基于PBD算法的海上补给装备柔性体仿真技术

doi:10.12382/bgxb.2021.0807

摘要/Abstract

摘要：

针对海上补给仿真训练系统尚无法模拟索具、输油软管等柔性体的三维运动，影响系统沉浸感不足的问题，采用位置动力学(PBD)算法开展了海上补给装备中索具、输油软管等柔性体的仿真研究。依据多体动力学模型建立了海上补给装备柔性体粒子模型。对PBD算法进行改进，通过增加拉伸约束、弯曲约束、长距离约束、附着物相互约束实现了柔性体的动态变形三维模拟，并比较了高斯-赛德尔与牛顿两种算法。研究结果表明，高斯-赛德尔迭代方法满足在较低的迭代次数条件下能够较好地满足仿真系统的要求。最终模拟出了海上补给装备中索具、输油软管等柔性体的三维运动。

关键词: 海上补给仿真训练系统, 海上补给装备, 位置动力学算法, 柔性体仿真

Abstract:

To address the problem that the 3D movement of flexible bodies such as the rigging and oil hose cannot be simulated in the Replenishment Simulation Training System, which leads to the lack of immersion of the system, the PBD algorithm was adopted for the simulation study of flexible bodies such as the rigging and oil hose in the replenishment equipment. Firstly, the flexible body particle model of the replenishment equipment was established based on the multi-body dynamic model. Then, the PBD algorithm was improved, and the dynamic deformation of the flexible body was simulated by adding tensile constraints, bending constraints and long distance constraints. Finally, the Gauss-Seidel iteration method was compared with the Newton iteration method, and the results showed that the former met the requirements of the simulation system in a relatively low number of iterations. So the 3D motion of the flexible bodies such as the rigging and oil hose in replenishment equipment was simulated.

Key words: replenishment simulation training system, replenishment equipment, PBD algorithm, flexible body simulation

李楠, 任鸿翔. 基于PBD算法的海上补给装备柔性体仿真技术[J]. 兵工学报, 2023, 44(3): 851-856.

LI Nan, REN Hongxiang. Flexible Body Simulation Technology for Replenishment Equipment Based on PBD Algorithm[J]. Acta Armamentarii, 2023, 44(3): 851-856.

图/表 6

图2 海上补给装备高架索拉升效应视景仿真效果

Fig. 2 Visual simulation results of the hoisting effect of the viaduct of the replenishment equipment

图1 柔性索具动力学模型解算流程

Fig. 1 Computation flow of the dynamic model of the flexible rigging

图3 海上补给装备输油软管弯曲效应视景仿真效果

Fig. 3 Visual simulation results of the bending effect of the oil hose of the replenishment equipment

图4 吊挂索具与吊筐之间的摆动效应的视景仿真效果

Fig. 4 Visual simulation results of the swing effect between the hanging rigging and the hanging basket

图5 引缆与撇缆球之间的相互作用效应的视景仿真效果

Fig. 5 Visual simulation results of the interaction effect between the lead cable and the mooring ball

表1 PBD方法的性能结果

Table 1 Performance results of the PBD method

迭代次数	时间/ms		相对误差/%
迭代次数	高斯-赛德尔迭代	牛顿迭代	高斯-赛德尔迭代	牛顿迭代
1	18	244	6.11×10^-1	75.2
5	28	422	9.02×10^-3	4.50
10	70	1 816	1.66×10^-4	1.21×10^-4
100	972	2 000	2.15×10^-5	<1.0×10^-4

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