Model coupling method, device, equipment and storage medium

Abstract

The application discloses a model coupling method and device, equipment and storage medium, and relates to the technical field of model simulation. The method comprises the following steps: acquiring a plurality of substructure models contained in a target multi-body system, and acquiring a connection relationship between to-be-connected nodes of each substructure model; numbering each to-be-connected node to obtain original node numbers; constructing a topological structure description matrix according to the original node numbers; the number combination in the first matrix direction of the topological structure description matrix is used to represent the connection relationship between the to-be-connected nodes on each substructure model, and the number combination is obtained by constructing the original node numbers of each to-be-connected node; and coupling the corresponding to-be-connected nodes according to the number combination of the topological structure description matrix to obtain a dynamic model of the target multi-body system. The application can automatically locate the nodes to be coupled and perform coupling through the number combination of the topological structure description matrix, thereby reducing manual links and improving modeling efficiency and reliability.

Description

Technical Field

[0001] This application relates to the field of model simulation technology, and in particular to a model coupling method, apparatus, device and storage medium. Background Technology

[0002] In the dynamic analysis of complex multibody systems (such as spacecraft, robots, and vehicles), it is usually necessary to establish an accurate dynamic model. To address the complex structural dynamics problems that arise during the modeling process, the dynamic substructure method is widely used in engineering. The core idea of ​​this method is to decompose a large and complex multibody system into several relatively simple substructures, model each substructure independently, and then assemble and couple the substructure models into a complete system dynamic model.

[0003] However, the traditional coupling process often involves manually identifying and coupling the connection nodes between each substructure model one by one based on the connection relationships. For example, in modeling a robotic arm, the arm is first broken down into substructures such as the base, shoulder joint, upper arm, elbow joint, forearm, wrist joint, and end effector. Then, each substructure model is built using finite element or multibody dynamics methods. Next, engineers need to manually identify and couple the connection interfaces between adjacent substructure models one by one based on the connection relationships of each substructure (e.g., coupling the rotary joint between the base and the shoulder joint, coupling the revolute joint between the shoulder joint and the upper arm, etc.), and finally manually assemble the entire model. However, for complex systems containing dozens or even hundreds of substructures, this manual sequential coupling method is not only inefficient but also highly susceptible to model errors due to human negligence or misjudgment of connection relationships, seriously affecting the reliability of subsequent simulation analysis. Summary of the Invention

[0004] The main objective of this application is to provide a model coupling method, apparatus, device, and storage medium, which aims to solve the technical problems of low efficiency and error-proneness in the existing dynamic substructure method of manually coupling multibody systems sequentially.

[0005] To achieve the above objectives, this application proposes a model coupling method, the method comprising: Obtain multiple substructure models contained in the target multibody system, and obtain the connection relationships between the nodes to be connected in each of the substructure models; Each node to be connected is numbered to obtain the corresponding original node number; A topology description matrix is ​​constructed based on the original node numbers of each node. The combination of numbers in the first matrix direction of the topology description matrix is ​​used to characterize the connection relationship between the nodes to be connected on each substructure model. The combination of numbers is obtained by constructing the original node numbers corresponding to each node to be connected. According to the numbering combination of the topology description matrix, the corresponding nodes to be connected are coupled to obtain the dynamic model of the target multibody system.

[0006] In one embodiment, the step of constructing a topology description matrix based on each of the original node numbers includes: Each of the substructure models is named to obtain the corresponding submodel identifier; An initial numbering matrix is ​​constructed based on the original node numbers, and the first matrix direction of the initial numbering matrix forms a numbering combination. Using the sub-model identifier as the model index corresponding to the second matrix direction of the initial numbering matrix, a topology description matrix is ​​constructed. The original node number of the topology description matrix in the second matrix direction represents the nodes to be connected in the corresponding sub-structure model that have a connection relationship. The step of coupling the corresponding nodes to be connected according to the numbering combination of the topology description matrix to obtain the dynamic model of the target multibody system includes: According to the model index and number combination of the topology description matrix, the corresponding nodes to be connected are coupled to obtain the dynamic model of the target multibody system.

[0007] In one embodiment, the step of coupling the corresponding nodes to be connected according to the model index and the number combination of the topology description matrix to obtain the dynamic model of the target multibody system includes: Obtain the numbering combinations of the initial numbering matrix along the direction of the first matrix; Perform an index query on the topology description matrix according to the direction of the second matrix to obtain the model index corresponding to each of the original node numbers in the number combination; A composite node number is constructed based on the model index corresponding to each of the original node numbers in the numbering combination and the original node numbers in the numbering combination. According to the composite node number, the nodes to be connected corresponding to each substructure model are coupled sequentially to obtain the dynamic model of the target multibody system.

[0008] In one embodiment, the step of naming each of the substructure models to obtain the corresponding submodel identifier includes: Select any one of the substructure models as the target model from each of the substructure models, and name the target model to obtain the submodel identifier corresponding to the target model; Based on the connection relationships, identify other unnamed substructure models that are connected to the target model; The other unnamed substructure models are named sequentially to obtain the corresponding submodel identifiers, and the current number of named substructure models is determined. Determine whether the current number of names reaches the number of substructure models included in the target multibody system; If the current number of names has not reached the number of models, the named substructure model is taken as the target model, and the step of determining other unnamed substructure models connected to the target model according to the connection relationship is returned to be executed until the current number of names reaches the number of models, and the submodel identifiers corresponding to each substructure model are obtained.

[0009] In one embodiment, the step of coupling the corresponding nodes to be connected according to the model index and the number combination of the topology description matrix to obtain the dynamic model of the target multibody system includes: Select a current first substructure model from each of the substructure models, and determine a current second substructure model that is not coupled with the current first substructure model from each of the substructure models; Based on the model index and the number combination of the topology description matrix, the current composite node number between the current first substructure model and the current second substructure model is determined; Based on the current composite node number, couple the node to be connected corresponding to the current first substructure model with the node to be connected corresponding to the current second substructure model. After coupling is completed, the current first substructure model and the current second substructure model are used as the current composite substructure model, and the current coupling number is determined. If the current coupling count has not reached the preset coupling count, the current composite substructure model is taken as the current first substructure model, and the step of determining the current second substructure model that is not coupled with the current first substructure model from each of the substructure models is returned until the current coupling count reaches the preset coupling count, thereby obtaining the dynamic model of the target multibody system.

[0010] In one embodiment, the step of taking the current composite substructure model as the current first substructure model when the current coupling count has not reached the preset coupling count, and returning to the step of determining the current second substructure model that is not coupled with the current first substructure model from among the substructure models, until the current coupling count reaches the preset coupling count, to obtain the dynamic model of the target multibody system, includes: If the current coupling count has not reached the preset coupling count, determine the uncoupled nodes to be connected in the current composite substructure model; Number the uncoupled nodes to be connected in the current composite substructure model to obtain the corresponding updated node numbers; The initial node information matrix is ​​updated according to the updated node numbers to obtain the current node information matrix; The current composite substructure model is taken as the current first substructure model, and the step of determining the current second substructure model that is not coupled with the current first substructure model is returned according to the current node information matrix, until the current coupling number reaches the preset coupling number, so as to obtain the dynamic model of the target multibody system.

[0011] In one embodiment, the step of updating the initial node information matrix according to each of the updated node numbers to obtain the current node information matrix includes: Obtain an initial node information matrix, the initial node information matrix including the model index corresponding to the second matrix direction with the sub-model identifier as the model index and all the original node numbers corresponding to the model index; Identify the nodes to be connected that are already coupled in the current composite substructure model; The original node numbers corresponding to the coupled nodes to be connected in the initial node information matrix are reset to zero; Based on the updated node numbers, the original node numbers corresponding to the uncoupled nodes to be connected in the initial node information matrix after it has been reset to zero are updated to obtain the current node information matrix.

[0012] Furthermore, to achieve the above objectives, this application also proposes a model coupling device, the device comprising: The acquisition module is used to acquire multiple substructure models contained in the target multibody system, and to acquire the connection relationships between the nodes to be connected in each of the substructure models; The numbering module is used to number each of the nodes to be connected, and obtain the corresponding original node number. A matrix module is used to construct a topology description matrix based on the original node numbers of each node. The combination of numbers in the first matrix direction of the topology description matrix is ​​used to characterize the connection relationship between the nodes to be connected on each substructure model. The combination of numbers is obtained by constructing the original node numbers corresponding to each node to be connected. The coupling module is used to couple the corresponding nodes to be connected according to the numbering combination of the topology description matrix to obtain the dynamic model of the target multibody system.

[0013] In addition, to achieve the above objectives, this application also proposes a model coupling device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the model coupling method as described above.

[0014] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and which, when executed by a processor, implements the steps of the model coupling method described above.

[0015] One or more technical solutions proposed in this application have at least the following technical effects: The model coupling method of this application includes: obtaining multiple substructure models contained in a target multibody system, and obtaining the connection relationship between the nodes to be connected in each of the substructure models; numbering each node to be connected to obtain the corresponding original node number; constructing a topology description matrix based on each original node number, wherein the number combination of the first matrix direction of the topology description matrix is ​​used to characterize the connection relationship between the corresponding nodes to be connected on each of the substructure models, and the number combination is obtained by constructing the original node number corresponding to each node to be connected; coupling the corresponding nodes to be connected according to the number combination of the topology description matrix to obtain the dynamic model of the target multibody system.

[0016] This application first obtains the multiple substructure models of the target multibody system and the connection relationships between the nodes to be connected in each substructure model. Then, it assigns numbers to each node to obtain original node numbers and constructs a topology description matrix based on these original node numbers. The combination of numbers along the first direction of this topology description matrix represents the connection relationships between the nodes to be connected in each substructure model. Finally, it automatically couples the corresponding nodes to be connected according to this combination of numbers to obtain the dynamic model. Compared to the existing method of manually identifying and coupling the connection nodes between substructure models one by one based on the connection relationships, this application can automatically locate and couple the node pairs to be coupled through the combination of numbers in the topology description matrix. This reduces the need for manual node identification and intervention, improving the efficiency and reliability of multibody system dynamic modeling. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating the model coupling method of this application in Embodiment 1. Figure 2 This is an architecture diagram of the topology description matrix provided in Embodiment 1 of this application; Figure 3 A scenario example diagram illustrating the naming and numbering of the substructure model provided in Embodiment 1 of this application; Figure 4 This is a flowchart illustrating Embodiment 2 of the model coupling method of this application; Figure 5 This is a flowchart illustrating the model coupling method of embodiment three in this application; Figure 6 This is a schematic diagram of the iterative coupling process provided in Embodiment 3 of this application; Figure 7 This is an example diagram of an iterative coupling scenario provided in Embodiment 3 of this application; Figure 8 This is a block diagram of the module structure of the model coupling device in an embodiment of this application; Figure 9 This is a schematic diagram of the hardware operating environment involved in the model coupling device in this application embodiment.

[0020] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0022] The main solution proposed in this application is as follows: In the dynamic analysis of complex multibody systems (such as spacecraft, robots, and vehicles), it is usually necessary to establish an accurate dynamic model. To address the complex structural dynamics problems that arise during the modeling process, the dynamic substructure method is widely used in engineering. The core idea of ​​this method is to decompose a large and complex multibody system into several relatively simple substructures, model each substructure independently, and then assemble and couple the substructure models into a complete system dynamic model.

[0023] However, the traditional coupling process often involves manually identifying and coupling the connection nodes between each substructure model one by one based on the connection relationships. For example, in modeling a robotic arm, the arm is first broken down into substructures such as the base, shoulder joint, upper arm, elbow joint, forearm, wrist joint, and end effector. Then, each substructure model is built using finite element or multibody dynamics methods. Next, engineers need to manually identify and couple the connection interfaces between adjacent substructure models one by one based on the connection relationships of each substructure (e.g., coupling the rotary joint between the base and the shoulder joint, coupling the revolute joint between the shoulder joint and the upper arm, etc.), and finally manually assemble the entire model. However, for complex systems containing dozens or even hundreds of substructures, this manual sequential coupling method is not only inefficient but also highly susceptible to model errors due to human negligence or misjudgment of connection relationships, seriously affecting the reliability of subsequent simulation analysis.

[0024] To address the aforementioned issues, this application provides a model coupling method. First, it obtains multiple substructure models of the target multibody system and the connection relationships between the nodes to be connected in each substructure model. Then, it assigns initial node numbers to each node to be connected and constructs a topology description matrix based on these initial node numbers. The combination of numbers along the first direction of this topology description matrix represents the connection relationships between the nodes to be connected in each substructure model. Finally, it automatically couples the corresponding nodes to be connected according to this combination of numbers to obtain the dynamic model. Compared to the existing method of manually identifying and coupling the connection nodes between substructure models one by one based on connection relationships, this application can automatically locate and couple the node pairs to be coupled through the combination of numbers in the topology description matrix. This reduces the need for manual node identification and intervention, improving the efficiency and reliability of multibody system dynamic modeling.

[0025] It should be noted that the executing entity of this application embodiment can be an electronic device with data processing, model building, and program running functions, such as a personal computer, server, embedded simulation platform, model coupling device, or other computer device capable of executing the model coupling method of this application. This embodiment does not limit this. The following uses a model coupling device (hereinafter referred to as the device) as an example to describe this embodiment and the following embodiments.

[0026] Based on this, this application proposes a model coupling method in the first embodiment, referring to... Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the model coupling method of this application. In this embodiment, the model coupling method may include steps S10 to S40: Step S10: Obtain the multiple substructure models contained in the target multibody system, and obtain the connection relationships between the nodes to be connected in each of the substructure models.

[0027] It should be noted that the target multibody system can be a complex mechanical system consisting of multiple components connected by nodes, which requires dynamic modeling, such as a spacecraft, industrial robot, or vehicle chassis system.

[0028] Understandably, a substructure model can be a dynamic model corresponding to each independent component obtained after decomposing the target multibody system. Each substructure model contains several nodes, which are used to connect with other substructure models.

[0029] It should be understood that the node to be connected can be a node on a substructure model used to establish connection relationships with other substructure models, and each substructure model can contain one or more nodes to be connected.

[0030] It should also be understood that connection relationships can specify which nodes between which substructure models need to be connected to each other. For example, suppose the target multibody system is a spacecraft solar panel deployment mechanism composed of four substructure models. Specifically, the "right hinge lug" of the substructure model (base) needs to be connected to the "left hinge axis" of the substructure model (first solar panel); the "right hinge axis" of the substructure model (first solar panel) needs to be connected to the "left hinge axis" of the substructure model (second solar panel); the "middle connecting rod support" of the substructure model (first solar panel) needs to be connected to the "upper joint of the driving link" of the substructure model (drive link); and the "right connecting rod support" of the substructure model (second solar panel) needs to be connected to the "lower joint of the driving link" of the substructure model (drive link). The aforementioned device acquires these four substructure models and the above four sets of connection relationships as input for subsequent steps.

[0031] In practical applications, when initially modeling the dynamics of a multibody system, it is necessary to first obtain the models of all substructures contained in the entire target multibody system. Next, the connection relationships between the nodes to be connected on each substructure model are obtained, providing foundational data for subsequent model coupling.

[0032] Step S20: Number each of the nodes to be connected to obtain the corresponding original node number.

[0033] It should be noted that the original node number can be an initial numerical identifier assigned to each node to be connected in the target multibody system to uniquely identify that node.

[0034] For example, following the example of the spacecraft solar panel deployment mechanism above, the nodes to be connected within each substructure model can be independently numbered sequentially starting from 1. For instance, the nodes of the substructure model (base) are numbered 1, 2, and 3, and the nodes of the substructure model (first solar panel) can also be numbered sequentially starting from 1, 2, and 3. Alternatively, all nodes to be connected in all substructure models can be uniformly numbered sequentially without repetition, starting from 1. For instance, the nodes of the substructure model (base) are numbered 1, 2, and 3, the nodes of the substructure model (first solar panel) are numbered sequentially starting from 4, 5, and 6, and the nodes of the substructure model (second solar panel) are numbered sequentially starting from 7, 8, and 9. Other methods are also possible, and this embodiment does not limit this.

[0035] In actual use, after the device obtains all the substructure models contained in the target multibody system and the connection relationships between each node to be connected, it traverses each substructure model. For the currently traversed substructure model, it assigns the original node number to all the nodes to be connected on the substructure model in the above-mentioned preset numbering order.

[0036] Step S30: Construct a topology description matrix based on the original node numbers of each node. The combination of numbers in the first matrix direction of the topology description matrix is ​​used to characterize the connection relationship between the nodes to be connected on each substructure model. The combination of numbers is obtained by constructing the original node numbers corresponding to each node to be connected.

[0037] Understandably, the topology description matrix can be a mathematical expression used to describe the connection relationships between all substructure models in a target multibody system. The rows and columns of this matrix represent different physical meanings, and the connections between nodes are characterized by the original node numbers in the matrix.

[0038] It should be understood that the first matrix direction can be a dimension of the topological description matrix, such as the row or column direction, used to form a combination of numbers reflecting the connection relationship in that direction. The combination of numbers can be a group of original node numbers located in the same column (or the same row) of the topological description matrix. Each number in this group comes from a different substructure model, indicating that the nodes to be connected corresponding to these numbers are connected to form a connection interface (i.e., they have a connection relationship).

[0039] For example, following the example of the spacecraft solar panel deployment mechanism above, the substructure model of the target multibody system includes a base, a first solar panel, a second solar panel, and a drive link; the base has two nodes to be connected, the first solar panel has four nodes to be connected, the second solar panel has three nodes to be connected, and the drive link has three nodes to be connected.

[0040] If the nodes to be connected within each substructure model are independently numbered sequentially starting from 1, the original node numbers are as follows: the base contains nodes 1 and 2 to be connected; the first solar panel contains nodes 1, 2, 3, and 4 to be connected; the second solar panel contains nodes 1, 2, and 3 to be connected; and the drive link contains nodes 1, 2, and 3 to be connected. Based on the above connection relationships, node 2 of the substructure model (base) needs to be connected to node 4 of the substructure model (first solar panel); node 2 of the substructure model (first solar panel) needs to be connected to node 1 of the substructure model (second solar panel); node 3 of the substructure model (first solar panel) needs to be connected to node 1 of the substructure model (drive link); and node 2 of the substructure model (second solar panel) needs to be connected to node 2 of the structural model (drive link). Thus, when constructing the matrix, it is first necessary to clarify the substructure model represented by each row. For example, the original node numbers in the first row belong to the base, the original node numbers in the second row belong to the first solar panel, the original node numbers in the third row belong to the second solar panel, and the original node numbers in the fourth row belong to the drive linkage. That is, the constructed topology description matrix can be: ; In this configuration, the first column's number combination of 2 and 4 indicates that node 2 of the base is connected to node 4 of the first solar panel; the second column's number combination of 2 and 1 indicates that node 2 of the first solar panel is connected to node 1 of the second solar panel; the third column's number combination of 3 and 1 indicates that node 3 of the first solar panel is connected to node 1 of the drive linkage; and the fourth column's number combination of 2 and 2 indicates that node 2 of the second solar panel is connected to node 2 of the drive linkage.

[0041] If all nodes to be connected in all substructure models are numbered sequentially and without repetition, starting from 1, the original node numbers are as follows: the base contains nodes 1 and 2; the first solar panel contains nodes 3, 4, 5, and 6; the second solar panel contains nodes 7, 8, and 9; and the drive link contains nodes 10, 11, and 12. Based on these connections, it can be converted that node 2 of the substructure model (base) needs to be connected to node 6 of the substructure model (first solar panel); node 4 of the substructure model (first solar panel) needs to be connected to node 7 of the substructure model (second solar panel); node 5 of the substructure model (first solar panel) needs to be connected to node 10 of the substructure model (drive link); and node 8 of the substructure model (second solar panel) needs to be connected to node 11 of the structural model (drive link). Thus, when constructing the matrix, it is not necessary to explicitly define the substructure model represented by each row; that is, the constructed topology description matrix can be: ; In this configuration, the first column's number combination of 2 and 6 indicates that node 2 of the base is connected to node 6 of the first solar panel; the second column's number combination of 4 and 7 indicates that node 4 of the first solar panel is connected to node 7 of the second solar panel; the third column's number combination of 5 and 10 indicates that node 5 of the first solar panel is connected to node 10 of the drive link; and the fourth column's number combination of 8 and 11 indicates that node 8 of the second solar panel is connected to node 11 of the drive link.

[0042] In practical use, after obtaining the original node numbers of each node to be connected, the device first determines the number of rows and columns of the topology description matrix. The number of rows corresponds to the number of substructure models, and the number of columns corresponds to the number of connection interfaces (each connection interface corresponds to one column of the matrix). Next, for each connection interface, the original node numbers corresponding to the nodes to be connected on each substructure model participating in that interface are obtained. These original node numbers are arranged in a fixed order according to the substructure models in that column, thus forming the corresponding number combination for that column. Each number combination completely represents the correspondence between the nodes to be connected in each substructure model on a connection interface. If a substructure model does not participate in that connection interface, 0 is filled in that position, thus constructing a complete topology description matrix.

[0043] Step S40: Couple the corresponding nodes to be connected according to the numbering combination of the topology description matrix to obtain the dynamic model of the target multibody system.

[0044] In practical use, after constructing the topology description matrix, the device reads each number combination from the matrix, with each number combination corresponding to a connection interface. For the currently processed number combination, based on the original node numbers contained in the combination, it identifies which substructure models and which nodes need to be connected. Then, the substructure models containing these nodes are assembled on the interface. After processing all the interfaces corresponding to all number combinations, all substructure models are gradually coupled into a complete assembly. The dynamic equations corresponding to this assembly constitute the dynamic model of the target multibody system.

[0045] Furthermore, when the number of substructure models is too large, resulting in excessively long original node numbers, indexing can be used for simplification. In this embodiment, the step of constructing a topology description matrix based on each of the original node numbers may include: Step S31: Name each of the substructure models to obtain the corresponding submodel identifier.

[0046] It should be noted that the sub-model identifier can be a globally unique code assigned to each substructure model, used to index different substructure models in the matrix, such as uppercase letters A, B, C, and D.

[0047] Step S32: Construct an initial numbering matrix based on the original node numbers, wherein the first matrix direction of the initial numbering matrix forms a numbering combination.

[0048] Understandably, the initial numbering matrix can be a matrix form used to record all the original node numbers of each substructure model, including all the original node numbers in the current coupling process.

[0049] Step S33: Use the sub-model identifier as the model index corresponding to the second matrix direction of the initial numbering matrix to construct a topology description matrix. The original node number in the second matrix direction of the topology description matrix represents the nodes to be connected in the corresponding sub-structure model that have a connection relationship.

[0050] It should be understood that the second matrix direction can be another dimensional direction perpendicular to the first matrix direction of the topological description matrix, such as the column direction or row direction, used to form an index reflecting the substructure in that direction.

[0051] It should also be understood that model indexing can use sub-model identifiers as row or column indices in a matrix, allowing for quick location of the corresponding row or column of the sub-structure model within the matrix. For example, the constructed topology description matrix is ​​as follows: Figure 2 As shown, Figure 2This is an architecture diagram of the topology description matrix provided in Embodiment 1 of this application. A, B, and C represent sub-model identifiers. The numbers in the matrix represent the original node numbers. Each column represents a connection interface between nodes (i.e., connection relationship, such as interface 1, 2, 3, 4, etc.). If there is no connection relationship between sub-structure models, then 0 is filled in.

[0052] For example, following the example of the spacecraft solar panel deployment mechanism above, for ease of understanding, this embodiment and the following embodiments use the first matrix direction as the column direction and the second matrix direction as the row direction, with the nodes to be connected within each substructure model independently numbered sequentially starting from 1. This is used as an example for illustration, but it does not limit the scope of this solution. Reference Figure 3 , Figure 3 The diagram illustrates the naming and numbering of substructure models provided in Embodiment 1 of this application. First, the four substructure models are named Base A, First Sailboard B, Second Sailboard C, and Drive Link D, resulting in a submodel identifier set {A, B, C, D}. Then, based on the above numbering, A contains nodes 1 and 2 to be connected; B contains nodes 1, 2, 3, and 4 to be connected; C contains nodes 1, 2, and 3 to be connected; and D contains nodes 1, 2, and 3 to be connected. Next, an initial numbering matrix is ​​constructed, using the submodel identifiers as row indices, to obtain the topology description matrix: ; Among them, such as Figure 3 As shown, A, B, C, and D have four connection interfaces (i.e., connection relationships): Interface 1 is A2 and B4, Interface 2 is B2 and C1, Interface 3 is B3 and D1, and Interface 4 is C2 and D2. This topology description matrix can completely and unambiguously describe the connection relationships between all substructure models in the target multi-body system, achieving a one-to-one mapping between the matrix and the system topology.

[0053] The step of coupling the corresponding nodes to be connected according to the numbering combination of the topology description matrix to obtain the dynamic model of the target multibody system includes: Step S41: Couple the corresponding nodes to be connected according to the model index and the number combination of the topology description matrix to obtain the dynamic model of the target multibody system.

[0054] In this embodiment, after constructing the topology description matrix, the device performs coupling operations on the nodes to be connected according to the model index provided by the matrix and the corresponding number combination of each column, and finally obtains the dynamic model of the target multibody system.

[0055] This application provides a model coupling method. First, it obtains multiple substructure models of the target multibody system and the connection relationships between the nodes to be connected in each substructure model. Then, it assigns numbers to each node to obtain original node numbers and constructs a topology description matrix based on these numbers. The combination of numbers along the first direction of this topology description matrix represents the connection relationships between the nodes to be connected in each substructure model. Finally, it automatically couples the corresponding nodes to be connected according to this number combination to obtain a dynamic model. Compared to the existing method of manually identifying and coupling the connection nodes between substructure models one by one based on the connection relationships, this embodiment can automatically locate and couple the node pairs to be coupled through the number combination of the topology description matrix, reducing the need for manual node identification and intervention, and improving the efficiency and reliability of multibody system dynamic modeling.

[0056] Based on the first embodiment of this application, in the second embodiment of this application, the same or similar content as the above embodiment can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 4 , Figure 4 This is a flowchart illustrating Embodiment 2 of the model coupling method of this application. To obtain the aforementioned sub-model identifier, such as... Figure 4 As shown, in this embodiment, the step of naming each of the substructure models to obtain the corresponding submodel identifier includes: Step S311: Select any one of the substructure models from each of the substructure models as the target model, and name the target model to obtain the submodel identifier corresponding to the target model.

[0057] Step S312: Based on the connection relationship, determine the other unnamed substructure models connected to the target model.

[0058] It should be noted that the target model can be a substructure model of the current naming operation, which serves as the starting point of the naming process.

[0059] Step S313: Name the other unnamed substructure models in sequence to obtain the corresponding submodel identifiers, and determine the current number of named substructure models.

[0060] Understandably, the current naming count can be the number of substructure models that have been successfully assigned submodel identifiers up to the current moment, and this count is used to determine whether the naming process is complete. The model count can be the total number of all substructure models contained in the target multibody system, and this count serves as the criterion for terminating the naming process.

[0061] Step S314: Determine whether the current number of names reaches the number of substructure models included in the target multibody system.

[0062] Step S315: If the current number of names has not reached the number of models, the named substructure model is taken as the target model, and the step of determining the other unnamed substructure models connected to the target model according to the connection relationship is returned to be executed until the current number of names reaches the number of models, and the submodel identifier corresponding to each substructure model is obtained.

[0063] For example, the naming process described above is as follows: (1) Select any substructure model in the target multibody system and name it A.

[0064] (2) Select the substructure model that interacts with A and name it B.

[0065] (3) Select the substructure model that interacts with A or B and name it C.

[0066] (4) Select the substructure model that interacts with A, B or C and name it D.

[0067] (5) Continue in this manner until all substructure models are named.

[0068] By defining globally unique substructure identifiers, each substructure model in the target multibody system can be indexed, facilitating automated coupling of the system.

[0069] In practical use, the device needs to name each substructure model. First, it arbitrarily selects a substructure model from all substructure models of the target multibody system as the target model and assigns it a submodel identifier. Next, based on the previously obtained connection relationships, it searches for other substructure models that have a direct connection relationship with the current target model but have not yet been named. These unnamed substructure models are named sequentially, each assigned a submodel identifier, and the number of named substructure models is recorded as the current naming count. Then, it is determined whether the current naming count is equal to the total number of substructure models contained in the target multibody system (i.e., the number of models). If the current naming count has not yet reached the number of models, it means there are still unnamed substructure models. In this case, the named substructure model is used as the new target model, and the process returns to the step of determining other unnamed substructure models connected to the target model based on the connection relationships. This cyclical process is repeated until the current naming count reaches the number of models. At this point, all substructure models have obtained their corresponding submodel identifiers, and the naming process ends. This reduces identifier conflicts and logical confusion caused by manual naming or maintenance of naming lists through automated breadth-first naming rules, thereby improving the standardization of substructure model naming.

[0070] Furthermore, considering the coupling process based on the model index and the number combination, in this embodiment, the step of coupling the corresponding nodes to be connected according to the model index and the number combination of the topology description matrix to obtain the dynamic model of the target multibody system includes: Step A411: Obtain the numbering combinations of the initial numbering matrix in the direction of the first matrix.

[0071] Step A412: Perform an index query on the topology description matrix according to the direction of the second matrix to obtain the model index corresponding to each of the original node numbers in the number combination.

[0072] Step A413: Construct a composite node number based on the model index corresponding to each of the original node numbers in the numbering combination and the original node numbers in the numbering combination.

[0073] It should be noted that the composite node number can be a set of correspondence identifiers generated during the coupling process for the nodes to be connected on the two substructure models that are about to be coupled. This composite node number contains the model index of the two substructure models participating in the coupling and their respective original node numbers, which is used to explicitly specify which two nodes need to be coupled.

[0074] Step A414: According to the composite node number, the nodes to be connected corresponding to each substructure model are coupled sequentially to obtain the dynamic model of the target multibody system.

[0075] For example, continuing with the example of the spacecraft solar panel deployment mechanism above, the device obtains the first column of the topology description matrix with the combination of numbers (2, 4, 0, 0). Then, it performs an index lookup in the topology description matrix row by row: the first row corresponds to model index A, with a value of 2, resulting in the original node number 2 corresponding to model index A; the second row corresponds to model index B, with a value of 4, resulting in the original node number 4 corresponding to model index B. Based on model index A and original node 2, and model index B and original node 4, composite node numbers A2-B4 are constructed. Then, according to these composite node numbers, node 2 of substructure model A is coupled with node 4 of substructure model B. This process continues until all columns are processed, resulting in the complete dynamic model.

[0076] In this embodiment, the initial numbering matrix is ​​first obtained by searching for the number combinations along the first matrix direction. Then, the model index corresponding to each original node number is obtained by indexing the topology description matrix along the second matrix direction. The model index and the original node number are then combined to construct a composite node number. The nodes to be connected in each substructure model are then coupled sequentially according to the composite node number. This unique and unambiguous identification of each node and its substructure by the composite node number reduces manual intervention and coupling errors caused by duplicate or unclear node numbers, thus improving the reliability of automated coupling.

[0077] Based on the first and / or second embodiments of this application, in the third embodiment of this application, the content that is the same as or similar to that in embodiments one and two above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 5 , Figure 5 This is a flowchart illustrating Embodiment 3 of the model coupling method in this application. To couple the nodes to be connected as described above, such as... Figure 5 As shown, in this embodiment, the step of coupling the corresponding nodes to be connected according to the model index and the number combination of the topology description matrix to obtain the dynamic model of the target multibody system includes: Step S411: Select the current first substructure model from each of the substructure models, and determine the current second substructure model that is not coupled with the current first substructure model from each of the substructure models.

[0078] It should be noted that the current first substructure model can be a substructure model or a composite substructure model that serves as the baseline in the current iterative coupling process, and this model is assembled with another substructure model in this coupling operation. The current second substructure model can be another substructure model that is coupled with the current first substructure model in the current iterative coupling process, but this model has not yet established a coupling relationship with the current first substructure model.

[0079] Step S412: Determine the current composite node number between the current first substructure model and the current second substructure model based on the model index and the number combination of the topology description matrix.

[0080] Understandably, the current composite node number can be a set of correspondence identifiers determined in the current iteration step based on the topology description matrix, used to connect the current first substructure model and the current second substructure model, such as (A2-B4).

[0081] It should be understood that the current composite substructure model can be a new assembly formed by coupling the current first substructure model and the current second substructure model. This assembly participates in further coupling as a whole in subsequent iterations. Coupling through composite substructure models ensures the similarity between the previous iteration calculation and the current iteration calculation, thereby guaranteeing the smooth progress of the coupled iterative calculation process. For example: (1) Couple substructure A and substructure B to obtain composite substructure AB.

[0082] (2) Couple the composite substructure AB and substructure C to obtain the composite substructure ABC.

[0083] (3) Couple the composite substructure ABC and substructure D to obtain the composite substructure ABCD.

[0084] (4) Continue in this manner until the coupling of all substructures is completed.

[0085] Step S413: Based on the current composite node number, couple the node to be connected corresponding to the current first substructure model with the node to be connected corresponding to the current second substructure model.

[0086] Step S414: After coupling is completed, the current first substructure model and the current second substructure model are taken as the current composite substructure model, and the current coupling number is determined.

[0087] It should be noted that the current coupling count can be the total number of coupling operations completed up to the current moment. Each time a coupling between two substructure models (or between a composite substructure model and a substructure model) is completed, this count increases by 1. The preset coupling count can be the total number of coupling operations required for the target multibody system to complete the coupling of all substructure models. This count is equal to the total number of substructure models contained in the target multibody system minus 1. For example, if the system has 4 substructure models, the preset coupling count is 3.

[0088] Step S415: If the current coupling count has not reached the preset coupling count, the current composite substructure model is taken as the current first substructure model, and the step of determining the current second substructure model that is not coupled with the current first substructure model from each of the substructure models is returned until the current coupling count reaches the preset coupling count, thereby obtaining the dynamic model of the target multibody system.

[0089] In this embodiment, after constructing the topology description matrix and completing naming and initial numbering, the device begins the iterative coupling process. First, one substructure model is arbitrarily selected from all substructure models as the current first substructure model, for example, substructure model A. Then, based on the topology description matrix and connection relationships, a substructure model that is connected to the current first substructure model but not yet coupled is selected from the remaining substructure models as the current second substructure model, for example, substructure model B. Next, based on the column number combinations recorded in the topology description matrix and the corresponding model index, the original node numbers on the shared connection interface between the current first and second substructure models are found, thereby determining the current composite node numbers, for example, A2-B4. After obtaining the current composite node numbers, the dynamic substructure coupling algorithm is invoked to couple the specified nodes to be connected on the current first substructure model with the specified nodes to be connected on the current second substructure model, forming an assembly. After coupling is complete, the current first substructure model and the current second substructure model are combined into the current composite substructure model (e.g., composite substructure model AB), and the current coupling count is incremented by 1 (from 0 to 1). Then, it is determined whether the current coupling count equals the preset coupling count. If the current coupling count has not yet reached the preset coupling count, the current composite substructure model is used as the new current first substructure model. Then, the process returns to the step of determining the current second substructure model that is not coupled to the current first substructure model from among the substructure models, repeating the above process. In each iteration, the current composite assembly is coupled to a new substructure model until the current coupling count reaches the preset coupling count. At this point, all substructure models have been coupled, resulting in a complete dynamic model. By automatically controlling the coupling order and termination conditions through closed-loop iterative logic, the manual judgment of coupling progress is reduced, improving the automation level and execution efficiency of the multi-body system coupling process.

[0090] Furthermore, to avoid repeatedly indexing coupled nodes, in this embodiment, the step of taking the current composite substructure model as the current first substructure model when the current coupling count has not reached the preset coupling count, and returning to the step of determining the current second substructure model that is not coupled with the current first substructure model from among the substructure models, until the current coupling count reaches the preset coupling count, to obtain the dynamic model of the target multibody system, includes: Step S4151: If the current coupling count has not reached the preset coupling count, determine the uncoupled nodes to be connected in the current composite substructure model.

[0091] Step S4152: Number the uncoupled nodes to be connected in the current composite substructure model to obtain the corresponding update node numbers.

[0092] It should be noted that the updated node number can be a new numerical identifier obtained by renumbering the uncoupled nodes to be connected in the current composite substructure model. The renumbering is assigned to each uncoupled node in natural number order starting from 1, so as to manage node information uniformly in the subsequent coupling process.

[0093] Step S4153: Update the initial node information matrix according to the updated node number to obtain the current node information matrix.

[0094] It should be noted that the initial node information matrix can be a matrix used to record the original node numbers of all nodes in each substructure model. The rows of this matrix correspond to the submodel identifiers, and the matrix elements represent all the original node numbers. The current node information matrix can be a node information matrix updated after one or more iterations of coupling. This matrix reflects the latest dynamic numbers of nodes in each substructure model in the current state, where coupled nodes are marked as invalid (e.g., assigned a value of 0), and uncoupled nodes retain or update their dynamic numbers.

[0095] Furthermore, in order to obtain the aforementioned current node information matrix, in this embodiment, the step of updating the initial node information matrix according to each of the updated node numbers to obtain the current node information matrix includes: obtaining the initial node information matrix, which includes the model index corresponding to the second matrix direction with the sub-model identifier as the model index and all the original node numbers corresponding to the model index; determining the coupled nodes to be connected in the current composite substructure model; resetting the original node numbers corresponding to the coupled nodes to be connected in the initial node information matrix to zero; and updating the original node numbers corresponding to the uncoupled nodes to be connected in the zeroed initial node information matrix according to each of the updated node numbers to obtain the current node information matrix.

[0096] It should be noted that the zeroing operation is used to mark coupled nodes, indicating that the node has become invalid in the current coupling process and will no longer participate in subsequent coupling calculations. For example, if the dynamic number of a node in the initial node information matrix is ​​2, after the node completes coupling, the value at that position is changed from 2 to 0.

[0097] In this embodiment, when updating the node information matrix, the device first obtains an initial node information matrix. This initial node information matrix uses the sub-model identifier as the model index for the second matrix direction and contains all the original node numbers corresponding to each model index. Next, based on the composite node numbers used in the previous coupling operation, the nodes participating in the coupling are identified; these nodes are the coupled nodes to be connected. Then, the elements corresponding to the original node numbers at the positions of these coupled nodes in the initial node information matrix are zeroed out, meaning the values ​​of these elements are set to 0, indicating that these nodes have failed. After the zeroing operation is completed, based on the previously obtained updated node numbers, the original node numbers corresponding to the uncoupled nodes to be connected in the zeroed initial node information matrix are updated, that is, the dynamic numbers of these nodes are modified from their original values ​​to the new updated node numbers. Thus, through the dual mechanism of zeroing and updating, information confusion caused by changes in node numbers is reduced, and the accuracy of node mapping relationships is improved.

[0098] Step S4154: Take the current composite substructure model as the current first substructure model, and return to the step of determining the current second substructure model that is not coupled with the current first substructure model from each of the substructure models according to the current node information matrix, until the current coupling number reaches the preset coupling number, and obtain the dynamic model of the target multibody system.

[0099] For example, to help understand the implementation process of the above iteration in this embodiment, please refer to... Figure 6 , Figure 6 This is a schematic diagram of the iterative coupling process provided in Embodiment 3 of this application, specifically: Step (1): Before coupling begins, the row dimension n is first identified based on the topology description matrix, where n is the number of substructure models of the target multibody system. Then, the coupling operation begins, denoted as the number of iterations i=1.

[0100] Step (2): Based on the topological structure description matrix, identify the original node information (i.e. the composite node number mentioned above) of the interface between the composite substructure composed of the first i substructures and the (i+1)th substructure.

[0101] Step (3): Obtain dynamic node information of the interface based on the current node information matrix. Based on the original node information obtained in step (2), the substructure models connected to the interface and their original node numbers can be determined. Based on this information, the current node information matrix is ​​queried, and the real-time current composite node numbers of the two substructure models on the corresponding interface are extracted from it.

[0102] Step (4): Couple paired nodes based on the dynamic substructure method. Based on the extracted substructure identifier and the current composite node number, call the dynamic substructure coupling algorithm to couple the composite substructure model (the assembly formed by the cumulative coupling in the previous steps) and the simple substructure model (the substructure model that is not coupled with other substructure models) on the interface to generate a brand new assembly, and use this assembly as the composite substructure model in the next iteration process.

[0103] Step (5): Update the current node information matrix. After coupling is completed, the interface nodes that originally belonged to the two substructures become invalid due to coupling. At the same time, the node information of the remaining substructure models needs to be retained. Accordingly, update the current node information matrix: assign a value of 0 to invalid nodes to indicate that the coupled interface nodes are deleted; rename the nodes of the newly generated composite substructure in the order of 1, 2, 3...

[0104] Step (6): Iteration control and termination. Determine whether the coupling count i is equal to n-1 (i.e., the number of models - 1). If i ≠ n-1, increase the coupling count i by 1 (i = i + 1) and return to step (2) to continue the iteration operation of (2) to (5) for the next set of interfaces; if i = n-1, it means that all substructures have been coupled and the automated iterative coupling process of the entire target multibody system ends.

[0105] Through the above steps, a system topology description matrix and a dynamic node information matrix are introduced, and a closed-loop iterative process is designed, completely eliminating the reliance on manual coupling of each substructure. Users only need to input the basic topology information of the system to automatically complete the entire modeling process, greatly improving modeling efficiency and accuracy. Furthermore, this iterative logic does not depend on the specific number or connection order of substructures, and can handle chain, star, ring, and even arbitrarily complex system topologies. When the system structure changes, only the topology description matrix needs to be modified; the coupling algorithm itself requires no modification, exhibiting good scalability and maintainability. It can complete automated iterative coupling modeling of all substructures in a multi-body system with arbitrarily complex topologies. Simultaneously, the topology description matrix and the dynamic node information matrix allow the state of the entire coupling process to be completely recorded and traced, facilitating engineers to debug and verify the modeling process.

[0106] For example, to make the technical solution and effects of this embodiment clearer, the following uses a hybrid multi-body system including chain and ring structures as an example to describe in detail the specific implementation process of the present invention, but does not limit the solution. Figure 3 As shown, based on the above naming rules and node numbering rules, Figure 3 The target multi-body system is named and numbered to obtain the topological description matrix S of the multi-body system, as shown below: Topology description matrix: ; According to the topology description matrix S, the multibody system contains 4 substructures (n=4) and 4 connection interfaces, namely interface A2-B4, interface B2-C1, interface B3-D1 and interface C2-D2.

[0107] During the iteration process, you can refer to Figure 7 , Figure 7 This is an example diagram of an iterative coupling scenario provided in Embodiment 3 of this application. To dynamically record the changes in node numbers during subsequent iterations and to determine the relationship between the current node number and the original number, an initial node information matrix N (i.e., the node information for the 0th coupling iteration) needs to be established first, as shown below: ; Since no calculations or iterations have been performed yet, the node numbers in the initial node information matrix are consistent with the original node numbers.

[0108] First iteration coupling (i=1): Perform the above step (2): First, parse the topology description matrix S and identify the interface between substructure model A and substructure model B. The result is A2-B4 (i.e., the original composite node number).

[0109] Perform the above step (3): query the initial node information matrix N, obtain the dynamic node information corresponding to interface A2-B4 (original composite node number), and the result is A2-B4 (i.e. the current composite node number).

[0110] Perform the above step (4): Based on the dynamic substructure method, couple the substructure models A and B through the interface A2-B4 to form an assembly AB (i.e. the current composite substructure model).

[0111] Perform the above step (5): Update the initial node information matrix N. Delete nodes that have failed due to coupling, and assign 0 values ​​to dynamic nodes A2 and B4 in the initial node information matrix. Rename the four nodes of the newly generated composite substructure model AB in the order of 1, 2, 3, and 4. Obtain the current node information matrix N1 (i.e., the node information after the first coupling), as shown below: ; Perform the above step (6): In this iteration, i=1, i≠n-1, let i=i+1, and continue the iteration.

[0112] Second iteration coupling (i=2): Perform the above step (2): parse the topology description matrix S, identify the interface between substructure AB and substructure C, and the result is B2-C1 (i.e. the original composite node number).

[0113] Perform the above step (3): query the current node information matrix N1, obtain the dynamic node information corresponding to interface B2-C1 (i.e. the original composite node number), and the result is B3-C1 (i.e. the current composite node number).

[0114] Perform the above step (4): Based on the dynamic substructure method, couple the substructure models AB and C through interface B3-C1 (i.e., the current composite node number) to form an assembly ABC.

[0115] Perform step (5) above: Update the current node information matrix N1. Delete nodes that have failed due to coupling, and assign 0 values ​​to dynamic nodes B3 and C1 in the current node information matrix. Rename the five nodes of the newly generated composite substructure model ABC in the order of 1, 2, 3, 4, and 5. Obtain the current node information matrix N2 (i.e., the node information after the second coupling), as shown below: ; Perform the above step (6): In this iteration, i=2, i≠n-1, let i=i+1, and continue the iteration.

[0116] Third iteration coupling (i=3): Perform the above step (2): parse the topology description matrix S, identify the interface between substructure model ABC and substructure model D, and the result is B3-D1 and C2-D2 (i.e. the original composite node numbers).

[0117] Perform the above step (3): query the current node information matrix N2, obtain the dynamic node information corresponding to interface B3-D1 and C2-D2 (i.e. the original composite node number), and the result is B3-D1 and C4-D2 (i.e. the current composite node number).

[0118] Perform the above step (4): Based on the dynamic substructure method, couple the substructure models ABC and D through interfaces B3-D1 and C4-D2 (i.e., the current composite node number) to form an assembly ABCD.

[0119] Perform the above step (5): Update the current node information matrix N2. Delete nodes that have failed due to coupling, and assign the values ​​of dynamic nodes B3, D1, C4, and D2 in the current node information matrix to 0. Rename the four nodes of the newly generated composite substructure ABCD in the order of 1, 2, 3, and 4. Obtain the current node information matrix N3 (i.e., the node information after the third coupling), as shown below: ; Perform the above step (6): In this iteration, i=3, i=n-1, and stop the iteration.

[0120] In this embodiment, by automatically renumbering and dynamically updating the node information matrix, duplicate indexing of coupled nodes can be avoided, reducing manual corrections and coupling interruptions caused by changes in node numbers, and improving the continuity of iterative coupling in the multi-body system.

[0121] It should be noted that the above examples are for understanding this application only and do not constitute a limitation on the model coupling method of this application. Any simple modifications based on this technical concept are within the scope of protection of this application. Furthermore, all actions involving the acquisition of signals, information, or data in this application are performed in accordance with the relevant data protection regulations of the country where the application is located and with authorization from the owner of the relevant device.

[0122] This application also provides a model coupling device, please refer to... Figure 8 , Figure 8 This is a block diagram of the module structure of the model coupling device according to an embodiment of this application; in this embodiment, the model coupling device includes: The acquisition module 801 is used to acquire multiple substructure models contained in the target multibody system, and to acquire the connection relationship between the nodes to be connected in each of the substructure models. Numbering module 802 is used to number each of the nodes to be connected to obtain the corresponding original node number; Matrix module 803 is used to construct a topology description matrix based on the original node numbers of each of the original nodes. The number combination of the first matrix direction of the topology description matrix is ​​used to characterize the connection relationship between the nodes to be connected on each of the substructure models. The number combination is obtained by constructing the original node numbers corresponding to each node to be connected. The coupling module 804 is used to couple the corresponding nodes to be connected according to the numbering combination of the topology description matrix to obtain the dynamic model of the target multibody system.

[0123] This embodiment first obtains multiple substructure models of the target multibody system and the connection relationships between the nodes to be connected in each substructure model. Then, it assigns numbers to each node to obtain original node numbers and constructs a topology description matrix based on these original node numbers. The numbering combination along the first matrix direction of this topology description matrix represents the connection relationships between the nodes to be connected in each substructure model. Finally, it automatically couples the corresponding nodes to be connected according to this numbering combination to obtain the dynamic model. Compared to the existing method of manually identifying and coupling the connection nodes between substructure models one by one based on the connection relationships, this embodiment can automatically locate and couple the node pairs to be coupled through the numbering combination of the topology description matrix, reducing the need for manual node identification and intervention, and improving the efficiency and reliability of multibody system dynamic modeling.

[0124] In one implementation, the matrix module 803 is further used to name each of the substructure models to obtain a corresponding submodel identifier; construct an initial numbering matrix based on each of the original node numbers, wherein the first matrix direction of the initial numbering matrix forms a number combination; and use the submodel identifier as the model index corresponding to the second matrix direction of the initial numbering matrix to construct a topology description matrix, wherein the original node numbers in the second matrix direction of the topology description matrix represent the nodes to be connected in the corresponding substructure models that have a connection relationship.

[0125] The coupling module 804 is further configured to couple the corresponding nodes to be connected according to the model index and the number combination of the topology description matrix to obtain the dynamic model of the target multibody system.

[0126] In one implementation, the coupling module 804 is further configured to: obtain each number combination of the initial numbering matrix in the direction of the first matrix; perform an index query on the topology description matrix according to the direction of the second matrix to obtain the model index corresponding to each original node number in the number combination; construct a composite node number based on each model index corresponding to each original node number in the number combination and the original node number in the number combination; and couple the nodes to be connected corresponding to each substructure model in sequence according to each composite node number to obtain the dynamic model of the target multibody system.

[0127] In one implementation, the matrix module 803 is further configured to: select any substructure model from the substructure models as a target model; name the target model to obtain a submodel identifier corresponding to the target model; determine other unnamed substructure models connected to the target model according to the connection relationship; sequentially name the other unnamed substructure models to obtain corresponding submodel identifiers, and determine the current number of named substructure models; determine whether the current number of names reaches the number of substructure models included in the target multibody system; if the current number of names does not reach the number of models, use the named substructure model as the target model, and return to execute the operation of determining other unnamed substructure models connected to the target model according to the connection relationship, until the current number of names reaches the number of models, and obtain the submodel identifiers corresponding to each substructure model.

[0128] In one implementation, the coupling module 804 is further configured to: select a current first substructure model from each of the substructure models; determine a current second substructure model that is not coupled to the current first substructure model from each of the substructure models; determine the current composite node number between the current first substructure model and the current second substructure model based on the model index and the number combination of the topology description matrix; couple the node to be connected corresponding to the current first substructure model with the node to be connected corresponding to the current second substructure model based on the current composite node number; after coupling, use the current first substructure model and the current second substructure model as the current composite substructure model, and determine the current coupling count; if the current coupling count has not reached the preset coupling count, use the current composite substructure model as the current first substructure model, and return to execute the operation of determining the current second substructure model that is not coupled to the current first substructure model from each of the substructure models, until the current coupling count reaches the preset coupling count, thereby obtaining the dynamic model of the target multibody system.

[0129] In one implementation, the coupling module 804 is further configured to: determine the uncoupled nodes to be connected in the current composite substructure model when the current coupling count has not reached the preset coupling count; number the uncoupled nodes to be connected in the current composite substructure model to obtain corresponding update node numbers; update the initial node information matrix according to each update node number to obtain the current node information matrix; use the current composite substructure model as the current first substructure model, and return to perform the operation of determining the current second substructure model that is uncoupled from the current first substructure model according to the current node information matrix, until the current coupling count reaches the preset coupling count, thereby obtaining the dynamic model of the target multibody system.

[0130] In one implementation, the coupling module 804 is further configured to obtain an initial node information matrix, the initial node information matrix including a model index corresponding to the second matrix direction with the sub-model identifier as the model index and all the original node numbers corresponding to the model index; determine the coupled nodes to be connected in the current composite substructure model; reset the original node numbers corresponding to the coupled nodes to be connected in the initial node information matrix to zero; and update the original node numbers corresponding to the uncoupled nodes to be connected in the zeroed initial node information matrix according to each updated node number, thereby obtaining the current node information matrix.

[0131] Other embodiments or specific implementations of the model coupling device of this application can be found in the above-described method embodiments, and will not be repeated here.

[0132] The model coupling device provided in this application, employing the model coupling method described in the above embodiments, can solve the technical problems of low efficiency and error-proneness in the manual successive coupling of multi-body systems in existing dynamic substructure methods. Compared with the prior art, the beneficial effects of the model coupling device provided in this application are the same as those of the model coupling method provided in the above embodiments, and other technical features in the model coupling device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0133] This application provides a model coupling device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the model coupling methods in the above embodiments.

[0134] The following is for reference. Figure 9 , Figure 9This is a schematic diagram of the hardware operating environment involved in the model coupling device in the embodiments of this application, showing a structural schematic diagram suitable for implementing the model coupling device in the embodiments of this application. The model coupling device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, personal digital assistants (PDAs), tablet computers (PADs), portable media players (PMPs), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 9 The model coupling device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0135] like Figure 9 As shown, the model coupling device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to a program stored in a read-only memory 1002 or a program loaded from a storage device 1003 into a random access memory 1004. The random access memory 1004 also stores various programs and data required for the operation of the model coupling device. The processing unit 1001, the read-only memory 1002, and the random access memory 1004 are interconnected via a bus 1005. An input / output interface 1006 is also connected to the bus. Typically, the following systems can be connected to the input / output interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the model coupling device to communicate wirelessly or wiredly with other devices to exchange data. While the figure shows model coupling devices with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0136] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from read-only memory 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0137] The model coupling device provided in this application, employing the model coupling method described in the above embodiments, can solve the technical problems of low efficiency and error-proneness in the manual successive coupling of multi-body systems in existing dynamic substructure methods. Compared with the prior art, the beneficial effects of the model coupling device provided in this application are the same as those of the model coupling method provided in the above embodiments, and other technical features of this model coupling device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0138] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0139] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0140] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the model coupling method in the above embodiments.

[0141] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, radio frequency (RF), etc., or any suitable combination thereof.

[0142] The aforementioned computer-readable storage medium may be included in the model coupling device; or it may exist independently and not assembled into the model coupling device.

[0143] The aforementioned computer-readable storage medium carries one or more programs. When the one or more programs are executed by the model coupling device, the model coupling device: acquires multiple substructure models contained in the target multibody system, and acquires the connection relationships between nodes to be connected in each of the substructure models; numbers each node to be connected to obtain corresponding original node numbers; constructs a topology description matrix based on each original node number, wherein the number combination of the first matrix direction of the topology description matrix is ​​used to characterize the connection relationships between the corresponding nodes to be connected in each of the substructure models, and the number combination is constructed through the original node numbers corresponding to each node to be connected; and couples the corresponding nodes to be connected according to the number combination of the topology description matrix to obtain the dynamic model of the target multibody system.

[0144] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0145] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation that may be implemented in systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0146] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0147] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described model coupling method. This solves the technical problem of low efficiency and error-proneness in the existing dynamic substructure method of manually coupling multi-body systems sequentially. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the model coupling method provided in the above embodiments, and will not be repeated here.

[0148] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the model coupling method described above.

[0149] The computer program product provided in this application can solve the technical problems of low efficiency and error-proneness in the manual successive coupling of multi-body systems in existing dynamic substructure methods. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the model coupling method provided in the above embodiments, and will not be repeated here.

[0150] The above description is only a part of the embodiments of this application and does not limit the scope of protection of this application. All equivalent structural transformations made under the technical concept of this application and using the content of this application specification and drawings, or direct / indirect applications in other related technical fields, are included in the scope of protection of this application.

Claims

1. A model coupling method, characterized in that, The method includes: Obtain multiple substructure models contained in the target multibody system, and obtain the connection relationships between the nodes to be connected in each of the substructure models; Each node to be connected is numbered to obtain the corresponding original node number; A topology description matrix is ​​constructed based on the original node numbers of each node. The combination of numbers in the first matrix direction of the topology description matrix is ​​used to characterize the connection relationship between the nodes to be connected on each substructure model. The combination of numbers is obtained by constructing the original node numbers corresponding to each node to be connected. According to the numbering combination of the topology description matrix, the corresponding nodes to be connected are coupled to obtain the dynamic model of the target multibody system; The step of constructing the topology description matrix based on the original node numbers includes: Each of the substructure models is named to obtain the corresponding submodel identifier; An initial numbering matrix is ​​constructed based on the original node numbers, and the first matrix direction of the initial numbering matrix forms a numbering combination. Using the sub-model identifier as the model index corresponding to the second matrix direction of the initial numbering matrix, a topology description matrix is ​​constructed. The original node number of the topology description matrix in the second matrix direction represents the nodes to be connected in the corresponding sub-structure model that have a connection relationship. The step of coupling the corresponding nodes to be connected according to the numbering combination of the topology description matrix to obtain the dynamic model of the target multibody system includes: According to the model index and number combination of the topology description matrix, the corresponding nodes to be connected are coupled to obtain the dynamic model of the target multibody system; The step of coupling the corresponding nodes to be connected according to the model index and the number combination of the topology description matrix to obtain the dynamic model of the target multibody system includes: Obtain the numbering combinations of the initial numbering matrix along the direction of the first matrix; Perform an index query on the topology description matrix according to the direction of the second matrix to obtain the model index corresponding to each of the original node numbers in the number combination; A composite node number is constructed based on the model index corresponding to each of the original node numbers in the numbering combination and the original node numbers in the numbering combination. According to the composite node number, the nodes to be connected corresponding to each substructure model are coupled sequentially to obtain the dynamic model of the target multibody system.

2. The method as described in claim 1, characterized in that, The step of naming each of the substructure models to obtain the corresponding submodel identifier includes: Select any one of the substructure models as the target model from each of the substructure models, and name the target model to obtain the submodel identifier corresponding to the target model; Based on the connection relationships, identify other unnamed substructure models that are connected to the target model; The other unnamed substructure models are named sequentially to obtain the corresponding submodel identifiers, and the current number of named substructure models is determined. Determine whether the current number of names reaches the number of substructure models included in the target multibody system; If the current number of names has not reached the number of models, the named substructure model is taken as the target model, and the step of determining other unnamed substructure models connected to the target model according to the connection relationship is returned to be executed until the current number of names reaches the number of models, and the submodel identifiers corresponding to each substructure model are obtained.

3. The method as described in claim 1, characterized in that, The step of coupling the corresponding nodes to be connected according to the model index and the number combination of the topology description matrix to obtain the dynamic model of the target multibody system includes: Select a current first substructure model from each of the substructure models, and determine a current second substructure model that is not coupled with the current first substructure model from each of the substructure models; Based on the model index and the number combination of the topology description matrix, the current composite node number between the current first substructure model and the current second substructure model is determined; Based on the current composite node number, couple the node to be connected corresponding to the current first substructure model with the node to be connected corresponding to the current second substructure model. After coupling is completed, the current first substructure model and the current second substructure model are used as the current composite substructure model, and the current coupling number is determined. If the current coupling count has not reached the preset coupling count, the current composite substructure model is taken as the current first substructure model, and the step of determining the current second substructure model that is not coupled with the current first substructure model from each of the substructure models is returned until the current coupling count reaches the preset coupling count, thereby obtaining the dynamic model of the target multibody system.

4. The method as described in claim 3, characterized in that, The step of determining the current second substructure model that is not coupled with the current first substructure model when the current coupling count has not reached the preset coupling count, and then returning to the step of determining the current second substructure model that is not coupled with the current first substructure model from among the substructure models, until the current coupling count reaches the preset coupling count, to obtain the dynamic model of the target multibody system, includes: If the current coupling count has not reached the preset coupling count, determine the uncoupled nodes to be connected in the current composite substructure model; Number the uncoupled nodes to be connected in the current composite substructure model to obtain the corresponding updated node numbers; The initial node information matrix is ​​updated according to the updated node numbers to obtain the current node information matrix; The current composite substructure model is taken as the current first substructure model, and the step of determining the current second substructure model that is not coupled with the current first substructure model is returned according to the current node information matrix, until the current coupling number reaches the preset coupling number, so as to obtain the dynamic model of the target multibody system.

5. The method as described in claim 4, characterized in that, The step of updating the initial node information matrix according to each updated node number to obtain the current node information matrix includes: Obtain an initial node information matrix, the initial node information matrix including the model index corresponding to the second matrix direction with the sub-model identifier as the model index and all the original node numbers corresponding to the model index; Identify the nodes to be connected that are already coupled in the current composite substructure model; Set the original node number corresponding to the coupled node to be connected in the initial node information matrix to zero; Based on the updated node numbers, the original node numbers corresponding to the uncoupled nodes to be connected in the initial node information matrix after it has been reset to zero are updated to obtain the current node information matrix.

6. A model coupling device, characterized in that, The device includes: The acquisition module is used to acquire multiple substructure models contained in the target multibody system, and to acquire the connection relationships between the nodes to be connected in each of the substructure models; The numbering module is used to number each of the nodes to be connected to obtain the corresponding original node number; A matrix module is used to construct a topology description matrix based on the original node numbers of each node. The combination of numbers in the first matrix direction of the topology description matrix is ​​used to characterize the connection relationship between the nodes to be connected on each substructure model. The combination of numbers is obtained by constructing the original node numbers corresponding to each node to be connected. The coupling module is used to couple the corresponding nodes to be connected according to the numbering combination of the topology description matrix to obtain the dynamic model of the target multibody system. The matrix module is also used to name each of the substructure models to obtain the corresponding submodel identifier; to construct an initial numbering matrix based on each of the original node numbers, wherein the first matrix direction of the initial numbering matrix forms a number combination; and to construct a topology description matrix by using the submodel identifier as the model index corresponding to the second matrix direction of the initial numbering matrix, wherein the original node number in the second matrix direction of the topology description matrix represents the nodes to be connected in the corresponding substructure model that have a connection relationship. The coupling module is further configured to couple the corresponding nodes to be connected according to the model index and the number combination of the topology description matrix to obtain the dynamic model of the target multibody system. The coupling module is further configured to obtain each number combination of the initial numbering matrix in the direction of the first matrix; perform an index query on the topology description matrix according to the direction of the second matrix to obtain the model index corresponding to each original node number in the number combination; construct a composite node number based on each model index corresponding to each original node number in the number combination and each original node number in the number combination; and couple the nodes to be connected corresponding to each substructure model in sequence according to each composite node number to obtain the dynamic model of the target multibody system.

7. A model coupling device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the model coupling method as described in any one of claims 1 to 5.

8. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the model coupling method as described in any one of claims 1 to 5.

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