uCRM-9 01：SHARPy 全机模型生成与可视化¶

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这篇 Notebook 读取仓库中的 uCRM-9 低保真生成器，生成 .fem.h5、.aero.h5 和 .sharpy，然后把柔性主翼梁、近刚性机身/尾翼梁、UVLM 面以及控制面叠加显示出来。这里检查的是 SHARPy 模型骨架，不是 CAD 外形。

学习目标与路线¶

适合已经能够运行 SHARPy、希望理解全机梁—UVLM 模型输入的读者。运行前需要激活安装了 SHARPy、NumPy、Matplotlib、h5py 和 IPython 的环境。

完成后应能：

1. 从生成器得到可复现的 uCRM-9 HDF5 输入；
2. 核对结构梁、气动面、舵面和发动机质量点的编号；
3. 在三维图中区分完整结构骨架与 5 个 UVLM 面；
4. 查看主翼弦长、扭转、弹性轴和刚度的公开数据分布。

0. 导入公共工具¶

In [1]:

import os
import sys
from pathlib import Path

os.environ.setdefault("MPLCONFIGDIR", str(Path("_sharpy_runs") / ".mplconfig"))

candidate_dirs = [
    Path.cwd(),
    Path.cwd() / "docs" / "reference-aircraft" / "ucrm9",
    Path("docs/reference-aircraft/ucrm9"),
]
for candidate in candidate_dirs:
    if (candidate / "ucrm9_utils.py").exists():
        sys.path.insert(0, str(candidate.resolve()))
        break
else:
    raise FileNotFoundError(
        "没有找到 ucrm9_utils.py。请从仓库根目录或 docs/reference-aircraft/ucrm9 目录运行本 Notebook。"
    )

import matplotlib.pyplot as plt
import numpy as np
from IPython.display import HTML, display

import ucrm9_utils as ucrm9

ucrm9.configure_plots()
generator = ucrm9.load_generator()

import os import sys from pathlib import Path os.environ.setdefault("MPLCONFIGDIR", str(Path("_sharpy_runs") / ".mplconfig")) candidate_dirs = [ Path.cwd(), Path.cwd() / "docs" / "reference-aircraft" / "ucrm9", Path("docs/reference-aircraft/ucrm9"), ] for candidate in candidate_dirs: if (candidate / "ucrm9_utils.py").exists(): sys.path.insert(0, str(candidate.resolve())) break else: raise FileNotFoundError( "没有找到 ucrm9_utils.py。请从仓库根目录或 docs/reference-aircraft/ucrm9 目录运行本 Notebook。" ) import matplotlib.pyplot as plt import numpy as np from IPython.display import HTML, display import ucrm9_utils as ucrm9 ucrm9.configure_plots() generator = ucrm9.load_generator()

Matplotlib is building the font cache; this may take a moment.

1. 生成并读取 uCRM-9 输入文件¶

生成器把公开的 uCRM-9 主翼几何、弹性轴、等效弯曲/扭转刚度和 21 个翼型剖面写成 SHARPy 输入。机身和平、垂尾使用有限高刚度梁；发动机用两个集中质量点表示。

所有运行文件写到 _sharpy_runs/，不会污染 models/ucrm9/ 下的源数据。

In [2]:

FORCE_REGENERATE = True

case_dir = ucrm9.prepare_case("notebook_visualization", force=FORCE_REGENERATE)
model = ucrm9.read_model(case_dir)

print("case directory:", case_dir)
for suffix in [".fem.h5", ".aero.h5", ".sharpy", ".model.json"]:
    file_path = case_dir / f"{ucrm9.CASE_NAME}{suffix}"
    print(file_path.name, "exists:", file_path.exists(), "size:", file_path.stat().st_size)

FORCE_REGENERATE = True case_dir = ucrm9.prepare_case("notebook_visualization", force=FORCE_REGENERATE) model = ucrm9.read_model(case_dir) print("case directory:", case_dir) for suffix in [".fem.h5", ".aero.h5", ".sharpy", ".model.json"]: file_path = case_dir / f"{ucrm9.CASE_NAME}{suffix}" print(file_path.name, "exists:", file_path.exists(), "size:", file_path.stat().st_size)

case directory: /Users/raiot/Documents/Programing/Steps-to-Aeroelastic-Sim/_sharpy_runs/ucrm9_full_aircraft/notebook_visualization
ucrm9_full_aircraft.fem.h5 exists: True size: 61672
ucrm9_full_aircraft.aero.h5 exists: True size: 96719
ucrm9_full_aircraft.sharpy exists: True size: 3088
ucrm9_full_aircraft.model.json exists: True size: 1027

2. 模型清单与质量核对¶

模型共有 5 个气动面：左右主翼、左右平尾和垂尾。控制面 0 是升降舵，控制面 1 是方向舵。质量表按梁单元弧长积分线质量，并叠加两个发动机集中质量。

In [3]:

display(HTML(ucrm9.html_table(ucrm9.surface_summary(model))))
display(HTML(ucrm9.html_table(ucrm9.control_surface_summary(model))))
display(HTML(ucrm9.html_table(ucrm9.mass_summary(model))))
display(HTML(ucrm9.html_table(ucrm9.model_checks(model))))

display(HTML(ucrm9.html_table(ucrm9.surface_summary(model)))) display(HTML(ucrm9.html_table(ucrm9.control_surface_summary(model)))) display(HTML(ucrm9.html_table(ucrm9.mass_summary(model)))) display(HTML(ucrm9.html_table(ucrm9.model_checks(model))))

surface id	name	chordwise panels	span/y range [m]	height/z range [m]	control
0	right main wing	8	26.4420	0.9394	-
1	left main wing	8	26.4420	0.9394	-
2	right horizontal tail / elevator	4	10.8000	0.9449	elevator
3	left horizontal tail / elevator	4	10.8000	0.9449	elevator
4	vertical tail / rudder	4	0.0000	10.5000	rudder

control id	role	initial deflection [deg]	surfaces
0	elevator	0.0000	right horizontal tail / elevator left horizontal tail / elevator
1	rudder	0.0000	vertical tail / rudder

component	mass [kg]
main wings	29895.0000
fuselage	105806.0000
empennage	5806.0000
engine lumped masses	15786.0000
estimated total	157293.0000

check	passed
five aerodynamic surfaces	yes
elevator and rudder	yes
quadratic beam-tree node count	yes
one clamped reference node	yes
finite structural coordinates	yes
positive aerodynamic chords	yes

3. 完整结构骨架¶

先只看梁和关键节点。蓝色是左右柔性主翼，灰色是机身，青色是平尾，紫色是垂尾。两个红色标记是发动机集中质量/推力节点。这样可以直接确认模型不是一片孤立机翼，而是以机身参考节点连接的完整飞机树形结构。

In [4]:

structure_traces = ucrm9.beam_traces_from_model(model)
engine_node_ids = [
    model["metadata"]["node_ids"]["right_engine_node"],
    model["metadata"]["node_ids"]["left_engine_node"],
]
engine_points = model["fem"]["coordinates"][engine_node_ids]
structure_traces.append(
    ucrm9.label_trace(engine_points, ["right engine mass", "left engine mass"])
)

ucrm9.show_plotly(
    structure_traces,
    "uCRM-9 structural skeleton: flexible wings, rigid-body beams and engine nodes",
    camera={"eye": {"x": 1.55, "y": -1.85, "z": 0.82}},
)

structure_traces = ucrm9.beam_traces_from_model(model) engine_node_ids = [ model["metadata"]["node_ids"]["right_engine_node"], model["metadata"]["node_ids"]["left_engine_node"], ] engine_points = model["fem"]["coordinates"][engine_node_ids] structure_traces.append( ucrm9.label_trace(engine_points, ["right engine mass", "left engine mass"]) ) ucrm9.show_plotly( structure_traces, "uCRM-9 structural skeleton: flexible wings, rigid-body beams and engine nodes", camera={"eye": {"x": 1.55, "y": -1.85, "z": 0.82}}, )

4. 梁、UVLM 面和控制面叠加¶

下面把 5 个 UVLM 面覆盖到结构骨架上。橙色区域是平尾升降舵，红色区域是垂尾方向舵。半透明面板显示的是 SHARPy 气动网格，而不是封闭实体表面。

In [5]:

traces = ucrm9.aircraft_traces_from_model(model, show_controls=True)
label_points, labels = ucrm9.aircraft_label_points(model)
traces.append(ucrm9.label_trace(label_points, labels))

ucrm9.show_plotly(
    traces,
    "uCRM-9 SHARPy model: beams, five UVLM surfaces and control regions",
    camera={"eye": {"x": 1.55, "y": -1.95, "z": 0.92}},
)

traces = ucrm9.aircraft_traces_from_model(model, show_controls=True) label_points, labels = ucrm9.aircraft_label_points(model) traces.append(ucrm9.label_trace(label_points, labels)) ucrm9.show_plotly( traces, "uCRM-9 SHARPy model: beams, five UVLM surfaces and control regions", camera={"eye": {"x": 1.55, "y": -1.95, "z": 0.92}}, )

5. 主翼公开数据的沿展向分布¶

SHARPy 主翼梁不是任意设定的等截面梁。生成器直接插值 Taylor 与 Hunsaker 给出的 uCRM-9 表格数据：弦长和扭转来自 Table A1，弹性轴、垂向弯曲刚度和扭转刚度来自 Table A8。

In [6]:

xi = np.linspace(0.0, 1.0, 301)
chord = np.interp(xi, generator.UCRM_XI, generator.UCRM_CHORD)
twist_deg = np.interp(xi, generator.UCRM_XI, generator.UCRM_TWIST_DEG)
elastic_axis = np.interp(xi, generator.A8_XI, generator.A8_ELASTIC_AXIS)
ei = np.interp(xi, generator.A8_XI, generator.A8_EI)
gj = np.interp(xi, generator.A8_XI, generator.A8_GJ)

fig, axes = plt.subplots(2, 2, figsize=(10.5, 6.2), sharex=True)

axes[0, 0].plot(xi, chord, color=ucrm9.COLORS["blue"])
axes[0, 0].scatter(generator.UCRM_XI, generator.UCRM_CHORD, s=14, color=ucrm9.COLORS["dark"])
axes[0, 0].set_ylabel("chord [m]")
axes[0, 0].set_title("Chord", loc="left")

axes[0, 1].plot(xi, twist_deg, color=ucrm9.COLORS["orange"])
axes[0, 1].scatter(generator.UCRM_XI, generator.UCRM_TWIST_DEG, s=14, color=ucrm9.COLORS["dark"])
axes[0, 1].set_ylabel("twist [deg]")
axes[0, 1].set_title("Jig twist", loc="left")

axes[1, 0].plot(xi, elastic_axis, color=ucrm9.COLORS["teal"])
axes[1, 0].scatter(generator.A8_XI, generator.A8_ELASTIC_AXIS, s=10, color=ucrm9.COLORS["dark"])
axes[1, 0].set_xlabel("semispan ratio, xi")
axes[1, 0].set_ylabel("elastic axis / chord")
axes[1, 0].set_title("Elastic-axis location", loc="left")

axes[1, 1].semilogy(xi, ei, label="vertical bending EI", color=ucrm9.COLORS["purple"])
axes[1, 1].semilogy(xi, gj, label="torsional GJ", color=ucrm9.COLORS["red"])
axes[1, 1].set_xlabel("semispan ratio, xi")
axes[1, 1].set_ylabel("rigidity [N m²]")
axes[1, 1].set_title("Equivalent wing rigidities", loc="left")
axes[1, 1].legend()

for ax in axes.flat:
    ax.grid(True, color=ucrm9.COLORS["light_grey"], linewidth=0.6)
    ax.set_xlim(0.0, 1.0)

ucrm9.finish_figure(fig)

xi = np.linspace(0.0, 1.0, 301) chord = np.interp(xi, generator.UCRM_XI, generator.UCRM_CHORD) twist_deg = np.interp(xi, generator.UCRM_XI, generator.UCRM_TWIST_DEG) elastic_axis = np.interp(xi, generator.A8_XI, generator.A8_ELASTIC_AXIS) ei = np.interp(xi, generator.A8_XI, generator.A8_EI) gj = np.interp(xi, generator.A8_XI, generator.A8_GJ) fig, axes = plt.subplots(2, 2, figsize=(10.5, 6.2), sharex=True) axes[0, 0].plot(xi, chord, color=ucrm9.COLORS["blue"]) axes[0, 0].scatter(generator.UCRM_XI, generator.UCRM_CHORD, s=14, color=ucrm9.COLORS["dark"]) axes[0, 0].set_ylabel("chord [m]") axes[0, 0].set_title("Chord", loc="left") axes[0, 1].plot(xi, twist_deg, color=ucrm9.COLORS["orange"]) axes[0, 1].scatter(generator.UCRM_XI, generator.UCRM_TWIST_DEG, s=14, color=ucrm9.COLORS["dark"]) axes[0, 1].set_ylabel("twist [deg]") axes[0, 1].set_title("Jig twist", loc="left") axes[1, 0].plot(xi, elastic_axis, color=ucrm9.COLORS["teal"]) axes[1, 0].scatter(generator.A8_XI, generator.A8_ELASTIC_AXIS, s=10, color=ucrm9.COLORS["dark"]) axes[1, 0].set_xlabel("semispan ratio, xi") axes[1, 0].set_ylabel("elastic axis / chord") axes[1, 0].set_title("Elastic-axis location", loc="left") axes[1, 1].semilogy(xi, ei, label="vertical bending EI", color=ucrm9.COLORS["purple"]) axes[1, 1].semilogy(xi, gj, label="torsional GJ", color=ucrm9.COLORS["red"]) axes[1, 1].set_xlabel("semispan ratio, xi") axes[1, 1].set_ylabel("rigidity [N m²]") axes[1, 1].set_title("Equivalent wing rigidities", loc="left") axes[1, 1].legend() for ax in axes.flat: ax.grid(True, color=ucrm9.COLORS["light_grey"], linewidth=0.6) ax.set_xlim(0.0, 1.0) ucrm9.finish_figure(fig)

6. 结果怎么理解¶

• 主翼采用公开 uCRM-9 外形和等效刚度，因此是模型中真正的柔性部件。
• 机身和平、垂尾的主要作用是形成全机连接、质量和控制面拓扑；它们目前不是高保真结构降阶结果。
• UVLM 使用弯度线、弦长、弹性轴和扭转生成面板，不需要 STEP 或封闭实体。
• 当前基线已经通过加载、模态、纯气动和静气动弹性耦合冒烟测试；默认配平初值仍需要后续校准。

常见错误是把半透明 UVLM 面理解为 CAD 蒙皮，或者只看气动面而忽略灰色机身梁。判断模型是否“全机”，应同时核对梁连接、surface_id、控制面和集中质量节点。

7. 小练习：改变视角并隐藏控制面¶

把 SHOW_CONTROLS 改为 True/False，比较尾翼区域是否出现橙色升降舵和红色方向舵；再修改 CAMERA 的三个数值，观察后掠主翼、平尾和垂尾的相对位置。

In [7]:

SHOW_CONTROLS = False
CAMERA = {"eye": {"x": 0.15, "y": -2.25, "z": 1.35}}

exercise_traces = ucrm9.aircraft_traces_from_model(model, show_controls=SHOW_CONTROLS)
ucrm9.show_plotly(
    exercise_traces,
    f"Exercise view: show_controls={SHOW_CONTROLS}",
    height=580,
    camera=CAMERA,
)

SHOW_CONTROLS = False CAMERA = {"eye": {"x": 0.15, "y": -2.25, "z": 1.35}} exercise_traces = ucrm9.aircraft_traces_from_model(model, show_controls=SHOW_CONTROLS) ucrm9.show_plotly( exercise_traces, f"Exercise view: show_controls={SHOW_CONTROLS}", height=580, camera=CAMERA, )

后续扩展¶

下一步可以把 StaticCoupled 的变形后节点和 zeta 网格叠加到这里，用同一套颜色对比未变形/变形构型；也可以在配平参数完成校准后增加迎角、升降舵偏角和推力的收敛过程。