High-altitude parachute extraction dynamics system rapid simulation method, apparatus, and electronic device

Abstract

The application relates to the technical field of computational fluid dynamics, in particular to a high-altitude parachute ladder dynamics system rapid simulation method and device and electronic equipment, which comprises the following steps: obtaining parachute ladder system structure parameters of a target simulation scene and high-altitude wind field environment data, and performing space-time interpolation processing on the high-altitude wind field environment data to obtain space-time continuous wind field data; constructing a target multi-body dynamics model based on the parachute ladder system structure parameters and the space-time continuous wind field data, and performing stress analysis on the target multi-body dynamics model to obtain statics control equations and dynamics control equations of the target multi-body dynamics model; obtaining initial dynamics response results of the parachute ladder system based on the statics control equations and the dynamics control equations, and generating high-altitude parachute ladder dynamics rapid simulation results according to the initial dynamics response results, so that the problems of low calculation efficiency and poor interpretability of high-altitude parachute ladder dynamics system rapid simulation in the related art are solved, and the calculation efficiency and the interpretability of the rapid simulation method are improved.

Description

Technical Field

[0001] This invention relates to the field of computational fluid dynamics, and in particular to a method, apparatus, and electronic device for rapid simulation of a high-altitude parachute ladder dynamic system. Background Technology

[0002] As the core carrier for high-altitude wind energy capture, the parachute ladder system's system characteristics (such as canopy tilt angle, cable tension distribution, and balloon lift equilibrium point) directly affect wind energy capture efficiency and system stability. However, the parachute ladder system has numerous parameters and complex coupling between systems. Traditional modeling methods rely on complex fluid-structure interaction simulations, which can take hours or even days to compute, making it difficult to meet the needs of multi-parameter iterative optimization in engineering design. Furthermore, the parachute ladder system involves the complex integration of high-altitude equipment (balloon, canopy), long cables, and ground-based generators, making physical testing costly and subject to environmental limitations. Therefore, developing simulation methods that can quickly predict the system characteristics and dynamic processes of the parachute ladder system, thereby providing a basis for the overall design of the system, has become a necessary requirement.

[0003] In related technologies, a multi-rigid-body rope dynamics model is mainly constructed to quantify the mechanical response characteristics of the umbrella assembly components. Based on the umbrella attitude control, a control law is designed. By adjusting the effective windward area of ​​the umbrella, the error convergence between the actual motion trajectory and the desired trajectory of the umbrella ladder under the longitudinal disturbance of the high-altitude wind field is achieved. In addition, for the safety requirements of the coordinated operation of multiple umbrella ladders, a synchronization control law is designed to achieve the synchronization of motion between umbrella ladders through mixed state error adjustment, effectively avoiding the risk of collision.

[0004] However, a systematic simulation method for the system's cross-timescale characteristics has not yet been developed in related technologies. Most studies focus on a single time scale, paying attention to the dynamic response under short-term aerodynamic loads, while neglecting the impact of long-term wind field changes on system stability. Furthermore, related technologies assume a uniform flow field, ignoring the influence of complex conditions such as the wind speed boundary layer and time-varying characteristics under real wind fields. They also rely on empirical formulas to simplify the calculation of parachute lift drag, leading to a significant underestimation of the stress characteristics of key system components. This makes it difficult to accurately assess the characteristics of the parachute system in complex wind fields during engineering design, a problem that urgently needs to be addressed. Summary of the Invention

[0005] This invention provides a method, apparatus, and electronic device for rapid simulation of high-altitude parachute ladder dynamics systems, in order to solve the problems of low computational efficiency and poor interpretability in rapid simulation of high-altitude parachute ladder dynamics systems in related technologies, and to improve the computational efficiency and interpretability of rapid simulation methods.

[0006] To achieve the above objectives, a first aspect of the present invention provides a method for rapid simulation of a high-altitude parachute ladder dynamics system, comprising the following steps: The method for rapid simulation of a high-altitude parachute ladder dynamics system is characterized by the following steps: acquiring structural parameters of the parachute ladder system and high-altitude wind field environmental data of the target simulation scenario, and performing spatiotemporal interpolation processing on the high-altitude wind field environmental data to obtain spatiotemporally continuous wind field data; constructing a target multibody dynamics model based on the parachute ladder system structural parameters and the spatiotemporally continuous wind field data, and performing force analysis on the target multibody dynamics model to obtain the static control equations and dynamic control equations of the target multibody dynamics model; obtaining the initial dynamic response results of the parachute ladder system based on the static control equations and dynamic control equations, and generating rapid simulation results of the high-altitude parachute ladder dynamics based on the initial dynamic response results.

[0007] Furthermore, in some embodiments, the construction of the target multibody dynamics model based on the structural parameters of the parachute system and the spatiotemporally continuous wind field data includes: constructing a main cable model unit, an aerial parachute model unit, and a buoyancy ball model unit based on the structural parameters of the parachute system; constructing an initial multibody dynamics model based on the main cable model unit, the aerial parachute model unit, and the buoyancy ball model unit; determining the external wind load input conditions of the parachute system based on the spatiotemporally continuous wind field data, and obtaining the target multibody dynamics model based on the external wind load input conditions and the initial multibody dynamics model.

[0008] Further, in some embodiments, the step of performing force analysis on the target multibody dynamics model to obtain the static control equations and dynamic control equations of the target multibody dynamics model includes: performing force analysis to obtain the force analysis results of the main cable model unit, the parachute model unit, and the buoyancy ball model unit; based on preset mechanical equilibrium principles and aerodynamic load relationships, and according to the force analysis results of the main cable model unit, the parachute model unit, and the buoyancy ball model unit, respectively, obtaining the static control equations and dynamic control equations of the target multibody dynamics model. The force balance equations of the main cable model unit, the high-altitude parachute model unit, and the buoyancy ball model unit are described. Based on the structural parameters of the parachute ladder system, the main cable model unit, the high-altitude parachute model unit, and the buoyancy ball model unit are discretized to obtain spatial node discretization results. Based on the spatial node discretization results, the static control equation and the dynamic control equation are discretized to obtain the static balance equation. Based on preset dynamic variables, the dynamic control equation is obtained according to the static balance equation. Furthermore, in some embodiments, obtaining the initial dynamic response result of the umbrella ladder system based on the static control equations and the dynamic control equations includes: obtaining an initial nonlinear equation set based on the static control equations and the dynamic control equations, and normalizing the initial nonlinear equation set to obtain the target nonlinear equation set; solving the target nonlinear equation set based on a preset Newton-Jacobi iteration and matrix fast inversion algorithm to obtain the initial dynamic response result of the umbrella ladder system.

[0009] Further, in some embodiments, the step of solving the target nonlinear equations based on a preset Newton-Jacobi iteration and matrix fast inversion algorithm to obtain the initial dynamic response result of the umbrella ladder system includes: calculating the Jacobian matrix of the current iteration step based on a pre-constructed iterative solution format and a preset initial iteration value, and obtaining the matrix inverse solution based on the Jacobian matrix of the current iteration step using a preset matrix fast inversion algorithm; iterating the target nonlinear equations based on the matrix inverse solution to obtain the target iterative solution of the target nonlinear equations; if the target iterative solution satisfies a preset iterative convergence condition, acquiring the system displacement data, velocity data, and internal force response data of the target iterative solution, and obtaining the initial dynamic response result based on the system displacement data, the velocity data, and the internal force response data.

[0010] Furthermore, in some embodiments, generating rapid simulation results of the high-altitude parachute dynamics based on the initial dynamic response results includes: determining the real-time load under dynamic conditions based on the spatiotemporally continuous wind field data and the initial dynamic response results; obtaining a corrected dynamic response result based on preset system constraints on the initial dynamic response results; calculating the dynamic mechanical response and trajectory of the target multibody dynamics model based on the real-time load under dynamic conditions and the corrected dynamic response results; and obtaining the rapid simulation results of the high-altitude parachute dynamics based on the dynamic mechanical response and trajectory of the target multibody dynamics model.

[0011] The rapid simulation method for high-altitude parachute ladder dynamics provided by the present invention first acquires the structural parameters of the parachute ladder system and the high-altitude wind field environment data, and performs spatiotemporal interpolation processing on them to obtain a spatiotemporally continuous wind field. Then, based on this, a multibody dynamics model is constructed, and static and dynamic control equations are established through force analysis. Finally, the initial dynamic response is obtained by solving the control equations, and the rapid simulation results of high-altitude parachute ladder dynamics are generated. This method solves the problems of low computational efficiency and poor interpretability in the rapid simulation of high-altitude parachute ladder dynamics systems in related technologies, and improves the computational efficiency and interpretability of the rapid simulation method.

[0012] To achieve the above objectives, a second aspect of the present invention provides a rapid simulation device for a high-altitude parachute ladder dynamics system, comprising: an acquisition module, configured to acquire structural parameters of the parachute ladder system and high-altitude wind field environmental data of a target simulation scenario, and perform spatiotemporal interpolation processing on the high-altitude wind field environmental data to obtain spatiotemporally continuous wind field data; a construction module, configured to construct a target multibody dynamics model based on the parachute ladder system structural parameters and the spatiotemporally continuous wind field data, and perform force analysis on the target multibody dynamics model to obtain the static control equations and dynamic control equations of the target multibody dynamics model; and a generation module, configured to obtain the initial dynamic response results of the parachute ladder system based on the static control equations and dynamic control equations, and generate rapid simulation results of the high-altitude parachute ladder dynamics based on the initial dynamic response results.

[0013] Furthermore, in some embodiments, the construction module is specifically used for: constructing a main cable model unit, an aerial parachute model unit, and a buoyancy ball model unit based on the structural parameters of the parachute ladder system; constructing an initial multibody dynamics model based on the main cable model unit, the aerial parachute model unit, and the buoyancy ball model unit; determining the external wind load input conditions of the parachute ladder system based on the spatiotemporally continuously distributed wind field data, and obtaining the target multibody dynamics model based on the external wind load input conditions and the initial multibody dynamics model.

[0014] Furthermore, in some embodiments, the construction module is also used to: perform force analysis to obtain the force analysis results of the main cable model unit, the high-altitude parachute model unit, and the buoyancy ball model unit; based on preset mechanical equilibrium principles and aerodynamic load relationships, according to the force analysis results of the main cable model unit, the high-altitude parachute model unit, and the buoyancy ball model unit, respectively, obtain the force balance equations of the main cable model unit, the high-altitude parachute model unit, and the buoyancy ball model unit; discretize the main cable model unit, the high-altitude parachute model unit, and the buoyancy ball model unit based on the structural parameters of the parachute ladder system to obtain spatial node discretization results; discretize the static control equation and the dynamic control equation based on the spatial node discretization results to obtain the static equilibrium equation, and obtain the dynamic control equation based on preset dynamic variables and the static equilibrium equation. Furthermore, in some embodiments, the generation module is specifically used to: obtain an initial nonlinear equation set based on the static control equation and the dynamic control equation, and normalize the initial nonlinear equation set to obtain the target nonlinear equation set; solve the target nonlinear equation set based on a preset Newton-Jacobi iteration and matrix fast inversion algorithm to obtain the initial dynamic response result of the umbrella ladder system.

[0015] Furthermore, in some embodiments, the generation module is further configured to: calculate the Jacobian matrix of the current iteration step based on a pre-constructed iterative solution format and a preset initial iteration value, and obtain the inverse matrix solution based on the Jacobian matrix of the current iteration step using a preset fast matrix inversion algorithm; iterate the target nonlinear equation system based on the inverse matrix solution to obtain the target iterative solution of the target nonlinear equation system; if the target iterative solution satisfies a preset iterative convergence condition, acquire the system displacement data, velocity data, and internal force response data of the target iterative solution, and obtain the initial dynamic response result based on the system displacement data, the velocity data, and the internal force response data.

[0016] Furthermore, in some embodiments, the generation module is also used to: determine the real-time load under dynamic conditions based on the spatiotemporally continuous wind field data and the initial dynamic response results; obtain a corrected dynamic response result based on the initial dynamic response results using preset system constraints; calculate the dynamic mechanical response and motion trajectory of the target multibody dynamic model based on the real-time load under dynamic conditions and the corrected dynamic response results; and obtain the rapid simulation results of the high-altitude parachute dynamics based on the dynamic mechanical response and motion trajectory of the target multibody dynamic model.

[0017] The rapid simulation device for high-altitude parachute ladder dynamics provided in this embodiment of the invention first acquires the structural parameters of the parachute ladder system and the high-altitude wind field environment data, and performs spatiotemporal interpolation processing on them to obtain a spatiotemporally continuous wind field. Then, based on this, a multibody dynamics model is constructed, and static and dynamic control equations are established through force analysis. Finally, the initial dynamic response is obtained by solving the control equations, and the rapid simulation results of high-altitude parachute ladder dynamics are generated. This solves the problems of low computational efficiency and poor interpretability in the rapid simulation of high-altitude parachute ladder dynamics systems in related technologies, and improves the computational efficiency and interpretability of the rapid simulation method.

[0018] To achieve the above objectives, a third aspect of the present invention 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 the rapid simulation method for a high-altitude parachute ladder dynamics system as described in the above embodiments.

[0019] To achieve the above objectives, a fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the rapid simulation method for a high-altitude parachute ladder dynamics system as described in the above embodiments.

[0020] A fifth aspect of the present invention provides a computer program product, including a computer program that is executed to implement the rapid simulation method for a high-altitude parachute ladder dynamics system as described in the above embodiments.

[0021] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 A flowchart of a rapid simulation method for a high-altitude parachute ladder dynamics system provided according to an embodiment of the present invention; Figure 2 A spatiotemporal evolution curve of wind speed throughout the day provided according to a specific embodiment of the present invention; Figure 3 A schematic diagram illustrating the types of umbrellas provided according to a specific embodiment of the present invention; Figure 4 A schematic diagram of a rope according to a specific embodiment of the present invention; Figure 5 Fitting curves of the lift and drag coefficients of a parachute under different operating conditions, provided by a specific embodiment of the present invention; Figure 6 A fitting curve of the lift-drag coefficient of an umbrella according to a specific embodiment of the present invention; Figure 7 This is a schematic diagram illustrating the effect of an umbrella on a rope according to a specific embodiment of the present invention; Figure 8 A schematic diagram of the verification curve for a statics problem provided according to a specific embodiment of the present invention; Figure 9 A schematic diagram illustrating the computation time consumption according to a specific embodiment of the present invention; Figure 10 A schematic diagram of an umbrella ladder system according to a specific embodiment of the present invention; Figure 11 This is a schematic diagram of the operation of a high-altitude parachute system in region A at time a, according to a specific embodiment of the present invention. Figure 12This is a schematic diagram of the operation of a high-altitude parachute system in region A at time b, provided according to a specific embodiment of the present invention. Figure 13 This is a schematic diagram of the operation of an aerial parachute system in area B according to a specific embodiment of the present invention; Figure 14 This is a schematic diagram of the all-day operation of a high-altitude parachute system in region A at time a, according to a specific embodiment of the present invention. Figure 15 This is a schematic diagram of the all-day operation of a high-altitude parachute system in region A at time b, provided according to a specific embodiment of the present invention. Figure 16 This is a schematic diagram of the all-day operation of the high-altitude parachute system in area B according to a specific embodiment of the present invention; Figure 17 This is a block diagram of a rapid simulation device for a high-altitude parachute ladder dynamics system provided according to an embodiment of the present invention; Figure 18 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present invention. Detailed Implementation

[0023] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0024] The following describes, with reference to the accompanying drawings, a method, apparatus, and electronic equipment for rapid simulation of a high-altitude parachute ladder dynamics system according to an embodiment of the present invention. First, the method for rapid simulation of a high-altitude parachute ladder dynamics system according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0025] Figure 1 A flowchart illustrating a rapid simulation method for a high-altitude parachute ladder dynamics system according to an embodiment of the present invention.

[0026] like Figure 1 As shown, the rapid simulation method for the high-altitude parachute ladder dynamics system includes the following steps: In step S101, the structural parameters of the umbrella ladder system and the high-altitude wind field environment data of the target simulation scenario are obtained, and the high-altitude wind field environment data are subjected to spatiotemporal interpolation processing to obtain spatiotemporally continuous wind field data.

[0027] The structural parameters of the umbrella ladder system in the target simulation scenario include the length, diameter, linear density, and number of segments of the main cable; the external dimensions and flattening radius of the high-altitude umbrella; and the geometric and physical parameters of the volume and buoyancy of the buoyancy ball. The high-altitude wind field environmental data includes spatial location information, time information, and aerodynamic environmental parameters such as wind speed and wind direction at each location.

[0028] Specifically, since the original wind field data is discretely distributed in time and space and cannot directly meet the requirements of continuous dynamic simulation, spatiotemporal bilinear interpolation is performed on the discrete upper-level wind field environment data based on the preset simulation spatial resolution and time step to complete the wind speed components at any spatial point and at any time in the simulation area, thereby forming wind field data that is continuous in both time and space.

[0029] As one possible implementation, the upper-level wind field environmental data in this embodiment of the invention is provided by simulation using the Weather Research and Forecasting Model (WRF). This embodiment uses full-day WRF simulation data for region A. Based on the temporal resolution of the wind field at the latitude and longitude of region A being 0.5 hours, the spatial resolution near the ground is approximately 20 meters. Figure 2 To provide a spatiotemporal evolution curve of all-day wind speed according to a specific embodiment of the present invention, spatiotemporal interpolation processing is performed on the upper-level wind field environmental data to complete the wind speed components at any spatial point and at any time within the simulation area, thereby forming wind field data that is continuous in both time and space, and obtaining spatiotemporally continuous wind field data.

[0030] In step S102, a target multibody dynamics model is constructed based on the structural parameters of the umbrella ladder system and the spatiotemporally continuous wind field data. The target multibody dynamics model is then subjected to force analysis to obtain the static control equations and dynamic control equations of the target multibody dynamics model.

[0031] In some embodiments, a target multibody dynamics model is constructed based on the structural parameters of the parachute ladder system and spatiotemporally continuous wind field data. This includes: constructing a main cable model unit, an upper-level parachute model unit, and a buoyancy ball model unit based on the structural parameters of the parachute ladder system; constructing an initial multibody dynamics model based on the main cable model unit, the upper-level parachute model unit, and the buoyancy ball model unit; determining the external wind load input conditions of the parachute ladder system based on the spatiotemporally continuously distributed wind field data; and obtaining the target multibody dynamics model based on the external wind load input conditions and the initial multibody dynamics model.

[0032] Specifically, the physical model of this invention consists of a rope, an aerial parachute, and a buoyancy ball. The flexible deformation of the main cable is described using a multibody dynamics framework. It should be noted that this invention models the entire parachute-rod system, enabling rapid prediction of the system's attitude and forces under different wind speeds, thereby allowing for the evaluation of the system's operating power. To quickly calculate the parachute's attitude, this invention uses a simplified catenary model to calculate the rope's motion. The main cable is discretized into a series of interconnected elastic units, each driven by tension, gravity, and wind load. The inertial effect of the aerial parachute is negligible, therefore it is modeled as a massless rigid body. The wind load on the parachute is calculated using aerodynamic lift-drag coefficients, with the specific expression obtained by fitting numerical simulation results. The resultant force of the wind acts on the equivalent aerodynamic center of the parachute and is transmitted to the cable as a concentrated force through the parachute-rod connection points.

[0033] As one possible approach, embodiments of the present invention require the calculation of the high-altitude parachute lift drag coefficient (i.e., the construction of a high-altitude parachute model unit). Figure 3 This is a schematic diagram illustrating the types of umbrellas provided according to a specific embodiment of the present invention, such as... Figure 3 As shown, the connecting ropes come in two different lengths. U1 / U2 represent two different paracord configurations, and R6 / R8 / R10 / R15 represent the umbrella's lay-out radius. Therefore, the total length of the paracord is either the umbrella's radius + 1, or 2 * the umbrella's radius + 1. Figure 3 The invention also provides two different radii for the umbrella: one is the radius when it is laid flat on the ground without being opened, and the other is the reference radius after the umbrella is blown open by the wind. The reference radius is approximately 0.52 * the flat radius. In the actual calculation of the umbrella's lift resistance, the embodiment of the invention uses the reference radius for calculation.

[0034] Furthermore, in this embodiment of the invention, the buoyancy sphere model unit is simplified to a point mass providing constant lift; the wind resistance experienced by the sphere is calculated using the classical spherical turbulence formula; the wind resistance experienced by the cable itself consists of tangential boundary layer viscous drag and normal pressure difference drag; the tangential force is dominated by the surface friction effect, while the normal force is related to the flow characteristics around the cable cross-section. In this embodiment of the invention, the wind resistance is calculated using the model given in the literature. This model decomposes the wind resistance into distributed loads of each micro-segment of the cable through local coordinate system projection. These concentrated and distributed forces jointly drive the overall motion of the system. The balloon drag characteristics are fitted using the classical spherical turbulence formula, and the umbrella lift-drag coefficient is based on the numerical simulation results. The reference radius is set to 52% of the flat radius to reflect the dynamic opening characteristics of the umbrella in the actual wind field.

[0035] Furthermore, assuming the rope is a one-dimensional object, parametric equations are used to describe the rope's motion and deformation. Figure 4 A schematic diagram of a rope according to a specific embodiment of the present invention, as shown below. Figure 4 As shown, assume the spatial coordinates of the rope are... Let's analyze the forces acting on a infinitesimal rope segment of length dl. This infinitesimal rope segment experiences tension in two directions, namely... and Simultaneously, it is subjected to the force of a distributed force system in the infinitesimal segment. From force equilibrium, we can deduce the equations of motion for the infinitesimal element:

[0036]

[0037] in The linear density of the rope. The acceleration of the local infinitesimal rope segment is given by the fact that the rope is not subject to shear. ,in Since the direction is tangential to the rope, the dynamic equation of the entire system is:

[0038]

[0039] Since the embodiments of this invention also use parametric equations to give the coordinates of the rope, it is also necessary to provide the kinematic equations of the rope (i.e., the description of the physical quantities of the main cable model unit):

[0040] Furthermore, in some embodiments, the target multibody dynamics model is subjected to force analysis to obtain the static control equations and dynamic control equations of the target multibody dynamics model, including: performing force analysis to obtain the force analysis results of the main cable model unit, the high-altitude parachute model unit, and the buoyancy ball model unit; based on the preset mechanical equilibrium principle and aerodynamic load relationship, according to the force analysis results of the main cable model unit, the high-altitude parachute model unit, and the buoyancy ball model unit, respectively, obtaining the force balance equations of the main cable model unit, the high-altitude parachute model unit, and the buoyancy ball model unit; discretizing the main cable model unit, the high-altitude parachute model unit, and the buoyancy ball model unit based on the structural parameters of the parachute ladder system to obtain the spatial node discretization results; discretizing the static control equations and dynamic control equations based on the spatial node discretization results to obtain the static equilibrium equations, and obtaining the dynamic control equations based on the preset dynamic variables and the static equilibrium equations. Furthermore, after obtaining the basic model of the rope, it is necessary to model the distributed force system acting on the rope. The main forces acting on the rope include gravity, wind force, the force exerted by the umbrella on the rope, the lift force of the balloon, and the bending and torsional forces of the rope. Among these, the distributed force system caused by gravity is relatively simple. Assuming the rope is uniform, the distributed force system caused by gravity can be directly written as follows: , Let be the linear density of the rope, and let be the distributed force system caused by wind. The force exerted on the rope by the wind is:

[0041] in, The force is tangential due to viscosity. This represents the resistance in the normal direction caused by the flow around the cylinder. For tangential drag coefficient, This is the normal drag coefficient. air density, Let the radius be the radius of the rope. The tangential relative velocity, The normal relative velocity, It is the tangential vector. It is the normal vector.

[0042] Figure 5 This is a fitting curve of the lift and drag coefficients of a parachute under different operating conditions provided by a specific embodiment of the present invention, wherein... Figure 5 (a) is the fitted curve of the drag coefficient. Figure 5 (b) is the fitting curve of the lift coefficient. Figure 5 (c) is a schematic diagram of the torque coefficient fitting curve, as shown below. Figure 5 As shown, the two have little difference in lift and drag coefficients, but some difference in torque coefficient. However, since the torque coefficient itself is small, these differences have a very limited impact on the system.

[0043] For example, this invention uses numerical simulation to calculate the lift-drag coefficient of the parachute. There are two sets of lift-drag coefficients under different parachute and incoming flow velocities. Polynomial fitting is used to obtain formulas for the lift-drag coefficient of the two sets of data. Specifically, the fitting formula for the lift-drag coefficient of the U2R10 model high-altitude parachute under an incoming flow of 5 m / s is:

[0044]

[0045]

[0046] in, For the angle of attack, The drag coefficient, The lift coefficient, This is the torque coefficient. Figure 6 This is a fitting curve of the lift-drag coefficient of an umbrella according to a specific embodiment of the present invention. Figure 6 (a) is the fitted curve of the drag coefficient. Figure 6 (b) is the fitting curve of the lift coefficient. Figure 6 (c) is a schematic diagram of the torque coefficient fitting curve.

[0047] Furthermore, the fitting formula for the lift and drag coefficients of the U2R10 model high-altitude parachute under an incoming flow of 10 m / s is as follows:

[0048]

[0049]

[0050] further, Figure 7 This is a schematic diagram illustrating the effect of an umbrella on a rope according to a specific embodiment of the present invention, as shown below. Figure 7 As shown, the force exerted by the umbrella on the rope is considered as a concentrated force acting at the two points A and B where the umbrella and rope contact. The distributed force system on the rope is as follows If the umbrella experiences a net force from the wind at its equivalent point of action C, then the umbrella will be subjected to the net force of the wind. (At this point, there is no torque). Assuming the umbrella is a rigid body, and since its mass is only 35 kg, its inertia relative to the balloon is very small, so the mass of the umbrella can be ignored (equivalent to the umbrella being in equilibrium at all times). From this, we can obtain the force and torque balance equations for the umbrella:

[0051] Solving this system of six linear equations will yield the result. .

[0052] Furthermore, the magnitudes of the bending and torsional forces can be calculated using the rope's state parameters. The formulas for calculating the bending and torsional forces are as follows:

[0053]

[0054]

[0055] in, For bending force, For the translational component of the torsional force, Assuming the torsional force is the rotational component, tests show that the bending force is approximately on the order of 10N, which is negligible compared to the forces acting on the entire system. Therefore, since the rope does not experience tensile deformation, and assuming the umbrella is a rigid body and its mass is ignored (equivalent to the umbrella being in equilibrium at all times), the basic equations (i.e., the target multibody dynamics model) are as follows:

[0056]

[0057]

[0058]

[0059]

[0060] Furthermore, this embodiment of the invention analyzes the statics problem after the system reaches equilibrium, discretizing the rope into... There are several nodes, and the mass and force of the rope are concentrated at each node; the distance between every two nodes is... ,in The total rope length; the first The node to the first The distance vector between the nodes is The basic equations after discretization are:

[0061]

[0062]

[0063]

[0064] The boundary condition is that the endpoint positions are fixed: And the endpoint force is fixed: ,variable Together they form a The solution to the statics problem can be obtained by solving the nonlinear equations.

[0065] Furthermore, after analyzing the static equilibrium equations, this embodiment of the invention introduces dynamic variables. Using the superscript m to represent the m-th time, the discrete format of the acceleration is:

[0066] Therefore, the dynamic control equations can be obtained as follows:

[0067]

[0068]

[0069]

[0070] in, For the mass of each point mass, the boundary conditions are given by the endpoint forces: Similar to statics problems, the solution to a dynamics problem can be obtained by solving a system of 4N equations.

[0071] In step S103, based on the static control equation and the dynamic control equation, the initial dynamic response result of the parachute system is obtained, and the rapid simulation result of the high-altitude parachute dynamics is generated based on the initial dynamic response result.

[0072] In some embodiments, the initial dynamic response of the umbrella ladder system is obtained based on the static control equations and the dynamic control equations, including: obtaining an initial nonlinear equation set based on the static control equations and the dynamic control equations, and normalizing the initial nonlinear equation set to obtain a target nonlinear equation set; solving the target nonlinear equation set based on a preset Newton-Jacobi iteration and matrix fast inversion algorithm to obtain the initial dynamic response of the umbrella ladder system.

[0073] Specifically, after the rope is discretized into N nodes, the governing equations of the system can be expressed as a set of nonlinear equations in the following form:

[0074]

[0075]

[0076]

[0077]

[0078]

[0079]

[0080] in, It can be simplified to , The specific expression has been given above, namely As the independent variable to be solved, the static equilibrium state is used as the initial value for iteration. Substitute it into the target nonlinear equation system, calculate the residual vector and Jacobian matrix of the current iteration step, and use a fast matrix inversion algorithm (such as LU decomposition of sparse matrix or inversion of strip matrix) to solve for the inverse of the Jacobian matrix and calculate the iteration correction.

[0081] Specifically, in some embodiments, the target nonlinear equations are solved based on a preset Newton-Jacobi iteration and matrix fast inversion algorithm to obtain the initial dynamic response results of the umbrella ladder system. This includes: calculating the Jacobian matrix of the current iteration step based on a pre-constructed iterative solution format and a preset initial iteration value, and obtaining the matrix inverse solution based on the Jacobian matrix of the current iteration step using a preset matrix fast inversion algorithm; iterating the target nonlinear equations based on the matrix inverse solution to obtain the target iterative solution of the target nonlinear equations; if the target iterative solution satisfies a preset iterative convergence condition, acquiring the system displacement data, velocity data, and internal force response data of the target iterative solution, and obtaining the initial dynamic response results based on the system displacement data, velocity data, and internal force response data.

[0082] As one possible implementation method, the iterative format of the high-dimensional Newton's method is determined as follows:

[0083] in, Indicates the number of iterations. Let Jacobian matrix be defined as follows:

[0084] Since inverting high-dimensional non-sparse matrices is slow, this invention establishes a fast matrix inversion algorithm, namely, establishing the Jacobi matrix of the system as follows:

[0085] The system equations are:

[0086]

[0087]

[0088]

[0089] remember

[0090] Then it can be done Solve the following:

[0091] Then, the position coordinates are calculated:

[0092]

[0093]

[0094] The initial dynamic response results are obtained, where, Figure 8 A schematic diagram of the verification curve for a statics problem provided according to a specific embodiment of the present invention, such as... Figure 8 As shown, the solution results were compared with the theoretical formula for the catenary, and the results verified the correctness of the calculation.

[0095] It should be noted that during the solution process All are sparse matrices. Since it is a tridiagonal matrix, the solution speed of the entire problem mainly depends on the following three processes, namely, finding... ,beg Solve the system of equations .

[0096] To verify the effectiveness of the fast matrix inversion algorithm in this embodiment of the invention, the calculation time for one hundred iterations in the main loop was statistically analyzed. The original method took 28.17 seconds, while the improved method took 7.5 seconds. Figure 9 A schematic diagram illustrating the computation time consumption according to a specific embodiment of the present invention is provided, such as Figure 9 As shown, the most time-consuming part is solving... (2.9), the two processes 2 and 3 are 1.54 and 0.76 respectively. Therefore, by using the optimized matrix fast inversion algorithm, the program can calculate the takeoff process of 1800m rope in 600s in less than half an hour, which greatly speeds up the calculation efficiency.

[0097] Furthermore, in some embodiments, generating rapid simulation results of the high-altitude parachute ladder dynamics based on the initial dynamic response results includes: determining the real-time load under dynamic conditions based on spatiotemporally continuous wind field data and the initial dynamic response results; obtaining corrected dynamic response results based on preset system constraints on the initial dynamic response results; calculating the dynamic mechanical response and trajectory of the target multibody dynamic model based on the real-time load under dynamic conditions and the corrected dynamic response results; and obtaining rapid simulation results of the high-altitude parachute ladder dynamics based on the dynamic mechanical response and trajectory of the target multibody dynamic model.

[0098] Specifically, this embodiment of the invention acquires the aerodynamic loads borne by the parachute, main cable, and buoyancy ball under dynamic conditions in real time based on the initial dynamic response results. Simultaneously, it corrects the initial dynamic response results according to preset system constraints such as main cable length constraints, endpoint position constraints, and parachute cable connection constraints, ensuring that the system configuration and forces meet the constraint requirements. Then, the dynamic real-time loads and the corrected dynamic response results are substituted into the target multibody dynamics model, and the solution is obtained by time-step progression. This calculates the dynamic mechanical responses of each component of the system over time, including tension, displacement, velocity, and attitude, as well as the three-dimensional motion trajectories of the parachute, buoyancy ball, and cable nodes. Finally, the dynamic mechanical response and motion trajectory data are integrated and processed to form complete data containing system attitude, cable tension, trajectory, and mechanical characteristics, ultimately yielding rapid simulation results of the high-altitude parachute ladder dynamics.

[0099] To enable those skilled in the art to better understand the rapid simulation method for the dynamic system of high-altitude parachute ladders according to the embodiments of the present invention, the following explanation will be provided in conjunction with specific embodiments.

[0100] Figure 10 This is a schematic diagram of an umbrella ladder system according to a specific embodiment of the present invention. Figure 10 (a) is a single-umbrella structure. Figure 10 (b) is a double-umbrella structure, such as Figure 10 As shown, the parachute extends upwards and downwards by one length of parachute line, forming the working section of the parachute. This ensures sufficient spacing between the parachute lines. A 40m diameter balloon with 10t lift is used, and five 40m diameter parachutes are connected below, with a total rope length of 1800m and a rope diameter of 76mm. Since the near-ground wind speed is along the negative x-direction and the high-altitude wind speed is verified to be along the positive x-direction, the system will eventually return to the positive x-direction after takeoff. The total simulation time is 10 minutes, and three cases from two regions were simulated. Figure 11 This is a schematic diagram of the operation of a high-altitude parachute system in region A at time a, according to a specific embodiment of the present invention. Figure 12 This is a schematic diagram of the operation of a high-altitude parachute system in region A at time b, according to a specific embodiment of the present invention. Figure 13 This is a schematic diagram of the operation of an aerial parachute system in area B according to a specific embodiment of the present invention, as shown below. Figure 11 As shown, the system configuration at different critical moments from 60s to 400s is illustrated, representing the system's gradual transition from a low altitude and high curvature to a stable operating state with the cables nearly vertical at a high altitude. This demonstrates the process of gradually increasing cable tension and the dynamic adjustment of the system configuration with buoyancy and wind field. Figure 12As shown, this figure illustrates the attitude evolution of a parachute ladder system during the initial takeoff phase, using a three-dimensional coordinate system. In the coordinate system, x and y represent the horizontal direction, and z represents the vertical direction. During the initial takeoff phase, from 30s to 190s, the system begins its ascent from near the ground. The main cable exhibits a distinct catenary shape with significant curvature. The positions of the parachute and buoyancy ball rise along the z-axis over time, while simultaneously shifting horizontally due to wind influence. The impact of the wind field on the cable morphology and parachute attitude can be clearly observed. Figure 13 As shown, as the system altitude increases, the influence of wind field environment changes on cable morphology and umbrella attitude weakens, and the system gradually tends to stabilize.

[0101] further, Figure 14 This is a schematic diagram of the all-day operation of a high-altitude parachute system in region A at time a, according to a specific embodiment of the present invention. Figure 15 This is a schematic diagram of the all-day operation of a high-altitude parachute system in region A at time b, provided according to a specific embodiment of the present invention. Figure 16 This is a schematic diagram of the all-day operation of an aerial parachute system in area B according to a specific embodiment of the present invention, as shown below. Figure 14 As shown, the coupling relationship between wind direction, wind speed, and system configuration is illustrated. For example, at 12h, 16h, and 20h, the system exhibits a significant horizontal shift due to the wind field, while the shift decreases at night when the wind field weakens. Figure 15 As shown, during periods of strong wind (e.g., daytime), the cables exhibit significant horizontal deviation and bending; during periods of weak wind (e.g., early morning / nighttime), the cables are more vertical, resulting in greater overall system stability. The system maintains normal deployment and force balance of the umbrella array under various wind conditions, verifying its operational stability. Figure 16 As shown, during the early morning hours (1h, 4h), the wind field is relatively weak, the cable shape is close to vertical, the horizontal deviation is small, and the umbrellas are concentrated. During the daytime to nighttime hours (8h, 16h, 23h), the wind field gradually strengthens and then weakens, the horizontal deviation of the cable first increases and then decreases, and the umbrella group as a whole shifts with the wind direction.

[0102] Furthermore, to demonstrate the effectiveness of the rapid simulation method for the high-altitude parachute ladder dynamics system, this embodiment of the invention also built a rapid simulation visualization program for the high-altitude parachute ladder system based on MATLAB. First, the main script file contains all the provided code, usually saved as a .m file. Second, the data files mainly include two types: data / shenmu1115_qusi_result1800.mat, which contains the core simulation results (such as the changes of X, Y, and Z coordinates of each rope node over time x_t, y_t, z_t, and rope tension T_t, etc.), and wind field processing / Hami_WRF_20241211data.mat, which contains wind field data variables such as lon, lat, time, altitude, h, t, u, v, w. Finally, auxiliary functions call functions such as getUVW, Fu3d, and Force_wind, and it is necessary to ensure that these function files (.m files) exist in the MATLAB path.

[0103] Furthermore, this program primarily provides the following functions: First, 3D trajectory visualization of the high-altitude parachute ladder system, which dynamically displays the rope trajectory, the position of the end balloon, and the attitude of the parachute in three-dimensional space based on the loaded simulation results; second, velocity field visualization, which visually displays the velocity distribution of the parachute ladder system at different locations by drawing velocity vector arrows at specific nodes of the rope; third, rope tension curve plotting, which can plot a 2D curve of the rope tension changing over time at the first node (or a specific node); fourth, system parameter configuration, which provides the createConfigFile function to generate a params.mat file containing parameters for the rope, balloon, parachute, simulation control, and wind field, facilitating the management and modification of simulation parameters; and fifth, system parameter loading and display, which provides the loadParameters function to load parameters from the params.mat file and output its detailed information to the command-line window.

[0104] Furthermore, for parameter configuration (using the `createConfigFile` function), a `params.mat` file is generated, containing all the system parameters required for the simulation. This function can be called directly in the MATLAB command window, or by creating a new `.m` file. Matlab createConfigFile(); % This will create the params.mat file in the current directory. % or specify the filename and path % createConfigFile('my_simulation_params.mat'); The params.rope parameters include D (rope diameter in meters), L (rope length in meters), N (number of discrete nodes), rho (rope linear density in kilograms per meter), dl (node ​​spacing in meters), and dm (array of node masses in kilograms); the params.balloon parameters include Vb (balloon volume in cubic meters), Mb (balloon mass in kilograms), M (mass used for inertia calculations in kilograms), Ab (frontal area in square meters), and Buoyancy (buoyancy in Newtons); the params.parachute parameters include num (number of umbrellas), Rup (array of umbrella radii in meters), TypeLR (array of umbrella rope connection length types), Lu_rope (array of umbrella rope lengths in meters), u_loc (discrete node positions of umbrellas on the ropes, indices), and dis (discrete distances of umbrellas); and the params.simulation parameters include g (acceleration due to gravity). The parameters are: Iwind (unit: m / s²), U (incoming flow velocity, unit: m / s, may be covered by wind field), dt (time step, unit: s), Nim (problem dimension, e.g., 3 represents 3D), IMOTION (whether to consider dynamics, 1 for yes, 0 for no), tol (convergence tolerance), max_iter (maximum number of iterations), T_max (maximum simulation time, unit: s), save_interval (result save interval), output_interval (output interval), and rho_air (air density); params.wind contains wind field parameters, including Iwind (wind field type, 1 for uniform flow field, 2 for non-uniform flow field, requires external MAT file), U (wind speed under uniform flow field, unit: m / s), and name (path to non-uniform flow field data file, e.g., 'wind field processing / Hami_WRF_20241211data.mat'); the loadParameters function is used to load parameters from the params.mat file and display them in the command line window.

[0105] Furthermore, call this function from the MATLAB command line: Matlab params = loadParameters(); % Load params.mat from the current directory % or specify the filename and path % params = loadParameters('my_simulation_params.mat'); The function loads the parameters and prints a detailed summary of system parameters to the MATLAB command window.

[0106] Next, solve the parachute ladder dynamics (i.e., the main function). First, prepare all dependent functions, ensuring that all necessary .m files, such as createConfigFile.m, loadParameters.m, initializeSystem.m, f_dynamic.m, RHS.m, getUVW.m, saveResults.m, and plotSimulationResults.m, exist and are located in the current working directory of MATLAB or have been added to the MATLAB path. Next, open the createConfigFile.m file. Inside the function, modify the default values ​​of parameters such as rope, balloon, parachute, simulation control, and wind field according to the simulation requirements, and save createConfigFile.m. Run createConfigFile('A.mat') in the MATLAB command window or at the beginning of this main script. This will generate the simulation parameter file. If params.wind.Iwind is set to 2 in createConfigFile.m, a wind field data file named "Wind Field Processing" is required; ensure its path is correct. Save the main script code as main_simulation.m. In the MATLAB command window, type main_simulation and press Enter, or in MATLAB... Click the "Run" button in the editor. During the simulation, the MATLAB command window will periodically output the current simulation time, flight altitude, end tension, and top wind speed, allowing you to monitor the simulation progress in real time.

[0107] Furthermore, this embodiment of the invention uses the visualization simulation results (the `dynamicplot_single` function) to display existing simulation results. First, ensure that a folder named `data` exists in the MATLAB workspace or MATLAB path, and place the `B.mat` file in it. If a non-uniform wind field is used, ensure that the wind field processing file also exists in the corresponding path. Second, enter `dynamicplot_single` in the MATLAB command window and press Enter, or click the "Run" button in the MATLAB editor. The code will pop up a 3D graphics window, displaying the attitude, rope, balloon, parachute, and velocity vector of the parachute system at different time points (defined by `selected_times`). Subsequently, a second 2D graphics window will pop up, displaying the curve of the tension T of the first node (or a specified node) of the rope changing with time t. Finally, in the main script, the specific time point (unit: seconds) to be visualized can be selected by modifying the `selected_times` variable, thereby realizing the visualization of the rapid simulation of the high-altitude parachute dynamic system.

[0108] The rapid simulation method for high-altitude parachute ladder dynamics provided by the present invention first acquires the structural parameters of the parachute ladder system and the high-altitude wind field environment data, and performs spatiotemporal interpolation processing on them to obtain a spatiotemporally continuous wind field. Then, based on this, a multibody dynamics model is constructed, and static and dynamic control equations are established through force analysis. Finally, the initial dynamic response is obtained by solving the control equations, and the rapid simulation results of high-altitude parachute ladder dynamics are generated. This method solves the problems of low computational efficiency and poor interpretability in the rapid simulation of high-altitude parachute ladder dynamics systems in related technologies, and improves the computational efficiency and interpretability of the rapid simulation method.

[0109] Next, the rapid simulation device for the dynamic system of a high-altitude parachute ladder provided according to an embodiment of the present invention is described with reference to the accompanying drawings.

[0110] Figure 17 This is a block diagram of a rapid simulation device for a high-altitude parachute ladder dynamics system provided according to an embodiment of the present invention.

[0111] like Figure 17 As shown, the rapid simulation device for the high-altitude parachute ladder dynamics system includes: an acquisition module 100, a construction module 200, and a generation module 300.

[0112] The acquisition module 100 is used to acquire the structural parameters of the parachute system and the high-altitude wind field environment data of the target simulation scenario, and to perform spatiotemporal interpolation processing on the high-altitude wind field environment data to obtain spatiotemporally continuous wind field data; the construction module 200 is used to construct the target multibody dynamics model based on the parachute system structural parameters and the spatiotemporally continuous wind field data, and to perform force analysis on the target multibody dynamics model to obtain the static control equations and dynamic control equations of the target multibody dynamics model; the generation module 300 is used to obtain the initial dynamic response results of the parachute system based on the static control equations and dynamic control equations, and to generate the rapid simulation results of the high-altitude parachute dynamics based on the initial dynamic response results.

[0113] Furthermore, in some embodiments, the construction module 200 is specifically used for: constructing a main cable model unit, an aerial parachute model unit, and a buoyancy ball model unit based on the structural parameters of the parachute ladder system; constructing an initial multibody dynamics model based on the main cable model unit, the aerial parachute model unit, and the buoyancy ball model unit; determining the external wind load input conditions of the parachute ladder system based on spatiotemporally continuously distributed wind field data, and obtaining the target multibody dynamics model based on the external wind load input conditions and the initial multibody dynamics model.

[0114] Furthermore, in some embodiments, the construction module 200 is also used to: perform force analysis on the main cable model unit, the parachute model unit, and the buoyancy ball model unit respectively, and obtain the force analysis results of the main cable model unit, the parachute model unit, and the buoyancy ball model unit; based on the preset mechanical equilibrium principle and aerodynamic load relationship, according to the force analysis results of the main cable model unit, the parachute model unit, and the buoyancy ball model unit, respectively, obtain the force balance equations of the main cable model unit, the parachute model unit, and the buoyancy ball model unit; based on the force balance equations of the main cable model unit, the parachute model unit, and the buoyancy ball model unit, obtain the static equilibrium equations; and based on the preset dynamic variables, obtain the dynamic control equations according to the static equilibrium equations.

[0115] Furthermore, in some embodiments, the generation module 300 is specifically used to: obtain an initial nonlinear equation set based on the static control equation and the dynamic control equation, and normalize the initial nonlinear equation set to obtain the target nonlinear equation set; solve the target nonlinear equation set based on a preset Newton-Jacobi iteration and matrix fast inversion algorithm to obtain the initial dynamic response result of the umbrella ladder system.

[0116] Furthermore, in some embodiments, the generation module 300 is also used to: calculate the Jacobian matrix of the current iteration step based on a pre-constructed iterative solution format and a preset initial iteration value, and obtain the matrix inverse solution based on the Jacobian matrix of the current iteration step using a preset fast matrix inversion algorithm; iterate the target nonlinear equation system based on the matrix inverse solution to obtain the target iterative solution of the target nonlinear equation system; if the target iterative solution satisfies the preset iterative convergence condition, obtain the system displacement data, velocity data, and internal force response data of the target iterative solution, and obtain the initial dynamic response result based on the system displacement data, velocity data, and internal force response data.

[0117] Furthermore, in some embodiments, the generation module 300 is also used to: determine the real-time load under dynamic conditions based on spatiotemporally continuous wind field data and initial dynamic response results; obtain corrected dynamic response results based on preset system constraints on the initial dynamic response results; calculate the dynamic mechanical response and motion trajectory of the target multibody dynamic model based on the real-time load under dynamic conditions and the corrected dynamic response results; and obtain rapid simulation results of the high-altitude parachute ladder dynamics based on the dynamic mechanical response and motion trajectory of the target multibody dynamic model.

[0118] It should be noted that the foregoing explanation of the rapid simulation method for the dynamic system of high-altitude parachute ladders also applies to the rapid simulation device for the dynamic system of high-altitude parachute ladders in this embodiment, and will not be repeated here.

[0119] The rapid simulation device for high-altitude parachute ladder dynamics provided in this embodiment of the invention first acquires the structural parameters of the parachute ladder system and the high-altitude wind field environment data, and performs spatiotemporal interpolation processing on them to obtain a spatiotemporally continuous wind field. Then, based on this, a multibody dynamics model is constructed, and static and dynamic control equations are established through force analysis. Finally, the initial dynamic response is obtained by solving the control equations, and the rapid simulation results of high-altitude parachute ladder dynamics are generated. This solves the problems of low computational efficiency and poor interpretability in the rapid simulation of high-altitude parachute ladder dynamics systems in related technologies, and improves the computational efficiency and interpretability of the rapid simulation method.

[0120] Figure 18 This is a schematic diagram of an electronic device provided according to an embodiment of the present invention. The electronic device may include: The memory 1801, the processor 1802, and the computer program stored on the memory 1801 and executable on the processor 1802.

[0121] When processor 1802 executes the program, it implements the fast simulation method for the dynamic system of the high-altitude parachute ladder provided in the above embodiments.

[0122] Furthermore, electronic devices also include: Communication interface 1803 is used for communication between memory 1801 and processor 1802.

[0123] Memory 1801 is used to store computer programs that can run on processor 1802.

[0124] The memory 1801 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0125] If the memory 1801, processor 1802, and communication interface 1803 are implemented independently, then the communication interface 1803, memory 1801, and processor 1802 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 18 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0126] Optionally, in a specific implementation, if the memory 1801, processor 1802, and communication interface 1803 are integrated on a single chip, then the memory 1801, processor 1802, and communication interface 1803 can communicate with each other through an internal interface.

[0127] The processor 1802 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present invention.

[0128] In addition, embodiments of the present invention also provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described method for rapid simulation of the dynamic system of a high-altitude parachute ladder.

[0129] In addition, embodiments of the present invention also provide a computer program product, including a computer program that is executed to implement the above-described method for rapid simulation of the dynamic system of a high-altitude parachute ladder.

[0130] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0131] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0132] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A rapid simulation method for a high-altitude parachute ladder dynamics system, characterized in that, Includes the following steps: Obtain the structural parameters of the umbrella ladder system and the high-altitude wind field environment data of the target simulation scenario, and perform spatiotemporal interpolation processing on the high-altitude wind field environment data to obtain spatiotemporally continuous wind field data; Based on the structural parameters of the umbrella ladder system and the spatiotemporally continuous wind field data, a target multibody dynamics model is constructed, and the force analysis of the target multibody dynamics model is performed to obtain the static control equations and dynamic control equations of the target multibody dynamics model. Based on the static and dynamic control equations, the initial dynamic response of the parachute system is obtained, and the rapid simulation results of the high-altitude parachute dynamics are generated based on the initial dynamic response results.

2. The method according to claim 1, characterized in that, The construction of the target multibody dynamics model based on the structural parameters of the umbrella ladder system and the spatiotemporally continuous wind field data includes: Based on the structural parameters of the umbrella ladder system, a main cable model unit, an aerial umbrella model unit, and a buoyancy ball model unit are constructed respectively. Based on the main cable model unit, the high-altitude parachute model unit, and the buoyancy ball model unit, an initial multibody dynamics model is constructed. Based on the spatiotemporally continuous wind field data, the external wind load input conditions of the umbrella ladder system are determined, and based on the external wind load input conditions and the initial multibody dynamics model, the target multibody dynamics model is obtained.

3. The method according to claim 2, characterized in that, Force analysis was performed on the target multibody dynamics model to obtain the static and dynamic control equations of the target multibody dynamics model, including: The force analysis results of the main cable model unit, the high-altitude parachute model unit, and the buoyancy ball model unit were obtained by performing force analysis respectively. Based on the preset mechanical equilibrium principle and aerodynamic load relationship, according to the force analysis results of the main cable model unit, the high-altitude parachute model unit, and the buoyancy ball model unit, the force balance equations of the main cable model unit, the high-altitude parachute model unit, and the buoyancy ball model unit are obtained respectively. Based on the structural parameters of the umbrella ladder system, the main cable model unit, the high-altitude umbrella model unit, and the buoyancy ball model unit are discretized to obtain the spatial node discretization result; Based on the spatial node discretization result, the static control equation and the dynamic control equation are discretized to obtain the static equilibrium equation, and based on the preset dynamic variables, the dynamic control equation is obtained according to the static equilibrium equation.

4. The method according to claim 2, characterized in that, The initial dynamic response results of the umbrella ladder system, obtained based on the static and dynamic control equations, include: Based on the static control equations and the dynamic control equations, an initial set of nonlinear equations is obtained, and the initial set of nonlinear equations is normalized to obtain the target set of nonlinear equations. The target nonlinear equations are solved using a pre-defined Newton-Jacobi iteration and matrix fast inversion algorithm to obtain the initial dynamic response results of the umbrella ladder system.

5. The method according to claim 4, characterized in that, The target nonlinear equations are solved using a pre-defined Newton-Jacobi iteration and matrix fast inversion algorithm to obtain the initial dynamic response results of the umbrella ladder system, including: Based on a pre-constructed iterative solution format and a preset initial iteration value, the Jacobian matrix of the current iteration step is calculated, and the matrix inverse solution is obtained based on the preset fast matrix inversion algorithm according to the Jacobian matrix of the current iteration step. The target nonlinear equation system is iterated based on the inverse solution of the matrix to obtain the target iterative solution of the target nonlinear equation system; If the target iterative solution satisfies the preset iterative convergence condition, then the system displacement data, velocity data, and internal force response data of the target iterative solution are obtained, and the initial dynamic response result is obtained based on the system displacement data, the velocity data, and the internal force response data.

6. The method according to claim 2, characterized in that, The process of generating rapid simulation results of high-altitude parachute dynamics based on the initial dynamic response results includes: Based on the spatiotemporally continuous wind field data and the initial dynamic response results, the real-time load under dynamic conditions is determined. Based on the preset system constraints, the initial dynamic response results are used to obtain the corrected dynamic response results; Based on the real-time load under the dynamic working condition and the corrected dynamic response results, the dynamic mechanical response and motion trajectory of the target multibody dynamic model are calculated. Based on the dynamic mechanical response of the target multibody dynamics model and the motion trajectory, the results of the rapid simulation of the high-altitude parachute dynamics are obtained.

7. A rapid simulation device for a high-altitude parachute ladder dynamics system, characterized in that, include: The acquisition module is used to acquire the structural parameters of the umbrella ladder system and the high-altitude wind field environment data of the target simulation scene, and to perform spatiotemporal interpolation processing on the high-altitude wind field environment data to obtain spatiotemporally continuous wind field data. The module is used to construct a target multibody dynamics model based on the structural parameters of the umbrella ladder system and the spatiotemporally continuous wind field data, and to perform force analysis on the target multibody dynamics model to obtain the static control equations and dynamic control equations of the target multibody dynamics model. The generation module is used to obtain the initial dynamic response results of the parachute system based on the static control equations and dynamic control equations, and to generate rapid simulation results of the high-altitude parachute dynamics based on the initial dynamic response results.

8. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and capable of running on the processor, the processor executing the program to implement the rapid simulation method for a high-altitude parachute ladder dynamics system as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by a processor to implement the rapid simulation method for the dynamic system of a high-altitude parachute ladder as described in any one of claims 1-6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the rapid simulation method for the dynamic system of the high-altitude parachute ladder as described in any one of claims 1-6.

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