CN104730937A - Semi-physical simulation system and semi-physical simulation method - Google Patents
Semi-physical simulation system and semi-physical simulation method Download PDFInfo
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Abstract
The embodiment of the invention provides a semi-physical simulation system and a semi-physical simulation method. The system comprises a physical device, a physical effect device for providing a simulation work environment for the physical device, a data transmission device and a simulation excitation device connected with the physical device and the physical effect device through the data transmission device. The simulation excitation device is used for loading a simulation model with the simulation requirement currently, acquiring device control parameters, device initialization parameters and initial simulation parameters which are preset for the simulation model, controlling the physical device and the physical effect device according to the device control parameters, initializing the physical effect device according to the device initialization parameters, operating the simulation model and conducting semi-physical simulation through the initial simulation parameters and in combination with the physical device and the physical effect device. By the adoption of the system and method, resources are saved and simulation efficiency is improved.
Description
Technical field
The application relates to simulation technical field, relates to a kind of semi-matter simulating system and Hardware In The Loop Simulation Method in particular.
Background technology
Hardware-in-the-loop simulation refers to the technology introduced by material object and carry out in simulated environment emulating, and doing so avoids in full digital trigger technique, due to the error of bringing into for the correctness of the mathematical model set up in kind, thus greatly can improve the confidence level of emulation.
Under the simulated environment of hardware-in-the-loop simulation, relate to the equipment control operation to equipment in kind, the such as operation such as power-on and power-off, zero.Hardware-in-the-loop simulation of the prior art, usual needs manually carry out the operation of simulation process, comprise the emulation setting of initial parameter, the process etc. to the control and simulation data of equipment in kind.Therefore existing mode, can cause the waste of the resource such as time, manpower, and can reduce the efficiency of emulation.
Summary of the invention
In view of this, this application provides a kind of semi-matter simulating system and Hardware In The Loop Simulation Method, save resource, improve simulation efficiency.
For achieving the above object, the application provides following technical scheme:
First aspect, provides a kind of semi-matter simulating system, comprises equipment in kind; For described equipment in kind provides the physical influence equipment of simulation work environment; Data transmission set; And by simulation excitation equipment that described data transmission set connects with described equipment in kind, described physical influence equipment respectively;
Described simulation excitation equipment, for loading the realistic model carrying out current emulation and need; Be retrieved as equipment controling parameters, device initialize parameter and emulation initial parameter that described realistic model is bound in advance; According to described equipment controling parameters, equipment control operation is carried out to described equipment in kind and described physical influence equipment; After described equipment control operation completes, according to described device initialize parameter, initialization is carried out to described physical influence equipment; After described initialization completes, run described realistic model, utilize described emulation initial parameter, carry out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment.
Preferably, the data processing equipment connected by described data transmission set and described simulation excitation equipment is also comprised;
Described data processing equipment, carries out emulating the emulated data obtained for preserving described simulation excitation equipment; Data processing is carried out to described emulated data.
Preferably, described simulation excitation equipment is also for obtaining the simulation times that pre-sets and for emulate many groups parameter combinations of binding in advance each time, described parameter combinations at least comprises equipment controling parameters, device initialize parameter and emulation initial parameter;
Described simulation excitation equipment, specifically for according to described simulation times, emulates successively, is carrying out each time in simulation process, loads the realistic model carrying out current emulation and need; Obtain one group of parameter combinations that current emulation needs; According to the equipment controling parameters in described parameter combinations, equipment control operation is carried out to described equipment in kind and described physical influence equipment; After described equipment control operation completes, according to the device initialize parameter in described parameter combinations, initialization is carried out to described physical influence equipment; After described initialization completes, run described realistic model, utilize the emulation initial parameter in described parameter combinations, carry out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment;
Described data processing equipment, carries out emulating the emulated data obtained specifically for preserving described simulation excitation equipment respectively each time; Data processing is carried out to described emulated data.
Preferably, described simulation excitation equipment comprises turn-key system and replicating machine;
Described turn-key system, after carrying out the realistic model of current emulation needs in described replicating machine loading, is retrieved as equipment controling parameters, device initialize parameter and emulation initial parameter that described realistic model is bound in advance; According to described equipment controling parameters, equipment control operation is carried out to described equipment in kind and described physical influence equipment; After described equipment control operation completes, according to described device initialize parameter, initialization is carried out to described physical influence equipment; After described initialization completes, control described replicating machine and run described realistic model, utilize described emulation initial parameter, carry out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment;
Described replicating machine, for loading and Dynamic simulation model; Utilize described emulation initial parameter, carry out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment.
Preferably, described replicating machine comprises emulation host computer and at least one simulation objectives machine;
At least one simulation objectives machine of described emulation PC control loads realistic model; After described physical influence device initialize completes, trigger each simulation objectives machine and run described realistic model, utilize described emulation initial parameter, carry out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment;
Described simulation objectives machine, for running the realistic model that it loads, utilizing described emulation initial parameter, carrying out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment.
Preferably, described simulation excitation equipment also for according to parameter adjustment request, upgrades the parameter combinations and batch simulation times of binding in advance.
Second aspect, provide a kind of Hardware In The Loop Simulation Method, be applied in semi-matter simulating system, described system comprises equipment in kind, provides physical influence equipment, the data transmission set of simulation work environment for described equipment in kind, and by simulation excitation equipment that described data transmission set connects with described equipment in kind, described physical influence equipment respectively;
Described method comprises:
Described simulation excitation equipment loads the realistic model carrying out current emulation and need;
Be retrieved as equipment controling parameters, device initialize parameter and emulation initial parameter that described realistic model is bound in advance;
According to described equipment controling parameters, equipment control operation is carried out to described equipment in kind and described physical influence equipment;
After described equipment control operation completes, according to described device initialize parameter, initialization is carried out to described physical influence equipment;
After described initialization completes, run described realistic model, utilize described emulation initial parameter, carry out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment.
Preferably, described system also comprises the data processing equipment connected by described data transmission set and described simulation excitation equipment;
Describedly utilize described simulation parameter, after emulating in conjunction with described equipment in kind and described physical influence equipment, described method also comprises:
The emulated data obtained after being emulated by described data processing equipment preservation, and data processing is carried out to described emulated data.
Preferably, before described simulation excitation equipment loads the realistic model carrying out current emulation needs, described method also comprises:
Obtain the simulation times that pre-sets and for emulate many groups parameter combinations of binding in advance each time, described parameter combinations at least comprises equipment controling parameters, device initialize parameter and emulates initial parameter;
Described simulation excitation equipment loads the realistic model carrying out current emulation needs and comprises:
Carrying out each time in simulation process, loading the realistic model carrying out current emulation and need;
Describedly be retrieved as equipment controling parameters, device initialize parameter and the emulation initial parameter that described realistic model binds in advance and comprise:
Obtain one group of parameter combinations that current emulation needs, described parameter combinations comprises equipment controling parameters, device initialize parameter and emulation initial parameter.
Preferably, the simulation times that pre-sets is obtained and for after emulating many groups parameter combinations of binding in advance each time, described method also comprises:
According to parameter adjustment request, upgrade the parameter combinations and batch simulation times of binding in advance.
Known via above-mentioned technical scheme, compared with prior art, this application provides a kind of semi-matter simulating system and Hardware In The Loop Simulation Method, this semi-matter simulating system is by equipment in kind; For described equipment in kind provides the physical influence equipment of simulation work environment; Data transmission set; And formed by the simulation excitation equipment that described data transmission set connects with described equipment in kind, described physical influence equipment respectively, the realistic model that before simulation excitation equipment can be loaded automatically into the trade, emulation needs; Be retrieved as equipment controling parameters, device initialize parameter and emulation initial parameter that described realistic model is bound in advance; According to described equipment controling parameters, equipment control operation is carried out to described equipment in kind and described physical influence equipment; After described equipment control operation completes, according to described device initialize parameter, initialization is carried out to described physical influence equipment; After described initialization completes, run described realistic model, utilize described emulation initial parameter, carry out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment.Achieve the automatic control of hardware-in-the-loop simulation, without the need to artificial participation, save human resources, improve simulation efficiency.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only the embodiment of the application, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to the accompanying drawing provided.
The structural representation of a kind of semi-matter simulating system embodiment that Fig. 1 provides for the embodiment of the present application;
The structural representation of a kind of another embodiment of semi-matter simulating system that Fig. 2 provides for the embodiment of the present application;
The structural representation of a kind of another embodiment of semi-matter simulating system that Fig. 3 provides for the embodiment of the present application;
The structural representation of a kind of another embodiment of semi-matter simulating system that Fig. 4 provides for the embodiment of the present application;
The process flow diagram of a kind of Hardware In The Loop Simulation Method embodiment that Fig. 5 provides for the embodiment of the present application;
The process flow diagram of a kind of another embodiment of Hardware In The Loop Simulation Method that Fig. 6 provides for the embodiment of the present application;
The process flow diagram of a kind of another embodiment of Hardware In The Loop Simulation Method that Fig. 7 provides for the embodiment of the present application.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present application, be clearly and completely described the technical scheme in the embodiment of the present application, obviously, described embodiment is only some embodiments of the present application, instead of whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the application's protection.
In the embodiment of the present application, semi-matter simulating system is by equipment in kind; For described equipment in kind provides the physical influence equipment of simulation work environment; Data transmission set; And formed by the simulation excitation equipment that described data transmission set connects with described equipment in kind, described physical influence equipment respectively, the realistic model that before simulation excitation equipment can be loaded automatically into the trade, emulation needs; Be retrieved as equipment controling parameters, device initialize parameter and emulation initial parameter that described realistic model is bound in advance; According to described equipment controling parameters, equipment control operation is carried out to described equipment in kind and described physical influence equipment; After described equipment control operation completes, according to described device initialize parameter, initialization is carried out to described physical influence equipment; After described initialization completes, run described realistic model, utilize described emulation initial parameter, carry out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment.Achieve the automatic control of hardware-in-the-loop simulation, without the need to artificial participation, save human resources, improve simulation efficiency.
The structural representation of a kind of semi-matter simulating system embodiment that Fig. 1 provides for the embodiment of the present application, wherein, this semi-matter simulating system can comprise:
Equipment 101 in kind; For described equipment 101 in kind provides the physical influence equipment 102 of simulation work environment; Data transmission set 103; And by simulation excitation equipment 104 that described data transmission set 103 connects with described equipment 101 in kind, described physical influence equipment 102 respectively;
Described simulation excitation equipment 104, for loading the realistic model carrying out current emulation and need; Be retrieved as equipment controling parameters, device initialize parameter and emulation initial parameter that described realistic model is bound in advance; According to described equipment controling parameters, equipment control operation is carried out to described equipment 101 in kind and described physical influence equipment 102; After described equipment control operation completes, according to described device initialize parameter, Initialize installation is carried out to described physical influence equipment 102; After described Initialize installation completes, run described realistic model, utilize described emulation initial parameter, establish 102 to carry out hardware-in-the-loop simulation in conjunction with described equipment 101 in kind and described physical influence.
Hardware-in-the-loop simulation refers to a kind of technology introduced in simulated environment by material object and carry out emulating, and because half is object in kind, half is virtual objects, is therefore a kind of l-G simulation test technology closer to reality.The semi-matter simulating system that the embodiment of the present application provides goes in various hardware-in-the-loop simulation, the hardware-in-the-loop simulation of such as control system.For guidance control system hardware-in-the-loop simulation, mainly refer to can high for some non-linear comparison in guidance control system critical component material object (as flight control computer, guide first-class) introduce the environment of emulation, doing so avoids in full digital trigger technique, due to the error that the correctness of non-linear components founding mathematical models is brought into, thus greatly can improve the confidence level of emulation.
Hardware-in-the-loop simulation is exactly briefly half be half in kind is simulation equipment, and simulation equipment typically refers to replicating machine, and can Dynamic simulation model with emulation initial parameter in replicating machine.Therefore, in the embodiment of the present application, be integrated with replicating machine function in simulation excitation equipment, it can load realistic model automatically, and Dynamic simulation initial parameter.
Due to hardware-in-the-loop simulation, need equipment in kind, and provide the physical influence equipment of simulation work environment for equipment in kind.Therefore, before emulating, need, to equipment in kind and physical influence equipment, to carry out corresponding equipment control operation.In the embodiment of the present application, equipment control operation comprises the operation such as power-on and power-off, zero.And after the equipment control operation of equipment in kind and physical influence equipment completes, also need to carry out initialized operation to physical influence equipment, the working environment that can provide current emulation to make physical influence equipment and need.
Therefore, this equipment controling parameters can comprise the controling parameters such as electric power output voltage, power-on time, duration, lower electricity time, zero instruction, to realize the control to equipment in kind and physical influence equipment according to equipment controling parameters.
Wherein, equipment in kind and physical influence equipment can comprise multiple part of appliance respectively, due under different simulation scenarios, need the part of appliance in the equipment in kind used different, and need the part of appliance in the physical influence equipment used different.Therefore, part of appliance mark can also be comprised in equipment controling parameters, to determine to carry out equipment control operation to which or which part of appliance.
For guidance control system, part of appliance in equipment in kind can comprise GPS, target seeker, flight control computer, steering wheel etc., and the part of appliance in physical influence equipment can comprise satellite navigation simulator, target simulator, three axles/five-axis flight table, rudder load simulator, slide rail etc.
Namely the initialization of physical influence equipment refers to the setting of the original state of the part of appliance of physical influence equipment.Such as in current emulation, need the turntable angle of pitch to control in the first predetermined angle etc.
Namely initiation parameter comprises the original state parameters etc. of the part of appliance in the physical influence equipment of current simulation requirements.
After physical influence device initialize completes, simulation excitation equipment namely can control imitation model running, utilizes emulation initial parameter, and carries out hardware-in-the-loop simulation in conjunction with equipment in kind and physical influence equipment.
Data transmission set in the embodiment of the present application establishes the connection between each equipment, achieves transmission and the exchange of data.
This data transmission set can refer to Ethernet switch, fiber reflection memory switch or signaling interface adapter etc.Simulation excitation equipment is according to described equipment controling parameters, carrying out equipment control operation to described equipment in kind and described physical influence equipment can be: by the control command of Portable device controling parameters, be sent to equipment in kind or physical influence equipment by this data transmission set; Control command described in equipment in kind or physical influence device responds, realizes equipment control operation.
Simulation excitation equipment is according to described device initialize parameter, and carrying out Initialize installation to described physical influence equipment can be specially: by the initialization command of Portable device initiation parameter, is sent to physical influence equipment by described data transmission set; Initialization command described in described physical influence device responds, realizes initialization apparatus.
In the semi-matter simulating system of the embodiment of the present application, simulation excitation equipment can load realistic model automatically, and can according to binding device controling parameters in advance, device initialize parameter and emulation initial parameter, control equipment in kind respectively and physical influence equipment carries out equipment control operation, and control the Initialize installation of physical influence equipment, and can after Initialize installation completes, control imitation model running, to realize hardware-in-the-loop simulation, the embodiment of the present application achieves the automatic control of hardware-in-the-loop simulation, without the need to artificial participation, save the time, the resources such as manpower, improve simulation efficiency.
Wherein, due to can emulated data be produced in simulation process, therefore, as another embodiment, as shown in Figure 2, the semi-matter simulating system that the embodiment of the present application provides can also comprise data processing equipment 105, and wherein data processing equipment 105 is connected with simulation excitation equipment 104 by data transmission set 103.
Described data processing equipment 105, carries out emulating the emulated data obtained for preserving described simulation excitation equipment 104; Data processing is carried out to described emulated data.
Simulation excitation equipment can also carry out emulating gathering simulation data in the simulation result obtained, and transfers to data processing equipment by data transmission set, is stored by data processing equipment.Data processing equipment such as, by the relevant information of current emulation, title, number of times etc., with emulated data corresponding stored.
Gathering simulation data the simulation result that simulation excitation equipment can also obtain from emulation, according to preset instructions, can gather satisfactory emulated data.
Data processing equipment can comprise statistical study, Confidence Analysis, comparative analysis to the data processing of emulated data, and can by analysis result according to the reporting format preset, simulations analysis report.
The condition such as formula, rule can be preset to data processing equipment, namely emulated data can be processed automatically according to the formula preset and rule etc., and without the need to manually calculating, analysis etc.
The embodiment of the present application, not only can realize the automatic simulation to hardware-in-the-loop simulation, improve the efficiency of hardware-in-the-loop simulation, can also realize, to the automatic process of simulation result, improve the analysis efficiency of simulation result.
Due in actual applications, there is the demand of half in kind batch of emulation, adopt the technical scheme of the embodiment of the present application, automatically can realize half in kind batch of emulation.And in prior art, half in kind batch of emulation needs manually after completing once emulation, redesign and emulate next time.A large amount of wastes of the resources such as the time that can cause, manpower, have a strong impact on batch efficiency of emulation.And adopt half in kind batch of analogue system of the embodiment of the present application, a large amount of human resources can be saved, substantially increase batch efficiency of emulation.
Therefore, in another embodiment of the application, described simulation excitation equipment 104 can also be used for obtaining the simulation times that pre-sets and for emulate many groups parameter combinations of binding in advance each time, carry out batch emulation, described parameter combinations at least comprises equipment controling parameters, device initialize parameter and emulation initial parameter.
Therefore, described simulation excitation equipment 104 according to simulation times, can emulate successively, is carrying out each time in simulation process, loads the realistic model carrying out current emulation and need; Obtain one group of parameter combinations that current emulation needs; According to the equipment controling parameters in described parameter combinations, control operation is carried out to described equipment in kind and described physical influence equipment; According to the device initialize parameter in described parameter combinations, initialization is carried out to described physical influence equipment; Run described realistic model, utilize the emulation initial parameter in described parameter combinations, carry out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment.
Due to usually can integral element be there is in realistic model, before each emulation restarts, all need, by the realistic model unloading in internal memory, to reload realistic model, guarantee that model state meets the requirement restarted completely.Therefore, when simulation excitation equipment emulates each time, automatically realistic model can be loaded.
Wherein, parameter combinations can arrange emulation numbering, and each emulation numbering represents simulation times.Such as emulate numbering and can be set to 1,2,3 ..., corresponding first time emulation, second time emulation, third time emulation respectively ...
Wherein, the setting of parameter combinations can have various ways, and the application does not specifically limit this, simulation excitation equipment can provide man-machine interactively interface, receive the request of user, thus realize the setting of simulation times, and the selection of parameters and value in parameter combinations.
A kind of possible implementation is introduced below with an example:
Such as, in certain control system, have 4 parameters to exist uncertain, we are referred to as test parameters, and give relevant variable name to each parameter, if parameter 1 is Param1, parameter 2 is Param2, and parameter 3 is Param3, and parameter 4 is Param4.
Wherein, these 4 parameters comprise equipment controling parameters, initiation parameter and emulation initial parameter, and such as parameter 1 is equipment controling parameters, and parameter 2 is initiation parameter, and parameter 2 and parameter 4 are emulation initial parameter.These 4 parameters can combine by composition parameter, uncertain according to its numerical value, can obtain different parameter combinations.
In this possibility implementation, adopt the various test design function such as uniform experiment design, Orthogonal Experiment and Design, Monte Carlo experiment design, arrange simulation times by user, and the value of each test parameters during each emulation.
Example is counted with orthogonal experiment plan, 4 parameter experiment parameters have respective span, the span of Param1 is [-1 1], the span of Param2 is [-3 0], the span of Param3 is [2 4], the span of Param4 is [0 1], suppose that the number of levels of each test parameters is 3, namely only get 3 Typical Representative values and participate in test, such as test parameters Parma1, its span is [-1 1], 3 levels, step-length between the value that then each level is corresponding is respectively: (1-(-1))/(3-1)=1, thus corresponding value is respectively [-10 1], for test parameters Parma2, its span is [-3 0], 3 levels, then the step-length between the value that each level is corresponding is respectively: (0-(-3))/(3-1)=1.5, and thus corresponding value is respectively [-3-1.5 0], for test parameters Parma3, its span is [2 4], 3 levels, then the step-length between the value that each level is corresponding is respectively: (4-2)/(3-1)=1, and thus corresponding value is respectively [2 3 4], for test parameters Parma4, its span is [0 1], 3 levels, then the step-length between the value that each level is corresponding is respectively: (1-0)/(3-1)=0.5, and thus corresponding value is respectively [0 0.5 1],
The orthogonal test calendar then obtained, a kind of possible mode, can be as shown in table 1 below:
Table 1
| Simulation times | Parma1 | Parma2 | Parma3 | Parma4 |
| 1 | 1 | 1 | 1 | 1 |
| 2 | 1 | 2 | 2 | 2 |
| 3 | 1 | 3 | 3 | 3 |
| 4 | 2 | 1 | 2 | 3 |
| 5 | 2 | 2 | 3 | 1 |
| 6 | 2 | 3 | 1 | 2 |
| 7 | 3 | 1 | 2 | 2 |
| 8 | 3 | 2 | 1 | 3 |
| 9 | 3 | 3 | 2 | 1 |
From upper form, this batch of emulation needs to carry out 9 times, and during as first time emulation, the value of each test parameters gets first level value respectively, and i.e. [1 11 1], then the parameter value in corresponding parameter combinations is [-1-3 2 0]; For another example, during the 6th emulation, the level value of each test parameters is [2 31 2], then the parameter value in corresponding parameter combinations is [0 00 0.5].Other simulation times by that analogy.
Simulation excitation equipment can preserve this orthogonal test table, and as batch input of emulation, namely simulation excitation equipment can emulate successively.
As the implementation that another is possible, parameter combinations can also set in such a way:
Described parameter combinations comprises multiple classification, each classification correspondence organizes parameter combinations more, and each organizes parameter combinations, between each the group bookbinding parameter under each classification, the numerical value belonging to such other parameter is different, does not belong to such other other parameter values identical; Described classification is determined according to the combination in any of different parameters.
Thus the parameter combinations that namely can obtain under different simulated conditions.
Wherein, when simulation excitation equipment 104 can carry out criticizing emulation, data processing equipment 105 carries out emulating the emulated data obtained specifically for preserving described simulation excitation equipment respectively each time; Data processing is carried out according to described emulated data.
Emulate the emulated data obtained each time to preserve according to emulation numbering is corresponding.
In the embodiment of the present application, the simulation excitation integration of equipments functions such as replicating machine, achieve the Automated condtrol to hardware-in-the-loop simulation, as shown in Figure 3, in another embodiment of the application, give the structural representation that of described simulation excitation equipment 104 is possible, this simulation excitation equipment 104 can comprise:
Turn-key system 301 and replicating machine 302;
Described turn-key system 301, after carrying out the realistic model of current emulation needs in described replicating machine 302 loading, is retrieved as equipment controling parameters, device initialize parameter and emulation initial parameter that described realistic model is bound in advance; According to described equipment controling parameters, control operation is carried out to described equipment in kind and described physical influence equipment; According to described device initialize parameter, initialization is carried out to described physical influence equipment; Control described replicating machine and run described realistic model, utilize described emulation initial parameter, carry out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment;
Described replicating machine 302, for loading realistic model; Utilize described emulation initial parameter, carry out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment.
Replicating machine can be specifically after the triggering command receiving turn-key system, loads realistic model; After the steering order receiving turn-key system, Dynamic simulation model, utilizes described emulation initial parameter, carries out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment.
Wherein, whether equipment control operation completes, and can be determined by the feedback of turn-key system according to equipment in kind and physical influence equipment, or after arriving certain hour, namely can determine that equipment control operation completes; Whether initialization completes, and can be to be determined by the feedback of turn-key system according to physical influence equipment, or after arriving certain hour, namely can determine that equipment control operation completes.
As another embodiment, as shown in Figure 4, the replicating machine in this simulation excitation equipment specifically can comprise emulation host computer 401 and at least one simulation objectives machine 402;
Described emulation host computer 401 controls at least one simulation objectives machine 402 and loads realistic model; After described physical influence device initialize completes, trigger each simulation objectives machine and run described realistic model, utilize described emulation initial parameter, carry out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment;
Described simulation objectives machine 402, for running the realistic model that it loads, utilizing described emulation initial parameter, carrying out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment.
Also namely emulate host computer 401 and receive the control of turn-key system 301, and according to the instruction of turn-key system 301, trigger at least one simulation objectives 402 and carry out the loading of realistic model and operation etc.
Due to when a hardware-in-the-loop simulation, realistic model may need multiple, and the parts in kind in such as equipment in kind are less, needs multiple realistic model to simulate etc.
In order to realize distributed management, and in order to the expansion of back-up system, simulation objectives machine can comprise multiple.Thus when once emulating, according to the realistic model quantity of current emulation demand, the simulation objectives machine that can trigger corresponding realistic model quantity loads each realistic model.
Adopt the mode of multiple simulation objectives machine, when realistic model is more complicated, realistic model can also be divided into multiple part, then loaded the model of a part respectively by a simulation objectives machine.
In addition, the simulation excitation equipment of the application according to parameter adjustment request, can also upgrade the Simulation Control parameter combinations and batch simulation times of binding in advance; According to Simulation Control request, can also stop and/or starting current emulation.Thus furthermore achieved that the Automated condtrol to hardware-in-the-loop simulation.
Based on the semi-matter simulating system that above-described embodiment provides, the embodiment of the present application also provides a kind of Hardware In The Loop Simulation Method, and the method is applied particularly in the semi-matter simulating system that above-mentioned any embodiment provides, in one embodiment, as shown in Figure 5, the method can comprise:
501: simulation excitation equipment loads the realistic model carrying out current emulation and need;
502: be retrieved as equipment controling parameters, device initialize parameter and emulation initial parameter that described realistic model is bound in advance;
503: according to described equipment controling parameters, equipment control operation is carried out to described equipment in kind and described physical influence equipment;
504: after described equipment control operation completes, according to described device initialize parameter, initialization is carried out to described physical influence equipment;
505: after described initialization completes, run described realistic model, utilize described emulation initial parameter, carry out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment.
In the embodiment of the present application, simulation excitation equipment can load realistic model automatically, and can according to binding device controling parameters in advance, device initialize parameter and emulation initial parameter, control equipment in kind respectively and physical influence equipment carries out equipment control operation, and control the Initialize installation of physical influence equipment, and can after Initialize installation completes, control imitation model running, to realize hardware-in-the-loop simulation, the embodiment of the present application achieves the automatic control of hardware-in-the-loop simulation, without the need to artificial participation, save the time, the resources such as manpower, improve simulation efficiency.
When the semi-matter simulating system that the embodiment of the present application provides also comprises the data processing equipment connected by described data transmission set and described simulation excitation equipment, then as shown in Figure 6, described method can also comprise:
506: the emulated data obtained after being emulated by described data processing equipment preservation, and data processing is carried out to described emulated data.
Simulation excitation equipment from carrying out emulating gathering simulation data the simulation result that obtains, and transfers to data processing equipment by data transmission set, is stored by data processing equipment.Data processing equipment such as, by the relevant information of current emulation, title, number of times etc., with emulated data corresponding stored.
Gathering simulation data the simulation result that simulation excitation equipment can also obtain from emulation, according to preset instructions, can gather satisfactory emulated data.
Statistical study, Confidence Analysis, comparative analysis can be comprised to the data processing of emulated data, and can by analysis result according to the reporting format preset, simulations analysis report.
The embodiment of the present application, not only can realize the automatic simulation to hardware-in-the-loop simulation, can also realize, to the automatic process of simulation result, improve the analysis efficiency of simulation result.
When the semi-matter simulating system that the embodiment of the present application provides may be used for half in kind batch of emulation, therefore in another embodiment of the application, as described in Figure 7, described method can comprise following step:
701: obtain the simulation times that pre-sets and for emulate many groups parameter combinations of binding in advance each time, described parameter combinations at least comprises equipment controling parameters, device initialize parameter and emulates initial parameter;
702: according to described simulation times, emulate successively, in simulation process each time, perform following operation;
703: load the realistic model carrying out current emulation and need;
704: obtain one group of parameter combinations that current emulation needs;
705: according to the equipment controling parameters in described parameter combinations, control operation is carried out to described equipment in kind and described physical influence equipment;
706: after described equipment control operation completes, according to the device initialize parameter in described parameter combinations, initialization is carried out to described physical influence equipment;
707: after described initialization completes, run described realistic model, utilize the emulation initial parameter in described parameter combinations, carry out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment;
708: preserve described simulation excitation equipment respectively and carry out each time emulating the emulated data obtained, and data processing is carried out to described emulated data.
By the embodiment of the present application, automatically achieve half in kind batch of emulation, save the resources such as a large amount of time, manpower, substantially increase batch efficiency of emulation.
Wherein, the setting of parameter combinations can have multiple implementation, specifically can see described in above-described embodiment, and each parameter combinations represents different simulated conditions.
Wherein, when simulation excitation equipment in the semi-matter simulating system of the embodiment of the present application can be made up of turn-key system and replicating machine, then in said method embodiment, step 501 and step 505 are performed by replicating machine, and step 502 ~ step 504 is performed by turn-key system; Step 701,702,704 ~ 706 is performed by turn-key system; Step 703 and step 706 are performed by replicating machine.
Wherein, replicating machine can comprise emulation host computer and at least one simulation objectives machine;
Therefore, be then load realistic model by least one simulation objectives machine of emulation PC control; After described physical influence device initialize completes, trigger each simulation objectives machine and run described realistic model, utilize described emulation initial parameter, carry out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment;
Run its realistic model loaded by described simulation objectives machine, utilize described emulation initial parameter, carry out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment.
In the embodiment of the present application, getting the simulation times that pre-sets and for after emulating many groups parameter combinations of binding in advance each time, described method can also comprise:
According to parameter adjustment request, upgrade the parameter combinations and batch simulation times of binding in advance.
In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.For device disclosed in embodiment, because it corresponds to the method disclosed in Example, so description is fairly simple, relevant part illustrates see method part.
Finally, also it should be noted that, in this article, the such as relational terms of first and second grades and so on is only used for an entity or operation to separate with another entity or operational zone, and not necessarily requires or imply the relation that there is any this reality between these entities or operation or sequentially.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment comprising described key element and also there is other identical element.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the application.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein when not departing from the spirit or scope of the application, can realize in other embodiments.Therefore, the application can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. a semi-matter simulating system, is characterized in that, comprises equipment in kind; For described equipment in kind provides the physical influence equipment of simulation work environment; Data transmission set; And by simulation excitation equipment that described data transmission set connects with described equipment in kind, described physical influence equipment respectively;
Described simulation excitation equipment, for loading the realistic model carrying out current emulation and need; Be retrieved as equipment controling parameters, device initialize parameter and emulation initial parameter that described realistic model is bound in advance; According to described equipment controling parameters, equipment control operation is carried out to described equipment in kind and described physical influence equipment; After described equipment control operation completes, according to described device initialize parameter, initialization is carried out to described physical influence equipment; After described initialization completes, run described realistic model, utilize described emulation initial parameter, carry out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment.
2. system according to claim 1, is characterized in that, also comprises the data processing equipment connected by described data transmission set and described simulation excitation equipment;
Described data processing equipment, carries out emulating the emulated data obtained for preserving described simulation excitation equipment; Data processing is carried out to described emulated data.
3. system according to claim 1 and 2, it is characterized in that, described simulation excitation equipment is also for obtaining the simulation times that pre-sets and for emulate many groups parameter combinations of binding in advance each time, described parameter combinations at least comprises equipment controling parameters, device initialize parameter and emulation initial parameter;
Described simulation excitation equipment, specifically for according to described simulation times, emulates successively, is carrying out each time in simulation process, loads the realistic model carrying out current emulation and need; Obtain one group of parameter combinations that current emulation needs; According to the equipment controling parameters in described parameter combinations, equipment control operation is carried out to described equipment in kind and described physical influence equipment; After described equipment control operation completes, according to the device initialize parameter in described parameter combinations, initialization is carried out to described physical influence equipment; After described initialization completes, run described realistic model, utilize the emulation initial parameter in described parameter combinations, carry out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment;
Described data processing equipment, carries out emulating the emulated data obtained specifically for preserving described simulation excitation equipment respectively each time; Data processing is carried out to described emulated data.
4. system according to claim 1, is characterized in that, described simulation excitation equipment comprises turn-key system and replicating machine;
Described turn-key system, after carrying out the realistic model of current emulation needs in described replicating machine loading, is retrieved as equipment controling parameters, device initialize parameter and emulation initial parameter that described realistic model is bound in advance; According to described equipment controling parameters, equipment control operation is carried out to described equipment in kind and described physical influence equipment; After described equipment control operation completes, according to described device initialize parameter, initialization is carried out to described physical influence equipment; After described initialization completes, control described replicating machine and run described realistic model, utilize described emulation initial parameter, carry out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment;
Described replicating machine, for loading and Dynamic simulation model; Utilize described emulation initial parameter, carry out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment.
5. system according to claim 4, is characterized in that, described replicating machine comprises emulation host computer and at least one simulation objectives machine;
At least one simulation objectives machine of described emulation PC control loads realistic model; After described physical influence device initialize completes, trigger each simulation objectives machine and run described realistic model, utilize described emulation initial parameter, carry out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment;
Described simulation objectives machine, for running the realistic model that it loads, utilizing described emulation initial parameter, carrying out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment.
6. system according to claim 3, is characterized in that, described simulation excitation equipment also for according to parameter adjustment request, upgrades the parameter combinations and batch simulation times of binding in advance.
7. a Hardware In The Loop Simulation Method, it is characterized in that, be applied in semi-matter simulating system, described system comprises equipment in kind, provides physical influence equipment, the data transmission set of simulation work environment for described equipment in kind, and by simulation excitation equipment that described data transmission set connects with described equipment in kind, described physical influence equipment respectively;
Described method comprises:
Described simulation excitation equipment loads the realistic model carrying out current emulation and need;
Be retrieved as equipment controling parameters, device initialize parameter and emulation initial parameter that described realistic model is bound in advance;
According to described equipment controling parameters, equipment control operation is carried out to described equipment in kind and described physical influence equipment;
After described equipment control operation completes, according to described device initialize parameter, initialization is carried out to described physical influence equipment;
After described initialization completes, run described realistic model, utilize described emulation initial parameter, carry out hardware-in-the-loop simulation in conjunction with described equipment in kind and described physical influence equipment.
8. method according to claim 7, is characterized in that, described system also comprises the data processing equipment connected by described data transmission set and described simulation excitation equipment;
Describedly utilize described simulation parameter, after emulating in conjunction with described equipment in kind and described physical influence equipment, described method also comprises:
The emulated data obtained after being emulated by described data processing equipment preservation, and data processing is carried out to described emulated data.
9. the method according to claim 7 or 8, is characterized in that, before described simulation excitation equipment loads the realistic model carrying out current emulation needs, described method also comprises:
Obtain the simulation times that pre-sets and for emulate many groups parameter combinations of binding in advance each time, described parameter combinations at least comprises equipment controling parameters, device initialize parameter and emulates initial parameter;
Described simulation excitation equipment loads the realistic model carrying out current emulation needs and comprises:
Carrying out each time in simulation process, loading the realistic model carrying out current emulation and need;
Describedly be retrieved as equipment controling parameters, device initialize parameter and the emulation initial parameter that described realistic model binds in advance and comprise:
Obtain one group of parameter combinations that current emulation needs, described parameter combinations comprises equipment controling parameters, device initialize parameter and emulation initial parameter.
10. method according to claim 9, is characterized in that, obtains the simulation times that pre-sets and for after emulating many groups parameter combinations of binding in advance each time, described method also comprises:
According to parameter adjustment request, upgrade the parameter combinations and batch simulation times of binding in advance.
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