a three-dimensional structural model of the propeller, a three-dimensional structural model of the inverter and power circuit, a three-dimensional structural model of the system assembly, and CAD drawings of each component. These can be used for the production and manufacturing of a physical prototype of the electric power system. Based on the preliminary functional and performance model design results, the product's circuit schematic design and digital circuit engineering drawings are created. This mainly includes electrical connection diagrams, schematics, and PCB drawings of components such as the motor, inverter, controller, power controller, and voltage and current sensors. These can also be used for the production and manufacturing of a physical prototype of the electric power system.

[0051] Specifically, in the method of this embodiment, step S6 involves manufacturing components based on the design results of step 5) to obtain physical prototypes of components such as the propulsion motor, cooling device, battery pack, and inverter controller, and then accepting the components. Based on the previous design results, the components such as the propulsion motor, cooling device, battery pack, and inverter controller are assembled into a physical prototype of the electric power system, and the physical prototype system is debugged and accepted.

[0052] Optionally, step S7 in the model-based design method for the digital prototype of the electric propulsion system of an unmanned underwater vehicle in this embodiment of the invention specifically includes: fusing the digital prototype model and the physical prototype, and performing real-time simulation and monitoring driven by measured data, and state prediction driven by real-time change data, so as to realize the virtual-real interaction and iterative optimization between the physical prototype and the digital prototype.

[0053] Specifically, the method in this embodiment addresses the need to strengthen the analysis of the impact of key parameters on system performance, the trade-off of performance indicators, and product optimization design during the system design phase. It primarily focuses on research into parameter sensitivity analysis technology, virtual experimental design technology, and single-objective / multi-objective optimization analysis technology from the perspective of simulation-based experimental design and optimization. This provides strong support for early detection of product design defects, comprehensive optimization of product performance, and effective reduction of physical verification times. Based on an experimental design algorithm library, virtual experimental problems are defined, and combined with a multidisciplinary simulation model, the scheduling, operation, and monitoring of experiments are conducted, with analysis results presented in various visualization formats. Based on a sensitivity analysis algorithm library, sensitivity analysis problems are defined, and multidisciplinary system analysis and sensitivity calculations are performed to determine the sensitivity of system state or output changes to system parameters or changes. Based on single-objective / multi-objective optimization algorithm libraries, constraint handling algorithm libraries, and multi-objective handling algorithm libraries, an optimization analysis model based on a simulation model is constructed. Combined with optimization solution strategies, complex optimization problems are rapidly decoupled, efficiently solved, and visualized. Real-time data-driven state prediction technology solves the problem of predicting the future state of a system in advance. Through ultra-real-time simulation of the model, it can dynamically predict the system's functional performance, mechanism failure, lifespan, etc.

[0054] The following detailed description uses a specific example, such as... Figure 2 As shown, the development process of the digital prototype of the electrical system of a large unmanned underwater vehicle mainly includes:

[0055] The model-based forward design approach, combined with the construction specifications of digital prototypes, starts with system requirements (including motor operating voltage, output power (speed / torque), size requirements (installation dimensions), duty cycle, and operating environment requirements). Based on the system modeling language and the design input requirements, it conducts requirements analysis, functional analysis, logical architecture design, and functional analysis to establish design requirement models, functional models, and architecture models. Through design-simulation model mapping and conversion technology, the corresponding system simulation model architecture is generated. Then, based on a multi-domain unified modeling language, a multi-level functional performance model is constructed, encompassing the electric power system, subsystems (motor, inverter, propeller, etc.), and component groups (stator, rotor, etc.). This achieves unified expression and simulation analysis of the electromechanical, hydraulic, control, and thermal domains of the electric propulsion system, completing the small-loop closed-loop index verification in the scheme demonstration phase. Finally, based on the simulation results, the model parameters are adjusted, and the optimized parameters include motor size, slot fill factor, output performance, magnetic flux density of the stator yoke, reasonable thermal load design (electrical flux density, reasonable line load design), and back EMF meeting design requirements. Then, electromagnetic simulation analysis was conducted using professional CAE software. After the electromagnetic design met the design requirements, the overall structural type of the motor was determined. This included the motor's protection type, bearing type and number, shaft extension type and number, installation method, and cooling system. Product structural design was then carried out using CAD software, and the mechanical properties of the components, including strength and stiffness, were calculated. After completing the professional design, a functional model was used as the core. Through multiphysics order reduction, multidisciplinary design optimization, and heterogeneous model integration, system-level indicators such as current, speed, power, and torque were fully coupled with the performance models of devices such as controllers, inverters, motors, and propellers to construct a three-dimensional fusion model system. This enabled closed-loop verification in the digital space. Through multiple iterations and refinements of the technical requirements in the digital space, the overall functional performance of the product was improved. After completing the digital space verification, the production and manufacturing of the product prototype began. Using a physical test bench, and based on embedded code generation tools and semi-physical simulation tools, virtual-real interaction fusion optimization verification was achieved. Virtual-real fusion optimization verification was carried out on key components, and the control algorithm model, motor model, and thruster model were thoroughly tested and optimized. After completing the virtual-real fusion optimization testing of key components, the entire system was integrated and verified. After meeting user confirmation and acceptance, it was put into operation and maintenance. Based on the virtual-real interaction interface, virtual-real interaction applications for large unmanned underwater vehicles can be implemented.

[0056] like Figure 2As shown, the specific implementation process of the electric propulsion system of the large unmanned underwater vehicle is as follows: electric propulsion system requirements analysis - functional model design of the digital prototype of the electric propulsion system - performance model design of the components of the digital prototype of the electric propulsion system - integration and verification of the performance model of the digital prototype of the electric propulsion system - determining whether the design requirements are met - if the requirements are met, then proceeding with the geometric model design of the electric propulsion system - manufacturing and production of the physical prototype of the electric propulsion system - operation of the physical prototype of the electric propulsion system - virtual interactive design optimization with the digital prototype of the electric propulsion system.

[0057] In summary, the model-based digital prototype design method for the electric propulsion system of unmanned underwater vehicles (UUVs) of this invention improves the efficiency of the overall collaborative design of the electric propulsion system of UUVs, shortens the entire life cycle design cycle of the electric propulsion system of UUVs, and also provides technical reserves for the overall design of related electric propulsion systems of UUVs.

[0058] The above are preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A design method for a model-based digital prototype of an unmanned underwater vehicle's electric propulsion system, characterized in that, The method includes: Step S1: Analyze the design requirements of the electric power system of the large unmanned underwater vehicle, and design and build a prototype design requirement model; Step S2: Based on the design requirement model, conduct functional model research, design and construct prototype functional model; Step S3: Based on the prototype functional model, carry out the structural design and simulation optimization of the physical implementation layer, and design and build the prototype performance model; Step S4: Fully couple the system-level indicators with the component sub-models contained in the prototype performance model to construct a three-dimensional fused digital prototype model; Step S5: Perform product geometry design on each group of components in the digital prototype model to construct a prototype product geometry model; Step S6: Produce and manufacture each group of components in the geometric model of the prototype product to obtain a physical prototype, and then integrate and debug the physical prototype; Step S7: Merge the digital prototype model and the physical prototype to achieve virtual-physical interaction and iterative optimization between the physical prototype and the digital prototype.

2. The design method for a digital prototype of an unmanned underwater vehicle's electric propulsion system based on a model, as described in claim 1, is characterized in that... Step S1 specifically includes: Identify the task requirements and system requirements for the electric propulsion system design of large unmanned underwater vehicles, define the task scenarios and objectives, determine detailed task requirements, and use the architecture design model to design the system functional architecture, logical architecture, physical architecture, and behavioral architecture in order to build a prototype design requirement model.

3. The design method for a model-based digital prototype of an unmanned underwater vehicle's electric propulsion system according to claim 2, characterized in that, Step S2 specifically includes: Based on the design requirements model, a functional model study was conducted to clarify the system module division, function allocation, integration interface, and subsystem state behavior. Based on the digital system model integration method, a mechanism model of the propulsion motor body, inverter, controller, and propulsion was established to construct the prototype functional model.

4. The design method for a model-based digital prototype of an unmanned underwater vehicle's electric propulsion system according to claim 3, characterized in that, Step S2 specifically also includes: Using the prototype functional model, joint simulation analysis of the interfaces, timing, and states between subsystems is carried out, and a system-level multidisciplinary coupled evaluation of the system operation process is conducted to optimize the key indicators of the power system.

5. The design method for a digital prototype of an unmanned underwater vehicle's electric propulsion system based on a model, as described in claim 4, is characterized in that... Step S3 specifically includes: after optimizing the key indicators of the power system using the prototype functional model, determining the overall scheme, and further performing hierarchical modeling of the system, subsystems, and equipment to form the prototype performance model with the capabilities of single-discipline performance simulation, multi-discipline joint simulation, and general quality characteristic analysis.

6. The design method for a digital prototype of an unmanned underwater vehicle's electric propulsion system based on a model, as described in claim 5, is characterized in that... Step S4 specifically includes: Using the prototype performance model as the core, the system-level current, speed, power, and torque indicators are coupled with the controller sub-model, inverter sub-model, motor sub-model, and propeller sub-model in the prototype performance model, respectively, to construct a three-dimensional fused digital prototype model.

7. The design method for a model-based digital prototype of an unmanned underwater vehicle's electric propulsion system according to claim 6, characterized in that, Step S4 specifically also includes: Using environmental conditions, control commands, and the operating status of underwater unmanned vehicles as inputs, multiple sub-models are uniformly scheduled and solved synchronously, fully mapping the working principle and operation process of the real power system, so as to evaluate the performance and reliability of the electric power system of large underwater unmanned vehicles under various environmental conditions and complex mission commands across the entire operating range.

8. The design method for a model-based digital prototype of an unmanned underwater vehicle's electric propulsion system according to claim 7, characterized in that, Step S5 specifically includes: Product geometry design is performed on all structural components, system equipment and accessories in the digital prototype model. The constructed prototype product geometry model includes a structural design model, an electrical design model and an assembly design model.

9. The design method for a model-based digital prototype of an unmanned underwater vehicle's electric propulsion system according to claim 8, characterized in that, In step S5, the prototype product geometric model contains the product's manufacturing requirements information, and the prototype product geometric model is presented using a system detailed design tool.

10. The design method for a model-based digital prototype of an unmanned underwater vehicle's electric propulsion system according to claim 9, characterized in that, Step S7 specifically includes: fusing the digital prototype model and the physical prototype, and performing real-time simulation and monitoring driven by measured data, and state prediction driven by real-time change data, so as to realize virtual-real interaction and iterative optimization between the physical prototype and the digital prototype.

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