Flexible Body Simulation Technology for Replenishment Equipment Based on PBD Algorithm

doi:10.12382/bgxb.2021.0807

Abstract

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

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

Figures/Tables 6

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

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

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

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

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

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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