CN102298334B - Breakpoint simulation controller and control method for ground simulation system - Google Patents
Breakpoint simulation controller and control method for ground simulation system Download PDFInfo
- Publication number
- CN102298334B CN102298334B CN 201110254960 CN201110254960A CN102298334B CN 102298334 B CN102298334 B CN 102298334B CN 201110254960 CN201110254960 CN 201110254960 CN 201110254960 A CN201110254960 A CN 201110254960A CN 102298334 B CN102298334 B CN 102298334B
- Authority
- CN
- China
- Prior art keywords
- module
- breakpoint
- time
- simulation
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention relates to a breakpoint simulation controller and a breakpoint simulation control method for a ground simulation system. The controller comprises a breakpoint monitoring storage module, a data recovery module and a time synchronizing module; under the semi-physical simulation condition, the breakpoint monitoring storage module records the global variable of the simulation system; when the simulation restarts, the data recovery module takes the data as input, so that continuation of system simulation is realized, the simulation efficiency and the simulation effect are greatly improved, and massive time, energy and cost are saved; meanwhile, the controller comprises the time synchronizing module, so that synchronization of accuracy record and recovery time of the system operating breakpoint is ensured; and by using the controller and the method, judgment of multi-process breakpoints of the complex simulation system is solved, the process data are stored in time, and data and means are provided for recovering the operation of the system.
Description
Technical field
The invention belongs to the spacecraft engineering technical field, particularly relate to breakpoint emulation controller and control method for ground artificial system.
Background technology
For general-purpose system or developing instrument software, having developed some session breakpoints both at home and abroad preserves and recovery software, to preserve and the breakpoint Save and restore that recovers to realize one process by inner nuclear layer session breakpoint, shortcoming is that the breakpoint of its multi-user Environment that can not solve complication system is preserved and recovered, and can only apply to be applicable among the semi-physical system among the software systems.Breakpoint Simulation Control for analogue system, present way is that in a single day complicated spacecraft semi-physical system interrupts in simulation process, need to re-enter simulated conditions, simulating scenes is set, and have to carry out emulation from the most initial state, expend plenty of time and energy, had a strong impact on efficient and the effect of emulation.
Summary of the invention
The object of the invention is to overcome the above-mentioned deficiency of prior art, be provided for the breakpoint emulation controller of ground artificial system, this controller is in the semi-physical simulation situation, the record simulation software global variable, when emulation restarts, with these data as input, thereby realize the continuation of system emulation, guarantee the synchronous consistent of the accurate recording of system's running interruption and release time, greatly improved efficient and the effect of emulation, saved plenty of time, energy and cost.
Another object of the present invention is to be provided for the breakpoint simulation control method of ground artificial system.
Above-mentioned purpose of the present invention is achieved by following technical solution:
The breakpoint emulation controller that is used for ground artificial system comprises breakpoint watch preservation module, data recovery module and time synchronized module, wherein:
Breakpoint watch is preserved module: be responsible for the powering up duty and store of semi-physical simulation hardware in the Real-Time Monitoring analogue system, global parameter and local parameter when being responsible for the operation of Real-Time Monitoring analogue system in the register are also stored; By the global parameter of current time and local parameter and the global parameter of having preserved and local parameter are compared, whether interpreting system emulation breakpoint occurs, if the current time data do not meet predefined logical relation with the relation of save data, then be judged as breakpoint, if be judged as breakpoint, then record the breakpoint time;
Data recovery module: when analogue system generation breakpoint, breakpoint according to the outside input recovers instruction, from preserving module, breakpoint watch obtains the operating state data that powers up of semi-physical simulation hardware in the analogue system, be distributed to each hardware device, make the duty before each hardware device keeps breakpoint, global parameter and local parameter when from breakpoint watch preservation module, obtaining system's operation simultaneously in the register, be distributed to register, make the duty before register keeps breakpoint, and from breakpoint watch preservation module, obtain the breakpoint time, constantly begin to continue operating simulation system from breakpoint;
The time synchronized module: data send to respectively breakpoint watch and preserve module and data recovery module during high-ranking officers, to keep two modules synchronous working time.
At above-mentioned breakpoint emulation controller for ground artificial system, breakpoint watch is preserved module and is comprised circuit monitoring module, internal memory monitoring modular and data preservation module, wherein:
The circuit monitoring module: be responsible in the monitoring analogue system semi-physical simulation hardware power up duty, and will describedly power up operating state data and send to data preservation module and store;
The internal memory monitoring modular: global parameter and local parameter when being responsible for the operation of monitoring analogue system in the register, and described parameter is sent to data preserve module and store; The global parameter of current time and local parameter and the global parameter of having preserved and local parameter are compared, whether interpreting system emulation breakpoint occurs, if the current time data do not meet predefined logical relation with the relation of save data, then be judged as breakpoint, if be judged as breakpoint, then record the breakpoint time, and the described breakpoint time is sent to data preserve module and store;
Data are preserved module: the operating state data that powers up of the semi-physical simulation hardware of in real time receiving circuit monitoring modular transmission is stored; Global parameter and local parameter in the register of in real time reception internal memory monitoring modular transmission are stored; When breakpoint appears in analogue system, receive the breakpoint time from the internal memory monitoring modular and store.
At above-mentioned breakpoint emulation controller for ground artificial system, module and synchronization control module when uniting module, school when the time synchronized module comprises hardware, wherein:
System module during hardware: receiving system emulation initiation message, produce the simulation step length pulse signal according to the clock drift rate of demarcating in advance storage and emulation initiation message, described simulation step length pulse signal is converted to simulation step length information, and in network, broadcasts described simulation step length information with udp protocol; The Packet Generation that will comprise simultaneously described simulation step length information module during to the school, and from the emulation initiation message, read the clock drift rate, module when clock drift rate and pre-stored synchronous higher limit are sent to the school;
The module during school: the clock drift rate that receives according to the time system module from hardware and the synchronous maximum reading error of higher limit computing system, and judge whether that according to synchronous higher limit needs carry out time bias, simultaneously computing system synchronizing cycle; The system module receives the packet that comprises simulation step length information during from hardware, and record N secondary data bag sending and receiving constantly, computing system network delay average; According to system synchronization cycle and grid delay average, compensate when carrying out the system school, to eliminate the network delay of each simulation subsystem and emulation module, when selecting the LINEAR CONTINUOUS function to carry out the continuous school of asynchronous length according to maximum synchronizing cycle simultaneously, consistent with the step-length that guarantees each simulation subsystem and emulation module, and the emulated data bag sends to synchronization control module will eliminate emulated data in the network delay packet consistent with guaranteeing step-length as the school time, simultaneously the control of the read-write in packet sign is sent to synchronization control module, wherein N is positive integer;
Synchronization control module: emulated data bag when the read-write control sign of module output when receiving the school and school, the corresponding vectorial clock of the timestamp information calculation procedure of the system emulation process during according to the school in the emulated data bag, threshold value according to vectorial clock and default is carried out layering to simulation process, set every layer interprocess communication, the path of between the different layers interprocess communication, transmitting according to the cause and effect sequential computational data bag data of vectorial clock, carry out the emulated data exchange according to the path of calculating, produce the synchro control packet after synchro control is processed, and with synchro control packet and vectorial clock data during as the school, send to respectively breakpoint watch and preserve module and data recovery module, to keep two modules synchronous working time.
At above-mentioned breakpoint emulation controller for ground artificial system, module and network delay computing module when module comprises error analysis module, the continuous school of asynchronous length during the school, wherein:
Error analysis module: the clock drift rate that receives according to the time system module from hardware and the synchronous maximum reading error of higher limit computing system, and judge whether that according to synchronous higher limit needs carry out time bias, computing system synchronizing cycle simultaneously, and module when maximum reading error and system synchronization cycle sent to the continuous school of asynchronous length;
The network delay computing module: the system module receives the packet comprise simulation step length information during from hardware, and record N secondary data bag sending and receiving constantly, computing system network delay average, and module when grid postponed average and be transferred to the continuous school of asynchronous length;
Module during the continuous school of asynchronous length: postpone average according to the system synchronization cycle that receives from the error analysis module with from the grid that the network delay computing module receives, compensate when carrying out the system school, to eliminate the network delay of each simulation subsystem and emulation module, when selecting the LINEAR CONTINUOUS function to carry out the continuous school of asynchronous length according to maximum synchronizing cycle simultaneously, consistent with the emulation module step-length to guarantee each simulation subsystem, and the emulated data bag sends to synchronization control module will eliminate emulated data in the network delay packet consistent with guaranteeing step-length as the school time, simultaneously the control of the read-write in packet sign is sent to synchronization control module.
At above-mentioned breakpoint emulation controller for ground artificial system, synchronization control module comprises vectorial clock calculation module and level synchronization control module, wherein:
Vector clock calculation module: emulated data bag when the read-write control sign of module output when receiving the school and school, the corresponding vectorial clock of the timestamp information calculation procedure of the system emulation process during according to the school in the emulated data bag, and vectorial clock passed to the level synchronization control module with the cause and effect sequential;
Level synchronization control module: receive the vectorial clock of vectorial clock calculation module output, according to the threshold value of default simulation process is carried out layering, set every layer interprocess communication; Cause and effect sequential according to vectorial clock is calculated the path that message is transmitted between the different layers interprocess communication; Carry out the emulated data exchange according to the path of calculating, produce the synchro control packet after synchro control is processed, and synchro control packet and vectorial clock are sent to each simulation subsystem and emulation module.
Be used for the breakpoint simulation control method of ground artificial system, it is characterized in that comprising the steps:
(1) starts ground artificial system;
(2) duty that powers up of the semi-physical simulation hardware in the Real-Time Monitoring analogue system is stored, global parameter and local parameter during the operation of Real-Time Monitoring analogue system in the register are stored, and judge according to service data whether analogue system interrupts, determination methods is: the global parameter of current time and local parameter and the global parameter of having stored and local parameter are compared, if the current time data with store data relationship and do not meet predefined logical relation, then be judged as breakpoint, if be judged as breakpoint, then record the breakpoint time, enter step (4);
(3) if breakpoint does not appear in analogue system, then continue emulation, execution in step (2);
(4) judge whether analogue system carries out breakpoint emulation, if do not need breakpoint emulation, then finishes the breakpoint Simulation Control, if need to carry out breakpoint emulation, then enter step (5);
(5) outside input breakpoint recovers instruction, the operating state data that powers up with the semi-physical simulation hardware in the analogue system of storage, be distributed to each hardware device, make the duty before each hardware device keeps breakpoint, global parameter and local parameter when simultaneously the system that stores being moved in the register, be distributed to register, make the duty before register keeps breakpoint;
(6) according to the breakpoint time, constantly begin to continue operating simulation system from breakpoint, guarantee simultaneously each module time synchronized in the analogue system, execution in step (1).
The present invention compared with prior art has following beneficial effect:
(1) breakpoint emulation controller of the present invention is in the semi-physical simulation situation, the global variable of record simulation software, when emulation restarts, with these data as input, thereby realize the continuation of system emulation, thereby greatly improved efficient and the effect of emulation, saved plenty of time, energy and cost;
(2) the invention solves the judgement of the multi-process breakpoint of complex simulation system, and in time preserve process data, for the recovery system operation provides data and means;
(3) the present invention has utilized the time synchronized module, has guaranteed the synchronous consistent of the accurate recording of system's running interruption and release time;
The calibration method that module combined when the system module was with the school when (4) time synchronized module of the present invention adopted based on hardware when the different subsystem of simulation step length is carried out the school, guarantees the consistance of system time;
(5) time synchronized module of the present invention adopts the level process dispatching method based on the time stamp order, by level synchronous control technique scheme, reduces the redundant information in the system control information, guarantees synchronism and the concurrency of system emulation, improves the degree of coupling of system;
(6) the invention solves the hardware running information of semi-physical system of software and hardware system coexistence and the coupling of running software information, effectively distinguish the two kinds of information in the system that recorded.
Description of drawings
Fig. 1 is the structural representation of breakpoint emulation controller of the present invention;
Fig. 2 is data recovery module workflow diagram of the present invention;
Fig. 3 is time synchronized modular structure synoptic diagram of the present invention;
Modular structure synoptic diagram when Fig. 4 is time synchronized module lieutenant colonel of the present invention;
Fig. 5 is synchronization control module structural representation in the time synchronized module of the present invention;
Process synoptic diagram during the school of module when Fig. 6 is time synchronized module lieutenant colonel of the present invention;
Fig. 7 is the synchro control process synoptic diagram of synchronization control module in the time synchronized module of the present invention;
Process flow diagram when module was carried out the school when Fig. 8 was embodiment of the invention lieutenant colonel.
Embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments:
Be illustrated in figure 1 as the structural representation of breakpoint emulation controller of the present invention, the breakpoint emulation controller comprises breakpoint watch preservation module, data recovery module and time synchronized module as seen from the figure.
Breakpoint watch is preserved module and is comprised circuit monitoring module, internal memory monitoring modular and data preservation module, wherein the circuit monitoring module is responsible for monitoring the duty that powers up of semi-physical simulation hardware in the analogue system, and will power up operating state data and send to data and preserve module and preserve.
Global parameter and local parameter when the internal memory monitoring modular is responsible for monitoring the analogue system operation in the register, and parameter is sent to data preserve module and preserve; The global parameter of current time and local parameter and the global parameter of having preserved and local parameter are compared, and whether interpretation breakpoint, if the current time data do not meet predefined logical relation with save data relation, then is judged as breakpoint.
For example: the battery pack current electric quantity in the analogue system is calculated as:
Q
current(t)＝Q
current(t)+Q
charge(t)-Q
discharge(t) (1)
Q
Current(t) be current electric quantity, Q
Charge(t) be charge capacity, Q
Discharge(t) be discharge electricity amount.
Save data is t1 constantly, and the electric weight of preserving is Q
Current(t1), current time is t2, and current electric quantity is Q
Current(2), Δ t=t2-t1.
Should be Q according to formula calculating
Current(2)=Q
Current(t1)+Q
Charge(Δ t)-Q
Discharge(Δ t) (2)
If Q
Current(t2) meet the logical relation of formula (2), then the analogue system normal operation; If Q
Current(t2) be not inconsistent the logical relation of box-like (2), then be judged as breakpoint.
If be judged as breakpoint, then record the breakpoint time, and the breakpoint time is sent to data preserve module and store.
Data are preserved the operating state data that powers up of the semi-physical simulation hardware that the real-time receiving circuit monitoring modular of module sends and are stored, and the global parameter and the local parameter that receive in real time in the register that the internal memory monitoring modular sends are stored; When breakpoint appears in analogue system, receive the breakpoint time from the internal memory monitoring modular and store.
Data recovery module is when analogue system generation breakpoint, breakpoint according to the outside input recovers instruction, from breakpoint watch with preserve the operating state data that powers up of the semi-physical simulation hardware that obtains the module in the analogue system, be distributed to each hardware device, make the duty before each hardware device keeps breakpoint, global parameter and local parameter when from breakpoint watch preservation module, obtaining system's operation simultaneously in the register, be distributed to register, make the duty before register keeps breakpoint, and from breakpoint watch preservation module, obtain the breakpoint time, constantly begin to continue operating simulation system from breakpoint.Be illustrated in figure 2 as data recovery module workflow diagram of the present invention, comprise that receiving breakpoint recovers instruction, obtains the breakpoint save data, equipment working state is set, system's initial parameter is set, and starts several processes such as emulation.
Data send to respectively breakpoint watch and preserve module and data recovery module during time synchronized module high-ranking officers, to keep two modules synchronous working time.
Be illustrated in figure 3 as time synchronized modular structure synoptic diagram of the present invention, module and synchronization control module when uniting module, school when the time synchronized module comprises hardware as seen from the figure, system module receiving system emulation initiation message during hardware, produce the simulation step length pulse signal according to the clock drift rate of demarcating in advance storage and emulation initiation message, by artificial card the simulation step length pulse signal is converted to simulation step length information, and in network, broadcasts simulation step length information with udp protocol; The Packet Generation that will comprise simultaneously simulation step length information module during to the school, and from the emulation initiation message, read the clock drift rate, module when clock drift rate and pre-stored synchronous higher limit are sent to the school.
Modular structure synoptic diagram when being illustrated in figure 4 as time synchronized module lieutenant colonel of the present invention, module and network delay computing module when module comprises error analysis module, the continuous school of asynchronous length during the school as seen from the figure.
Error analysis module: the clock drift rate that receives according to the time system module from hardware and the synchronous maximum reading error of higher limit computing system, and judge whether that according to synchronous higher limit needs carry out time bias, computing system synchronizing cycle simultaneously, and module when maximum reading error and system synchronization cycle sent to the continuous school of asynchronous length;
The network delay computing module: the system module receives the packet comprise simulation step length information during from hardware, and record N secondary data bag sending and receiving constantly, computing system network delay average, and module when grid postponed average and be transferred to the continuous school of asynchronous length;
Module during the continuous school of asynchronous length: postpone average according to the system synchronization cycle that receives from the error analysis module with from the grid that the network delay computing module receives, compensate when carrying out the system school, to eliminate the network delay of each simulation subsystem and emulation module, when selecting the LINEAR CONTINUOUS function to carry out the continuous school of asynchronous length according to maximum synchronizing cycle simultaneously, consistent with the emulation module step-length to guarantee each simulation subsystem, and the emulated data bag sends to synchronization control module will eliminate emulated data in the network delay packet consistent with guaranteeing step-length as the school time, simultaneously the control of the read-write in packet sign is sent to synchronization control module.
Process synoptic diagram during the school of module when being illustrated in figure 6 as school of the present invention, module adopts the concrete steps of the continuous calibration method of asynchronous length as follows during the school:
(1) reads the emulation log-on message.After data handling subsystem received control and monitor console emulation enabling signal, zero-time T was read in the system source during hardware
0, the time of whole ground artificial system is carried out the initialization setting;
(2) the data handling subsystem step-length pulse message l that the system source produces when the udp protocol broadcast hardware, and compare with the time step l ' of each subsystem own.If step-length is different, then carry out asynchronous long synchro control, unified analogue system step-length; If step-length is identical, then enter step (4);
Function when (3) choosing asynchronous long school according to each system's step-length
(4) read clock drift rate and the synchronous upper limit, and computing system network delay average.
(5) whether needs carry out the time synchronized compensation to judge subsystem according to the time synchronized upper limit.If delay time error estimates then to carry out the time synchronized compensation greater than the upper limit; If delay time error, then enters step (2) less than estimation;
(6) according to system clock drift rate and maximum reading error computing subsystem maximum synchronizing cycle;
When (7) data handling subsystem carries out the LINEAR CONTINUOUS school according to maximum synchronizing cycle and system clock compensating parameter to the ground artificial system clock, guarantee that the system time error is in allowed band.
Be synchronization control module structural representation in the time synchronized module of the present invention such as Fig. 5, synchronization control module comprises vectorial clock calculation module and level synchronization control module as seen from the figure.
Emulated data bag when sign and school were controlled in the read-write of module output when vector clock calculation module received the school, the corresponding vectorial clock of the timestamp information calculation procedure of the system emulation process during according to the school in the emulated data bag, and vectorial clock passed to the level synchronization control module with the cause and effect sequential.
The vectorial clock that the level synchronization control module receives vectorial clock calculation module output carries out layering according to the threshold value of default to simulation process, sets every layer interprocess communication; Cause and effect sequential according to vectorial clock is calculated the path that message is transmitted between the different layers interprocess communication; Carry out the emulated data exchange according to the path of calculating, produce the synchro control packet after synchro control is processed, and with synchro control packet and vectorial clock data during as the school, send to respectively breakpoint watch and preserve module and data recovery module, to keep two modules synchronous working time.
Be illustrated in figure 7 as the synchro control process synoptic diagram of synchronization control module of the present invention, synchronization control module realizes adopting ground artificial system multi-process synchronous scheduling logic, the concurrency of raising system and coupling, its principle is: adopt read-write control zone bit to realize that the read-write of each subsystem is synchronous, and utilize level time stamp order synchronization management method to improve concurrency and the coupling of system, guarantee the correctness of data stream, make simultaneously system have preferably extendability.As shown in Figure 7, the concrete steps of synchronization control module are as follows:
(1) zone bit is controlled in the read-write that detects system information when receiving;
(2) obtain under the process that exchanges data occurs subgroup group number and judging;
(3) calculation procedure respective logic clock vector, and it is vectorial to upgrade the process logic clock according to process causal ordering in the group;
(4) according to hierarchy type time stamp order communication protocol, finish exchanges data between the different subgroups by the forwarding process, realize the synchro control of system;
Above-mentioned read and write synchronous control method is as follows:
(1) constraint condition
Preferential synchronously with real-time time, when the arrival of telemetry time stab information, subsystem calculates not finish and still continues the emulation propelling;
(2) algorithm steps
Step 1) before the subsystem swap data calculates, first detect-message read to control zone bit T
1If, T
1=1, then read parameter information and calculate with the input data;
Step 2) after subsystem was whenever finished a step-length correction, writing of system information controlled zone bit T during detection
2If, T
2=1, then carry out write operation, otherwise wait for;
Step 3) advance with system emulation, constantly be cycled to repeat step 1) and step 2).
The step of above-mentioned level time stamp order synchro control is as described below:
(1) according to read/writing control method, the read-write control zone bit in the detection simulation packet, and carry out corresponding read-write operation;
(2) vectorial clock calculation module is obtained the simulation process group number, and the corresponding vectorial clock of calculation procedure.
(3) synchronization control module is carried out layered values calculating.Threshold alpha according to default is divided into groups to all simulation process of system, and every subgroup scale is less than α.Corresponding each subgroup arranges a communication process, organizes between group exchanges data and finishes by communication process.According to the threshold alpha of default all subgroup communication processs are carried out secondary and divide, every subgroup scale is less than α.By that analogy, until top layer subgroup scale less than α.
(4) purpose subgroup communication process calculates bang path according to the time stamp order of receive data, sends the data to other processes in the group.
(5) carrying out exchanges data between subgroup needs to carry out according to level time stamp agreement by communication process.Communication process receives according to time stamp order management algorithm and needs swap data in the subgroup, and forwards the data to the purpose subgroup with identical order.
The embodiment of the embodiment of process and the synchro control process when the below respectively enumerates a school:
Implementation Process example during the school:
Process flow diagram when module is carried out the school when being illustrated in figure 8 as embodiment of the invention lieutenant colonel, the clock pulse signal that the system source produces during hardware is F, T at first sends to several tube systems by the CAN bus, the number tube system converts thereof into analogue system time message T by CAN Bus simulator card, and form is as shown in table 1 below:
Table 1
And to interrupt form reading clock pulse signal bell F, obtain time step l.Then according to time message format interpolation time position and step-length position in T, in network, carry out airtime message according to UDP communication protocol simultaneously.Each subsystem reads time position and step-length position in the time message, and compares with subsystem self step-length l ' by the network interface time of reception message T of agreement: if step-length is consistent, then calls the time-delay of error analysis device straight-forward network and calculate; If step-length is inconsistent, then carry out the subsystem step-length according to asynchronous long method for synchronous and proofread and correct, carry out again network delay and calculate.At last by comparing with real-time network delay time T ' and time synchronized upper limit θ, if T '＜θ then proceeds emulation and advances; If T '＞θ then according to the clock drift rate with carry out the LINEAR CONTINUOUS time maximum synchronizing cycle during the school, thereby reduces clock drift and network delay to the impact of analogue system, the time analogue system with the time the unite consistance of source clock.
Synchro control implementation Process example:
Concrete synchronisation control means is as follows:
Suppose that it is W that current ground artificial system rail control subsystem is advanced shadow information, the system process of parallel running is [P
1, P
2..., P
n], the analogue system threshold value is α, the read-write control zone bit of message W is T
1, T
2According to spacecraft rail control subsystem and power subsystem incidence relation, set α=2, with process [P
1, P
2..., P
n] being divided into rail control process group and power pack, group number is N
1, N
2Set N
1The group communication process is P
1, N
2The group communication process is P
n
(1) process [P
1, P
2..., P
n] the step-length pulse information of system original broadcast when reading hardware;
(2) each process P
iSystem's step-length pulse information and self step-length are compared;
(3) if step-length is consistent, then enter step (5); If step-length is inconsistent, function is chosen when then carrying out asynchronous long school;
(4) process [P
1, P
2..., P
n] read clock drift rate and synchronously upper limit valuation, and computational grid postpones;
(5) according to maximum synchronizing cycle, when simulation process is carried out the continuous school of asynchronous length;
(6) simultaneously, process [P
1, P
2..., P
n] read and read and write control zone bit T
1, T
2Information, and according to the read and write synchronous control of read/writing control method implementation process;
(7) the rail control subsystem triggers the W variation according to orbit information, and W can cause when changing that the relevant remote measurement of power subsystem changes, i.e. N
1, N
2Exchanges data occurs in group process at this moment.Calculate the respective logic clock vector M of the process group that exchanges data occurs, and upgrade process logic clock vector M according to process causal ordering in the group;
(8) according to hierarchy type time stamp order communication protocol, pass through P
1And P
nFinish N
1, N
2Exchanges data between the group, the synchro control of two subsystems when realizing shadow information W variation;
Employed level time stamp order synchronized algorithm is as described below: the process of parallel running is larger in the ground artificial system, data interaction between the process is complicated, has uncertainty, but has obvious hierarchical structure between the process, therefore the process of parallel running can be divided into groups, process only needs to carry out data interaction with the interior process of group, and data interaction is responsible for by special process between group, reduce like this redundant information that is attached on the synchronically controlling information, improved concurrency and the coupling of system.
The below comprises the steps: for the breakpoint simulation control method that the present invention is used for ground artificial system
(1) starts ground artificial system;
(2) start breakpoint watch and preserve module, the duty that powers up of the semi-physical simulation hardware in the Real-Time Monitoring analogue system is stored, global parameter and local parameter during the operation of Real-Time Monitoring analogue system in the register are stored, and judge according to service data whether analogue system interrupts, determination methods is: the global parameter of current time and local parameter and the global parameter of having stored and local parameter are compared, if the current time data with store data relationship and do not meet predefined logical relation, then be judged as breakpoint, if be judged as breakpoint, then record the breakpoint time, enter step (4);
(3) if breakpoint does not appear in analogue system, then continue emulation, execution in step (2);
(4) judge whether analogue system carries out breakpoint emulation, if do not need breakpoint emulation, then finishes the breakpoint Simulation Control, if need to carry out breakpoint emulation, then enter step (5);
(5) outside input breakpoint recovers instruction, log-on data is recovered module, breakpoint watch preserved the operating state data that powers up of semi-physical simulation hardware in the analogue system of storing in the module, be distributed to each hardware device, make the duty before each hardware device keeps breakpoint, simultaneously breakpoint watch is preserved global parameter and local parameter in system's when operation register of storing in the module, be distributed to register, make the duty before register keeps breakpoint;
(6) according to the breakpoint time, constantly begin to continue operating simulation system from breakpoint, the time synchronized module guarantees each module time synchronized in the analogue system, execution in step (1) simultaneously.
The above; only be the embodiment of the best of the present invention, but protection scope of the present invention is not limited to this, anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.
The content that is not described in detail in the instructions of the present invention belongs to this area professional and technical personnel's known technology.
Claims (6)
1. be used for the breakpoint emulation controller of ground artificial system, it is characterized in that: comprise breakpoint watch preservation module, data recovery module and time synchronized module, wherein:
Breakpoint watch is preserved module: be responsible for the powering up duty and store of semi-physical simulation hardware in the Real-Time Monitoring analogue system, global parameter and local parameter when being responsible for the operation of Real-Time Monitoring analogue system in the register are also stored; By the global parameter of current time and local parameter and the global parameter of having preserved and local parameter are compared, whether interpreting system emulation breakpoint occurs, if the current time data do not meet predefined logical relation with the relation of save data, then be judged as breakpoint, if be judged as breakpoint, then record the breakpoint time;
Data recovery module: when analogue system generation breakpoint, breakpoint according to the outside input recovers instruction, from preserving module, breakpoint watch obtains the operating state data that powers up of semi-physical simulation hardware in the analogue system, be distributed to each hardware device, make the duty before each hardware device keeps breakpoint, global parameter and local parameter when from breakpoint watch preservation module, obtaining system's operation simultaneously in the register, be distributed to register, make the duty before register keeps breakpoint, and from breakpoint watch preservation module, obtain the breakpoint time, constantly begin to continue operating simulation system from breakpoint;
The time synchronized module: data send to respectively breakpoint watch and preserve module and data recovery module during high-ranking officers, to keep two modules synchronous working time.
2. the breakpoint emulation controller for ground artificial system according to claim 1 is characterized in that: described breakpoint watch is preserved module and is comprised that circuit monitoring module, internal memory monitoring modular and data preserve module, wherein:
The circuit monitoring module: be responsible in the monitoring analogue system semi-physical simulation hardware power up duty, and will describedly power up operating state data and send to data preservation module and store;
The internal memory monitoring modular: global parameter and local parameter when being responsible for the operation of monitoring analogue system in the register, and described global parameter and local parameter are sent to data preserve module and store; The global parameter of current time and local parameter and the global parameter of having preserved and local parameter are compared, whether interpreting system emulation breakpoint occurs, if the relation of the global parameter of current time and local parameter and the global parameter of having preserved and local parameter does not meet predefined logical relation, then be judged as breakpoint, if be judged as breakpoint, then record the breakpoint time, and the described breakpoint time is sent to data preserve module and store;
Data are preserved module: the operating state data that powers up of the semi-physical simulation hardware of in real time receiving circuit monitoring modular transmission is stored; Global parameter and local parameter in the register of in real time reception internal memory monitoring modular transmission are stored; When breakpoint appears in analogue system, receive the breakpoint time from the internal memory monitoring modular and store.
3. the breakpoint emulation controller for ground artificial system according to claim 1 is characterized in that: module and synchronization control module when system module, school when described time synchronized module comprises hardware, wherein:
System module during hardware: receiving system emulation initiation message, produce the simulation step length pulse signal according to the emulation initiation message of demarcating in advance storage, described simulation step length pulse signal is converted to simulation step length information, and in network, broadcasts described simulation step length information with udp protocol; The Packet Generation that will comprise simultaneously described simulation step length information module during to the school, and from the emulation initiation message, read the clock drift rate, module when clock drift rate and pre-stored synchronous higher limit are sent to the school;
The module during school: the clock drift rate that receives according to the time system module from hardware and the synchronous maximum reading error of higher limit computing system, and judge whether that according to synchronous higher limit needs carry out time bias, simultaneously computing system synchronizing cycle; The system module receives the packet that comprises simulation step length information during from hardware, and record comprises Packet Generation and the time of reception of simulation step length information, computing system network delay average for N time; According to system synchronization cycle and grid delay average, compensate when carrying out the system school, to eliminate the network delay of each simulation subsystem and emulation module, when selecting the LINEAR CONTINUOUS function to carry out the continuous school of asynchronous length according to maximum synchronizing cycle simultaneously, consistent with the step-length that guarantees each simulation subsystem and emulation module, and the emulated data bag sends to synchronization control module will eliminate emulated data in the network delay packet consistent with guaranteeing step-length as the school time, read-write control sign during the while high-ranking officers in the emulated data bag sends to synchronization control module, and wherein N is positive integer;
Synchronization control module: emulated data bag when the read-write control sign of module output when receiving the school and school, the corresponding vectorial clock of the timestamp information calculation procedure of the system emulation process during according to the school in the emulated data bag, threshold value according to vectorial clock and default is carried out layering to simulation process, set every layer interprocess communication, the path that emulated data bag data are transmitted between the different layers interprocess communication when calculating the school according to the cause and effect sequential of vectorial clock, carry out the emulated data exchange according to the path of calculating, produce the synchro control packet after synchro control is processed, and with synchro control packet and vectorial clock data during as the school, send to respectively breakpoint watch and preserve module and data recovery module, to keep two modules synchronous working time.
4. the breakpoint emulation controller for ground artificial system according to claim 3 is characterized in that: module and network delay computing module when module comprises error analysis module, the continuous school of asynchronous length during described school, wherein:
Error analysis module: the clock drift rate that receives according to the time system module from hardware and the synchronous maximum reading error of higher limit computing system, and judge whether that according to synchronous higher limit needs carry out time bias, computing system synchronizing cycle simultaneously, and module when maximum reading error and system synchronization cycle sent to the continuous school of asynchronous length;
The network delay computing module: the system module receives the packet that comprises simulation step length information during from hardware, and record comprises Packet Generation and the time of reception of simulation step length information for N time, computing system network delay average, and module when grid postponed average and be transferred to the continuous school of asynchronous length;
Module during the continuous school of asynchronous length: postpone average according to the system synchronization cycle that receives from the error analysis module with from the grid that the network delay computing module receives, compensate when carrying out the system school, to eliminate the network delay of each simulation subsystem and emulation module, when selecting the LINEAR CONTINUOUS function to carry out the continuous school of asynchronous length according to maximum synchronizing cycle simultaneously, consistent with the emulation module step-length to guarantee each simulation subsystem, and the emulated data bag sends to synchronization control module will eliminate emulated data in the network delay packet consistent with guaranteeing step-length as the school time, and the read-write control sign in the emulated data bag sends to synchronization control module during high-ranking officers simultaneously.
5. the breakpoint emulation controller for ground artificial system according to claim 3, it is characterized in that: described synchronization control module comprises vectorial clock calculation module and level synchronization control module, wherein:
Vector clock calculation module: emulated data bag when the read-write control sign of module output when receiving the school and school, the corresponding vectorial clock of the timestamp information calculation procedure of the system emulation process during according to the school in the emulated data bag, and vectorial clock passed to the level synchronization control module with the cause and effect sequential;
Level synchronization control module: receive the vectorial clock of vectorial clock calculation module output, according to the threshold value of default simulation process is carried out layering, set every layer interprocess communication; Cause and effect sequential according to vectorial clock is calculated the path that message is transmitted between the different layers interprocess communication; Carry out the emulated data exchange according to the path of calculating, produce the synchro control packet after synchro control is processed, and synchro control packet and vectorial clock are sent to each simulation subsystem and emulation module.
6. be used for the breakpoint simulation control method of ground artificial system, it is characterized in that comprising the steps:
(1) starts ground artificial system;
(2) duty that powers up of the semi-physical simulation hardware in the Real-Time Monitoring analogue system is stored, global parameter and local parameter during the operation of Real-Time Monitoring analogue system in the register are stored, and judge according to service data whether analogue system interrupts, determination methods is: the global parameter of current time and local parameter and the global parameter of having stored and local parameter are compared, if the current time data with store data relationship and do not meet predefined logical relation, then be judged as breakpoint, if be judged as breakpoint, then record the breakpoint time, enter step (4);
(3) if breakpoint does not appear in analogue system, then continue emulation, execution in step (2);
(4) judge whether analogue system carries out breakpoint emulation, if do not need breakpoint emulation, then finishes the breakpoint Simulation Control, if need to carry out breakpoint emulation, then enter step (5);
(5) outside input breakpoint recovers instruction, the operating state data that powers up with the semi-physical simulation hardware in the analogue system of storage, be distributed to each hardware device, make the duty before each hardware device keeps breakpoint, global parameter and local parameter when simultaneously the system that stores being moved in the register, be distributed to register, make the duty before register keeps breakpoint;
(6) according to the breakpoint time, constantly begin to continue operating simulation system from breakpoint, guarantee simultaneously each module time synchronized in the analogue system, execution in step (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110254960 CN102298334B (en) | 2011-08-31 | 2011-08-31 | Breakpoint simulation controller and control method for ground simulation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110254960 CN102298334B (en) | 2011-08-31 | 2011-08-31 | Breakpoint simulation controller and control method for ground simulation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102298334A CN102298334A (en) | 2011-12-28 |
| CN102298334B true CN102298334B (en) | 2013-03-13 |
Family
ID=45358806
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110254960 Active CN102298334B (en) | 2011-08-31 | 2011-08-31 | Breakpoint simulation controller and control method for ground simulation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102298334B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102902207B (en) * | 2012-11-13 | 2015-06-17 | 中国人民解放军国防科学技术大学 | Method, device and system for integrated turntable control based on Matlab/VC |
| CN103093059B (en) * | 2013-02-05 | 2015-08-05 | 中国电子科技集团公司电子科学研究院 | A kind of distributed semi-physical simulation system construction method of real-time high-efficiency |
| CN103279040B (en) * | 2013-05-22 | 2016-06-22 | 上海新跃仪表厂 | A kind of method measuring closed-loop time delay of semi-physical simulation closed-loop test |
| US10755003B2 (en) * | 2013-11-08 | 2020-08-25 | Rockwell Automation Technologies, Inc. | Time synchronization of signal transmission intervals for simulating a machine in industrial automation |
| CN103926848B (en) * | 2014-05-05 | 2017-06-06 | 上海新跃仪表厂 | Satellite simulation system and its method of data synchronization |
| CN104238376B (en) * | 2014-09-30 | 2017-02-15 | 东南大学 | Low-temperature and low-air-pressure environment generator set running simulating system based on data |
| CN104570765B (en) * | 2014-12-16 | 2017-05-10 | 北京中交兴路车联网科技有限公司 | Method and device for generating vehicle driving simulation scripts |
| CN108021034A (en) * | 2017-11-08 | 2018-05-11 | 江西洪都航空工业集团有限责任公司 | A kind of accurate timing and the system and method for data synchronization |
| CN107979647B (en) * | 2017-12-07 | 2020-10-23 | 合肥国为电子有限公司 | Data recovery method for realizing cable-free storage type seismograph |
| CN108629136B (en) * | 2018-05-14 | 2021-07-02 | 北京理工大学 | Parallel simulation and error compensation method for continuous time system |
| CN112717380B (en) * | 2019-03-19 | 2023-04-07 | Oppo广东移动通信有限公司 | Network detection method and related device |
| CN114625108B (en) * | 2022-03-21 | 2024-01-30 | 北京经纬恒润科技股份有限公司 | Simulation test method and device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6711723B2 (en) * | 2000-04-28 | 2004-03-23 | Northrop Grumman Corporation | Hybrid semi-physical and data fitting HEMT modeling approach for large signal and non-linear microwave/millimeter wave circuit CAD |
| CN100511044C (en) * | 2007-09-13 | 2009-07-08 | 北京航空航天大学 | Electro-hydraulic servo aviation emulator function simulation device |
| CN201345103Y (en) * | 2008-12-24 | 2009-11-11 | 北京航空航天大学 | Semi-physical simulation device for autonomous navigation system of unmanned coaxial helicopter |
| CN101964845B (en) * | 2010-09-28 | 2014-07-02 | 中兴通讯股份有限公司 | Method and device for recovering terminal operation |
-
2011
- 2011-08-31 CN CN 201110254960 patent/CN102298334B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN102298334A (en) | 2011-12-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102298334B (en) | Breakpoint simulation controller and control method for ground simulation system | |
| CN102315929B (en) | Timing synchronization controller of ground simulation system | |
| CN105930580B (en) | Time synchronization and data exchange device and method for joint simulation of power system and information communication system | |
| CN107025344B (en) | Power distribution automation simulation system and simulation method for power distribution DTS | |
| CN101404547A (en) | Satellite network simulation system | |
| CN105262656A (en) | Implementation method for time-triggered communication bus of aeroengine distributed control system | |
| US20220342084A1 (en) | Navigation satellite time system and its autonomous recovery method | |
| CN105955299A (en) | Reconfigurable integrated measurement-control, navigation, flight control system and reconstruction method thereof | |
| CN103592533A (en) | Data transmission antenna whole-satellite testing method based on minisatellite information system | |
| CN105184029A (en) | Electric power communication hybrid system simulation platform and simulation method thereof | |
| CN108900292B (en) | Error accumulation-free clock synchronization system applied to wireless sensor network | |
| WO2021008532A1 (en) | Active antenna unit delay alignment method and apparatus and active antenna unit | |
| CN104015190A (en) | Robot remote control method and system under indeterminate bidirectional time delay condition | |
| CN108957231B (en) | Distributed system and method for data interaction between host machine and submachine of distributed system | |
| CN111208539A (en) | High-precision GNSS simulator time synchronization method | |
| CN109471588A (en) | A kind of synchronous method and equipment | |
| CN103220169B (en) | A kind of lamellar information stream transmission system for spacecraft | |
| CN103594013B (en) | Hybrid simulation and regulating-and-controlling-integrated simulation united simulation data interaction system and method | |
| CN109976185A (en) | A kind of MAAP5 program and nuclear power plant analog machine integrated approach | |
| CN106814596B (en) | A kind of Hardware-in-the-Loop Simulation in Launch Vehicle test ground installation method for synchronizing time | |
| CN115102651A (en) | Data processing method | |
| CN110399623A (en) | The non real-time HWIL simulation synchronous method of electric network information physics emerging system and device | |
| CN205232242U (en) | Big dipper GPS clock synchronization system based on wind power converter | |
| CN103888238A (en) | Method and device for multi-SV-link data synchronization based on network compensation | |
| CN106951026B (en) | A kind of daylight-saving time implementation method based on single clock system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |